肠道机器人三维接收线圈的设计与优化  

Design and Optimization of Three-Dimensional Receiving Coils for Intestinal Robots

作　　者：温桠妮 颜国正[1] 王志武[1] 姜萍萍[1] 薛蓉蓉 王艺芸 WEN Yani;YAN Guozheng;WANG Zhiwu;JIANG Pingping;XUE Rongrong;WANG Yiyun(School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240

出　　处：《上海交通大学学报》2020年第11期1117-1123,共7页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(61673271,81601631);上海市科技支撑项目(19441913800,19441910600)资助。

摘　　要：探究了一种新型三维接收线圈结构,以满足肠道机器人在人体内正常工作的功率需求,解决了机器人在人体内姿态随机变化带来的失谐问题.该三维接收线圈每个维度绕制方式相同,各个维度的接收功率相对稳定.从磁芯直径、线圈匝数与线径3个方面,通过一系列对比实验分析结构参数对传输效率和传输功率的影响.对优化接收线圈进行姿态稳定性分析.结果表明:最优接收线圈结构为磁芯直径6 mm、线圈匝数80、线圈线径0.12 mm.当发射线圈的驱动电压为10 V时,该优化接收线圈的最大传输功率为1216 mW,此时无线供能系统的传输效率为6.64%.在不同姿态角下,接收线圈3个维度方向产生的最大传输功率几乎相同.当绕x轴转动角α=45°,绕y轴转动角β=45°时,三维线圈输出最小功率,约为527 mW,该功率可使机器人基本维持正常工作.A novel three-dimensional receiving coil structure is designed to meet the power requirements of intestinal robot and to solve the detuning problem caused by random changes of robot posture in human body.Each dimension of the three-dimensional receiving coil is wound in the same way,and the receiving power of each dimension is relatively stable.The influence of the structural parameters on transmission efficiency and power is analyzed through a series of comparative experiments from core diameter,coil turns,and wire diameter.The attitude stability of the optimized receiving coil is analyzed.The results show that the best receiving coil has a magnetic core diameter of 6 mm,a number of coil turns of 80,and a coil wire diameter of 0.12 mm.When the driving voltage of the transmitting coil is 10 V,the maximum transmission power of the optimized receiving coil is 1216 mW,and the transmission efficiency of the wireless power supply system is 6.64%.At different attitude angles,the maximum transmitted power generated by the three dimensions of the receiving coil is almost the same.The three-dimensional coil outputs a minimum power of about 527 mW when α=45°and β=45°,which allows the robot to basically maintain normal operation.

关 键 词：肠道机器人 三维接收线圈 优化设计 姿态稳定性 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TN98[自动化与计算机技术—控制科学与工程]