CN107788945A - A kind of eye examination robot - Google Patents

Abstract

The invention discloses an ophthalmic inspection robot, which comprises a head shell, and an inspection mechanism is arranged inside; the inspection mechanism includes a head shell connection seat, a lighting device and a front camera device, and the head shell connection seat is provided with a jaw support movement Drive mechanism, front and rear focusing drive mechanism, left and right movement drive mechanism and horizontal spot rotation pupil alignment drive mechanism; head shell connection seat is connected to the inner wall of the head shell; jaw rest movement drive mechanism is connected with the jaw rest and can drive it up and down; Both the front camera device and the lighting device are connected to the front and rear focus drive mechanism and the left and right movement drive mechanism, which can drive the front camera device and the lighting device to move back and forth and left and right, and the lighting device is also connected to the light spot Horizontally rotate the driving mechanism for pupil alignment, and the pupil alignment driving mechanism for horizontal rotation of the light spot can drive the lighting device to rotate left and right along the horizontal plane. The invention fills up the gap that there is no similar robot in the domestic and foreign markets at present.

Description

An eye examination robot

technical field

The invention relates to the field of eye medical technology, in particular to an ophthalmology inspection robot.

Background technique

One of the main directions of China's medical reform at this stage is to gradually implement the "hierarchical diagnosis and treatment" model across the country, that is, patients with minor diseases, common diseases, and chronic diseases are scattered in primary and secondary medical institutions, and large-scale tertiary hospitals cover patients with difficult and miscellaneous diseases. As a specialty in hospitals, the main problem in the reform of the hierarchical diagnosis and treatment model lies in the lack of experienced ophthalmologists in grassroots and small community hospitals, and the relative shortage of ophthalmologists in large hospitals. One of the main reasons difficult eye diseases are more difficult. Therefore, the key to implementing a hierarchical diagnosis and treatment model in the field of ophthalmology is to find an effective method, such as an ophthalmology intelligent inspection robot, which may solve the problem of lack of experienced ophthalmologists in grassroots and community hospitals.

It is known that the routine examination items in the ophthalmology department of the tertiary hospital or the outpatient clinic of the ophthalmology hospital mainly include: visual acuity test and refraction test piece, visual examination of the outer eye (eyelid and its appendages, lacrimal apparatus, eyeball position and movement), anterior segment of the eyeball with slit lamp Microscopic examination and ophthalmoscopy four. More than 90% of common eye diseases in outpatient clinics can be diagnosed through the first three routine examinations. Only a small number of cases with poor corrected vision require further examinations such as ophthalmoscope and fundus camera to confirm the diagnosis.

Contents of the invention

The present invention aims to provide an ophthalmic inspection robot to solve the above technical problems.

In order to achieve the above object, the present invention adopts the following technical solutions:

An ophthalmic inspection robot, comprising a head shell, an inspection mechanism is arranged inside the head shell; the inspection mechanism includes a head shell connection seat, an illumination device and a front camera device, There are jaw rest movement drive mechanism, front and rear focus drive mechanism, left and right movement drive mechanism and spot horizontal rotation pupil alignment drive mechanism; the head shell connecting seat is connected to the inner wall of the head shell; the jaw rest movement drive mechanism is connected to There is a jaw support and can drive it up and down; the front camera device and lighting device are connected to the front and rear focus drive mechanism and left and right movement drive mechanism, and the front and rear focus drive mechanism and left and right movement drive mechanism can drive the front The camera device and the lighting device move back and forth and left and right, and the lighting device is also connected to the pupil-alignment drive mechanism for horizontal rotation of the light spot, and the horizontal rotation pupil-alignment drive mechanism of the light spot can drive the illumination device to rotate left and right along the horizontal plane.

Further, the lighting device includes a light source and a spot turntable, the light source illuminates through the spot turntable, and the spot turntable is driven to rotate by a motor.

Further, the connecting seat of the head shell is provided with a left-right linear movement base, and the left-right movement driving mechanism drives the left-right linear movement base to move left and right; the left-right linear movement base is provided with a forward and backward linear movement base, the front and rear focusing drive mechanism drives the front and rear linear movement base to move back and forth linearly on the left and right linear movement base; The front camera device is connected to the front and rear linear moving base.

Furthermore, the left and right motion driving mechanism includes a rotating motor, a rotating screw extending in the left and right directions, a thread sleeve sleeved on the rotating screw and threaded with it, and the output shaft of the rotating motor is connected to the rotating screw, the thread sleeve is fixed on the left and right linear moving base, and the rotating screw is rotatably connected to the connecting seat of the head shell.

Furthermore, the front and rear focus drive mechanism includes a drive motor, a drive screw extending in the front and rear directions, a drive nut sleeved on the drive screw and threadedly engaged with it, and the drive nut is connected to the front and rear linear movement base seat, the output shaft of the drive motor is connected to the drive screw, and the drive screw is rotatably connected to the left-right linear movement base.

Furthermore, the pupil-alignment driving mechanism for horizontal rotation of the spot includes a driving rotating motor, a driving rotating worm, and a left-right rotating worm gear, the output shaft of the driving motor is connected to the driving rotating worm, and the driving rotating worm is transmission-connected to the The left and right rotating worm gear is connected to the lighting device through transmission; the left and right rotating worm wheel is sleeved in a tooth box, and the tooth box is fixedly connected to the front and rear linear moving base.

Further, the movement driving mechanism of the jaw bracket includes a lifting motor, a lifting worm gear, a lifting worm, a lifting screw, and a lifting rod, and the jaw bracket is fixedly connected to the lifting rod; the lifting motor is drivingly connected to the lifting worm, The lifting worm drive is connected to the lifting worm gear, and the lifting worm gear is connected to the lifting screw and can drive it to rotate left and right; the lifting screw is sleeved in the lifting rod, and the inner wall of the lifting rod is provided with The threads matched with the lifting screw are matched with the threads of the lifting screw.

Further, the head housing is provided with an inspection window, and the jaw rest is located in the inspection window; the head housing is also provided with a refraction inspection component, which is mainly composed of a refraction inspection disc and an eye chart. The outer casing is provided with a refraction inspection observation hole corresponding to the refraction inspection disk, and the eye chart is located behind the refraction inspection disk.

Further, it also includes a left and right rotation drive mechanism that drives the head shell connection seat to rotate left and right, and a front and rear rotation drive mechanism that drives the head shell connection seat to rotate back and forth,

Further, the left and right rotation drive mechanism includes a rotary motor and a worm gearbox, the output shaft of the rotary motor is connected to the worm gearbox, and the output end of the worm gearbox is connected to the head shell The connecting seat can also drive it to rotate left and right.

Further, the front and rear rotation drive mechanism includes a front and rear drive motor, a nodding worm gear, a nodding worm, a screw, a front and rear moving bracket, and a nodding connection bracket; the output shaft of the front and rear driving motor is drivingly connected to the nodding worm, and the nodding worm The transmission is connected to the nodding worm gear and can drive it to rotate left and right; the screw is connected to the nodding worm gear through transmission, and can be rotated left and right under the drive of the nodding worm gear; the front and rear moving bracket is transmission connected to the screw, when the screw When turning left and right, it moves back and forth along the screw rod; the front and rear moving bracket is hingedly connected to the lower end of the nodding connection bracket, and the upper end of the nodding connection bracket is fixedly connected to the top of the head shell connecting seat.

The beneficial effects of the present invention are:

The present invention can replace experienced ophthalmologists to check visual acuity and diopter through eye charts and test lenses, and capture the outer eye (eye face, tears) organ, conjunctiva, eyeball position and movement, etc.) and a similar slit lamp microscope to examine images of the anterior segment of the eyeball (corneal fluorescein staining, transparency, anterior chamber depth, pupil shape and lens transparency), and the inspection results and symptoms of the subject can be visualized Send to experienced ophthalmologists or experts and professors for consultation through the Internet, and put forward further diagnosis and treatment opinions for the reference of the examinees, which can greatly reduce most of the common, mild eye diseases and chronic eye diseases. In this way, it is difficult to see eye diseases in large hospitals, and the problems of high-end ophthalmology resources occupied by minor eye diseases or chronic eye diseases are avoided.

There is no similar robot report in the domestic and foreign markets at present, and the present invention belongs to the first creation, and fills up the gap both at home and abroad.

Description of drawings

Fig. 1 is a schematic diagram of the external structure of an embodiment of the present invention;

Fig. 2 is the overall explosion schematic diagram of the embodiment of the present invention;

3 is a schematic diagram of the overall structure of the inspection mechanism in the embodiment of the present invention;

Fig. 4 is a structural schematic diagram of a left and right rotation drive mechanism in an embodiment of the present invention;

Fig. 5 is a combined schematic view of the left and right rotation drive mechanism in the embodiment of the present invention;

Fig. 6 is an exploded schematic diagram of the forward and backward rotation drive mechanism in the embodiment of the present invention;

Fig. 7 is a combined schematic diagram of the front and rear rotation drive mechanism in the embodiment of the present invention;

Fig. 8 is an exploded schematic view of the drive mechanism for left and right movement and the drive mechanism for front and rear focus in the embodiment of the present invention;

Fig. 9 is a combined schematic view of the drive mechanism for left and right movement and the drive mechanism for front and rear focus in the embodiment of the present invention;

Fig. 10 is an exploded schematic diagram of the driving mechanism for pupil horizontal rotation of the spot in the embodiment of the present invention;

Fig. 11 is an exploded schematic view of the imaging device in the embodiment of the present invention;

Fig. 12 is a schematic diagram of the combination of the illuminating device and the pupil-alignment drive mechanism of the horizontal rotation of the light spot in the embodiment of the present invention;

Fig. 13 is a schematic diagram of the specific structure of the lighting device in the embodiment of the present invention;

Fig. 14 is an exploded schematic view of the drive mechanism for jaw rest movement in an embodiment of the present invention;

Fig. 15 is a combined schematic diagram of the drive mechanism for jaw rest movement in the embodiment of the present invention;

Fig. 16 is an overall schematic diagram of the jaw rest movement drive mechanism checking the movement mechanism in the embodiment of the present invention;

Fig. 17 is an exploded schematic view of the refraction inspection disk in the embodiment of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. It should be noted that the following examples are based on the premise of this technical solution, and provide detailed implementation and specific operation process, but the protection scope of the present invention is not limited to the present invention. Example.

As shown in FIGS. 1-2 , an ophthalmic inspection robot includes a head shell 1 , a body shell 2 , a body support 3 and a chassis 4 , and the head shell 1 is movably connected to the body shell 2 .

As shown in Figure 3. The head shell 1 is provided with an inspection mechanism 5; the inspection mechanism includes a head shell connection seat 6, a left and right rotation drive mechanism 7 that drives the head shell connection seat 6 to rotate left and right, and drives the head shell connection seat 6 to rotate back and forth The front and rear rotation drive mechanism 8, the head shell connection seat 6 is provided with a jaw rest movement drive mechanism 8, a front and rear focus drive mechanism 9, a left and right movement drive mechanism 10 and a horizontal rotation of the light spot to the pupil drive mechanism 11; The shell connection seat 6 is connected to the inner wall of the head shell 1; the jaw rest movement drive mechanism 8 is connected with the jaw rest 12 and can drive the jaw rest 12 up and down; the front camera device 13 and the lighting device 67 are connected Based on the front and rear focus drive mechanism 9 and the left and right movement drive mechanism 10, it can move back and forth and left and right under the drive of the front and rear focus drive mechanism 9 and the left and right movement drive mechanism 10. The illumination device is also connected to the pupil-aligning driving mechanism 11 for horizontal rotation of the light spot, and can rotate left and right along the horizontal plane under the drive of the driving mechanism 11 for horizontal rotation of the spot.

Further, as shown in FIGS. 4-5 , the left and right turning mechanism 7 includes a rotary motor 14 and a worm gearbox 15 , and the output shaft of the rotary motor 14 is connected to the Worm gear gearbox 15, the output end of the worm gear gearbox 15 is connected to the head shell connecting seat 6 and can drive it to rotate left and right. In this embodiment, the left and right turning mechanism 7 is installed in the body shell, and the top of the body shell has an opening for the output end of the worm gearbox 15 to pass through, but the entire left and right turning mechanism 7 cannot pass through. . The output end of the worm gearbox 15 passes through the opening and then passes through the connecting plate 18 to connect with the head shell connecting seat 6 . When the rotating motor is started, its output shaft drives the worm gearbox, and the worm gearbox drives the connecting seat of the head shell to rotate left and right, thereby driving the head shell to rotate left and right.

In this embodiment, the bottom of the head shell connection seat 6 is provided with a limit switch touch portion 19, and the rotating motor 14 is electrically connected to the left and right rotation limit switch 20, when the head shell connection seat 6 rotates to the left and right When the position of the limit switch 20 is rotated, the limit switch touch portion 19 touches the left and right rotation limit switch 20, and the rotating motor stops running.

Further, as shown in Figures 6-7, the front and rear rotation drive mechanism includes a front and rear drive motor 21, a nodding worm gear 22, a nodding worm 23, a screw 24, a front and rear moving bracket 25 and a nodding connection bracket 26; the front and rear driving motor 21 The output shaft drive is connected to the nodding worm 23, and the nodding worm 23 is transmission connected to the nodding worm 22 and can drive it to rotate left and right; the screw 24 is transmission connected to the nodding worm 22, and in the nodding worm 22 It can be rotated left and right under the drive; the front and rear moving bracket 25 is transmission connected to the screw rod 24, and when the screw rod 24 rotates left and right, it moves back and forth along the screw rod 24; the front and rear moving bracket 25 is hingedly connected to the nodding connection bracket 26 The lower end of the nodding connection bracket 26 is fixedly connected to the top of the head shell connecting seat 6. In this embodiment, a transmission shaft 27 is provided on the upper part of the connecting seat of the head shell, and the upper end of the nodding connection bracket 26 is fixedly connected to the transmission shaft 27 .

After starting the front and rear driving motors, the nodding worm starts to rotate, and drives the nodding worm gear to start rotating. Driven by the nodding worm gear, the screw rotates together. The forward and backward moving bracket moves along the screw rod when the screw rod rotates. When the front and rear moving brackets move backward, the lower end of the nodding connection bracket generates a backward thrust, then the lower end of the nodding connection bracket rotates forward with the upper end as the fulcrum, thereby driving the head shell connecting seat and the head shell forward turn. When the front and rear moving brackets moved forward, the lower end of the nodding connection bracket produced forward propelling force, and the upper end of the nodding connection bracket rotated backwards as a fulcrum, thereby driving the head shell to rotate backwards. Thereby completing the nodding action of the robot head.

In this embodiment, the nodding worm gear 22 , nodding worm 23 , and screw 24 are all arranged in an outer shell, including a front shell 28 and a rear shell 29 , and the front and rear moving bracket 25 is directly embedded in the bracket cover 30 . In order to make the front and rear moving bracket 25 move more smoothly, there is also a linear guide rail 31 in this embodiment, and the linear guide rail passes through both sides of the front and rear moving bracket 25 .

In this embodiment, in order to limit the amplitude of nodding the head back and forth, a front and rear rotation limit switch 32 is provided on the head shell connecting seat 6 and at a position corresponding to the front of the nodding connection bracket 26. The rotation limit switch 32 is electrically connected with the front and rear drive motors 21. When the nodding connection bracket 26 rotates forward to a certain extent, it will touch the front and rear rotation limit switch 32, and the front and rear drive motors 21 operate in reverse until the head shell resets.

Further, the head shell connection seat 6 is provided with a left and right linear movement base 33, and the left and right movement driving mechanism drives the left and right linear movement base 33 to move linearly left and right; the left and right linear movement base 33 is provided with There is a forward and backward linear movement base 34, and the front and rear focusing drive mechanism drives the front and rear linear movement base 34 to move linearly forward and backward on the left and right linear movement base 33; On the front and rear linear movement base 34, the front camera device is fixed on the front and rear linear movement base 34, and the illumination device is connected to the pupil horizontally rotating driving mechanism 11 of the light spot and can rotate the pupil at the level of the light spot. The driving mechanism 11 is driven to rotate left and right along the horizontal plane.

When the left and right linear movement base moves left and right under the drive of the left and right movement drive mechanism, the front and rear linear movement base arranged on the left and right linear movement base, the light spot horizontal rotation and pupil alignment drive mechanism arranged on the front and rear linear movement base, are fixed on the The front camera device that moves the base linearly back and forth and the illumination device connected to the light spot horizontally rotating and pupil-aligning drive mechanism all move left and right together. When it is necessary to focus front and rear of the front camera, the front and rear focus drive mechanism drives the front and rear linear moving base to move back and forth in a straight line, and then the front camera, the horizontal rotation of the light spot and the pupil alignment drive mechanism and the lighting device move back and forth together. When it is necessary to take pictures from different angles, the light spot horizontally rotates to the pupil driving mechanism to drive the lighting device to rotate independently.

Furthermore, as shown in Figures 8-9, the left and right motion drive mechanism includes a rotating motor 35, a rotating screw 36 extending in the left and right directions, and a thread sleeve 37 sleeved on the rotating screw 36 and threaded with it. The output shaft of the rotating motor 35 is connected to the rotating screw 36 through a coupling 39 and a motor fixing sleeve 40, the wire sleeve 37 is fixed on the left and right linear moving base 33, and the rotating screw 36 can be moved through a bearing 38. It is rotatably connected to the connecting seat 6 of the head shell.

When it is necessary to adjust the left and right positions of the front camera device, turn on the rotating motor 35, and the rotating screw starts to rotate under the drive of the rotating motor, and the wire sleeve moves linearly from side to side along the screw rod, driving the connected left and right linear moving base Move left and right.

In this embodiment, a left and right limit switch 45 is provided at a position corresponding to the left and right linear movement base in the left and right direction of the head shell connecting seat 6, and the left and right limit switch 45 is electrically connected to the rotating motor 35 . When the left and right linear moving base moves to the left and right limit switches 45, it will contact with the left and right limit switches 45. In addition, in order to move the base in a straight line left and right to run more smoothly, two left and right moving guide rails 46 parallel to the rotating screw 36 are also provided in this embodiment, and the two ends of the left and right moving guide rails 46 are fixed on the head. External shell connection seat 6, and move the base through the left and right straight lines.

Further, the front and rear focusing drive mechanism includes a drive motor 41, a drive screw 42 extending in the front and rear direction, a drive nut 43 sleeved on the drive screw 42 and threadedly engaged with it, and the drive nut 43 is connected to the The forward and backward linear movement base 34 , the output shaft of the drive motor 41 is connected to the drive screw 42 through a coupling 44 , and the drive screw 42 is rotatably connected to the left and right linear movement base 33 . In this embodiment, as shown in FIG. 11 , the front camera device 13 includes a housing, a camera 132 and an LED lighting 133, the housing includes a front housing 131 and a rear housing 132, and the camera 132 and the LED lighting 133 accommodate Inside the casing, the front casing 131 is preset with a camera hole.

When it is necessary to focus front and rear of the front camera device, start the drive motor, the drive screw starts to rotate under the drive of the drive motor, the drive nut moves linearly along the drive screw, and drives the front and rear linear movement base connected to it Move, so that the lighting device and the front camera device move linearly back and forth together.

In this embodiment, in order to limit the range of movement of the front and rear linear movement base, front and rear limit switches 47 are provided on the head shell connecting seat and in front of the front and rear linear movement base. The front and rear limit switches 47 are electrically Connected to the driving motor 41. When the front and rear linear moving base moves to the front and rear limit switch 47, it will touch the front and rear limit switch 47, so that the driving motor 41 stops running. In addition, in order to make the operation of the forward and backward linear moving base more stable, a forward and backward moving guide rail 48 is also provided in this embodiment. Move the base in a straight line.

Furthermore, as shown in FIG. 10 , the pupil-alignment drive mechanism for horizontal rotation of the spot includes a drive rotation motor 50, a drive rotation worm 51, and a left and right rotation worm wheel 52, and the output shaft of the drive rotation motor 50 is connected to the drive rotation motor 50. The worm 51 , the driving rotating worm 51 is transmission connected to the left and right rotating worm gear 52 , and the left and right rotating worm gear 52 is connected to the lighting device 67 . In this embodiment, as shown in FIGS. 10 and 12 , the lighting device 67 is mounted on a right-angle bracket 68 , and the straight bracket 68 is connected to the left and right rotating turbines 52 through transmission. The left and right rotating worm gear 52 is sleeved in a tooth box 53 , and the tooth box 53 is fixedly connected to the front and rear linear moving base 34 . In this embodiment, in order to limit the rotation range of the lighting device, a rotation limit switch 54 is provided on the forward and backward linear movement base and is electrically connected to the driving rotation motor 50. When the lighting device rotates until it touches the rotating limit switch 54, then drive the rotary motor 50 to stop.

When it is necessary to rotate the lighting device to provide a light source for photography from different angles, start the driving rotating motor, and under the driving of the driving rotating motor, drive the rotating worm to rotate and drive the left and right rotating worm gear to rotate left and right, thereby driving The lighting device 67 rotates.

As shown in Figure 13, the illuminating device 67 includes a light source housing (including a front housing 671 and a rear housing 678), and an LED light source 672 and a projection lens group 673 are sequentially arranged in the light source housing 671 from bottom to top; A support frame 674 is provided at the rear of the housing 671 , and a rotatable light spot turntable 675 is arranged inside the support frame 674 , which is driven to rotate by a motor 676 . A number of spot holes are arranged on the spot turntable, and there is always a spot hole located between the projection lens group and the LED light source. The LED light source passes through the spot hole, and projects from the top of the light source housing 671 under the projection of the projection lens group come out to provide the required light source for the front-facing camera device to capture the image of the subject's eyeball. In this embodiment, various light spots such as dots, thin light strips, rough light strips, and multiple thin light strips can be projected through the rotation of the light spot turntable to meet different inspection needs.

In this embodiment, the light source housing 671, the LED light source 672, the projection lens set 673, the motor 676, the supporting frame 674, the spot turntable 675, etc. There are mirrors 70. In addition, a spot turntable rotation limit switch 677 is electrically connected to the motor 676. When the spot turntable rotates to a set range, it will touch the spot turntable rotation limit switch 677, and the motor 676 will stop running.

Further, as shown in Figures 14-15, the jaw rest movement drive mechanism includes a lift motor 55, a lift worm gear 56, a lift worm 57, a lift screw 59, and a lift rod 58, and the jaw rest 12 is fixedly connected to the lift The top of the rod 58; the lifting motor 55 is driven and connected to the lifting worm 57 through a coupling 62, the lifting worm 57 is drivingly connected to the lifting worm 56, and the lifting worm 56 is drivingly connected to the lifting screw 59 and can drive it to rotate left and right; the lifting screw 59 is sleeved in the lifting rod 58, and the inner wall of the lifting rod 58 is provided with a thread that matches the lifting screw 59, and is threaded with the lifting screw 59 Cooperate. The lifting worm gear is sleeved in a casing 63 , and the bottom of the casing is closed by a bottom cover 71 . The shell is fixed on the head shell connecting seat 6 , and the lifting worm 57 is rotatably connected to the head shell connecting seat 6 through a bearing 64 .

When the height of the jaw support needs to be adjusted, the lifting motor is started, and the lifting worm is driven by the lifting motor to rotate, thereby driving the lifting worm wheel to rotate. Driven by the lifting worm gear, the lifting screw begins to rotate, and the lifting rod moves up and down along the lifting rod, finally realizing the height adjustment of the jaw support.

In this embodiment, a base 60 is provided at the bottom of the elevating rod 58, and a lifting limit switch 61 is provided on the head shell connecting seat 6 and below the base 60, and the lifting limit switch is electrically Connected to the lifting motor, when the base descends to the lifting limit switch along with the lifting rod, it will contact with it, and the lifting motor stops running. In addition, in order to make the elevating rod run smoothly, this embodiment also provides an elevating guide rail 65 , the two ends of the elevating guide rail are respectively connected to the connecting seat 6 of the head shell, and pass through the base 60 through a linear bearing 66 .

In this embodiment, the head shell 1 includes a head front shell 101 and a head rear shell 102. The head shell 1 is also provided with a head inner shell, which includes a head front inner shell 103 and a head shell. The rear inner shell 104. The head front shell 101 and the head front inner shell 103 are correspondingly provided with an inspection window 105 through which the inside of the head inner shell can be seen. The jaw rest 12 is located in the inspection window 105 . When it is necessary to be examined, the examinee embeds the head in the inspection window 105, places the lower jaw on the jaw rest, and adjusts the position through the movement driving mechanism of the jaw rest. The forehead fixing band 106 can be used to fix the head if necessary.

The head shell is also provided with a refraction inspection assembly, which is mainly composed of a refraction inspection disc 108 and an eye chart 110 . One side of the head front shell 101 is provided with an observation window, the front of the head front inner shell 103 is provided with a refraction inspection observation hole 107 corresponding to the position of the observation window, and the refraction inspection disc 108 is provided with On the back of the front inner shell 103 of the head, it corresponds to the observation hole 107 for refraction examination. The viewing window is provided with a matching cover 112 . In order to observe the currently captured image conveniently, a display screen 113 is also provided on the head shell, which is connected to the front camera device. As shown in FIG. 17 , the refraction inspection disc 108 includes a lens turntable 1081 , and a plurality of lens holes 1082 are arranged on the lens turntable, and lenses 1083 of different degrees are embedded in each lens hole. The lens turntable is rotatably mounted on the turntable frame 1084 . In this embodiment, the lens turntable is driven by a motor 1086 and the rotation range is limited by a limit switch 1085 .

The distance between the refraction examination disk and the eye chart is 33mm {33cm eye chart}. When the eyes have refractive errors (myopia, hyperopia, etc.), you can know the approximate degree of the eye by looking at the eye chart with different degrees of lenses on the refraction examination disk. For example, a normal person can see an optotype of 1.2 without using lenses, and a person with myopia may use -2.0 or other degrees to see an optotype of 1.2. Rotating the lens turntable can rotate the lenses of different degrees to the positions corresponding to the refraction inspection observation holes.

In this embodiment, a number of guiding mechanisms and eye position analysis cameras 109 can also be set on the back inner shell of the head, through which the eyes can be guided to look in various directions, and images for eye position analysis can be taken by the eye position analysis cameras 109 . The eye position analysis camera 109 can also be connected to the display screen 113 to display the currently captured eye position analysis image on the display screen 113 in real time.

In this embodiment, in order to realize the real-time transmission of the images taken by the front camera device and the eye position analysis camera to the party who needs data, such as the examinee and the ophthalmologist, a communication control system 111 is also set up, and the front camera device The eye position analysis camera is connected to the communication control system 111, and the image taken by the communication control system 111 is sent to each party in need of data via the Internet in real time. In order to facilitate the movement of the robot, the chassis 4 is provided with a steering motor 401, which is driven and connected to the roller 402. After starting the steering motor 401, the roller 402 starts to rotate, the robot starts to move, and the rear driven wheel 403 also rolls thereupon.

In practical application, the above-mentioned ophthalmic inspection robot can be controlled by non-ophthalmologists, and multiple high-definition enlarged images of the outer eye and anterior segment structure can be formed by the robot, which can be transmitted to the examinee and the remote control cloud platform in real time through the Internet. The image data can be screened, analyzed and processed by the platform computer or professionals, and the processed images can be transmitted to the mobile app of the examinee and the remote consulting doctor in time. The examinee can view the high-definition examination images of his own eyes by scanning the registration number (before the examination) obtained by scanning the QR code. And you can pay to choose ophthalmology experts in cities across the country for consultation on the app. Ophthalmology experts can also pass the consultation opinions to the patient's APP within 1 to 2 days after remote consultation through the expert consultation mobile website built on the platform to complete professional judgments and suggestions. The cloud platform can also automatically record and back up the scanned information (WeChat ID, preliminary analysis and processing photos of the examinee, the examinee's choice of doctor, consultation fees and opinions), and settle the bill with the doctor to realize cheap paid services.

This robot enables patients with the above-mentioned eye diseases to complete routine eye examinations similar to outpatient clinics of large hospitals for free at community optical shops, pharmacies, eye care rehabilitation centers or grass-roots community hospitals, and obtain first-time diagnosis and suggestions from platform image processing software. And through the App (a small amount of payment), you can choose your favorite city, province and national ophthalmology experts for consultation, and get further inspection and treatment opinions.

For those skilled in the art, various corresponding changes and modifications can be made according to the above technical solutions and concepts, and all these changes and modifications should be included in the protection scope of the claims of the present invention.

Claims (11)

1. a kind of eye examination robot, including head shell, it is characterised in that be provided with inspection body in the head shell； The inspection body includes head shell connecting seat, lighting device and preposition camera device, is set on the head shell connecting seat There are jaw support motion driving mechanism, front and rear focusing drive mechanism, side-to-side movement drive mechanism and hot spot to rotate horizontally to pupil driving machine Structure；The head shell connecting seat is connected to the inwall of the head shell；The jaw support motion driving mechanism is connected with jaw support And its oscilaltion can be driven；The preposition camera device and lighting device are all connected to the front and rear focusing drive mechanism and a left side Right motion driving mechanism, the front and rear focusing drive mechanism and side-to-side movement drive mechanism can drive the preposition camera device with Lighting device is movable and moves left and right, and the lighting device is also attached to the hot spot and rotated horizontally to pupil drive mechanism, The hot spot, which rotates horizontally, can drive the lighting device to pupil drive mechanism along horizontal plane left rotation and right rotation.

2. eye examination robot according to claim 1, it is characterised in that the lighting device includes light source and hot spot Rotating disk, the light source irradiate through the hot spot rotating disk, and the hot spot rotating disk is by motor-driven rotation.

3. eye examination robot according to claim 1, it is characterised in that the head shell connecting seat is provided with a left side Right rectilinear movement pedestal, the side-to-side movement drive mechanism driving left and right rectilinear movement pedestal or so rectilinear movement；It is described Left and right rectilinear movement pedestal is provided with tandem mobile foundation, and the front and rear focusing drive mechanism drives the tandem to move Moving base front and rear rectilinear movement on the left and right rectilinear movement pedestal；The hot spot rotates horizontally and is located at institute to pupil drive mechanism State on tandem mobile foundation, the preposition camera device is connected to the tandem mobile foundation.

4. eye examination robot according to claim 3, it is characterised in that the side-to-side movement drive mechanism includes turning Dynamic motor, the rotation screw rod extended in left-right direction, the silk braid coordinated on the rotation screw rod and with its screw thread is socketed in, it is described The output shaft of rotary electric machine is connected to the rotation screw rod, and the silk braid is fixed on the left and right rectilinear movement pedestal, described turn Dynamic screw rod is rotatably connected at the head shell connecting seat.

5. eye examination robot according to claim 3, it is characterised in that the front and rear focusing drive mechanism includes driving Dynamic motor, the drive screw extended along the longitudinal direction, the drive nut for being socketed in the drive screw and coordinating with its screw thread, The drive nut is connected to the tandem mobile foundation, and the output shaft of the motor is connected to the driving spiral shell Bar, the drive screw are rotatably connected at the left and right rectilinear movement pedestal.

6. eye examination robot according to claim 3, it is characterised in that the hot spot is rotated horizontally to pupil driving machine Structure includes driving electric rotating machine, driving rotary worm, left rotation and right rotation worm gear, and the output shaft of the motor is connected to the drive Dynamic rotary worm, the driving rotary worm is connected to be connected in the left rotation and right rotation turbine, the left rotation and right rotation worm gear drive It is connected to lighting device；The left rotation and right rotation worm gear is socketed in a tooth case, and the tooth case is fixedly connected on the tandem and moved Moving base.

7. eye examination robot according to claim 1, it is characterised in that the jaw support motion driving mechanism includes rising Motor, lifting worm gear, elevating endless screw, lifting screw, elevating lever drop, and the jaw support is fixedly connected on the elevating lever；The liter Motor drive connection drops in the elevating endless screw, and the elevating endless screw is connected in the lifting worm gear, the lifting worm gear It is connected in the lifting screw and its left-right rotation can be driven；The lifting screw is socketed in the elevating lever, described Elevating lever inwall is provided with the screw thread to match with the lifting screw, and coordinates with the lifting screw screw thread.

8. eye examination robot according to claim 1, it is characterised in that the head shell, which is provided with, checks form, The jaw restitope is in inspection form；The head shell is additionally provided with examination of refraction component, its mainly by examination of refraction disk and Visual chart forms, and the head shell is provided with examination of refraction peep hole corresponding with the examination of refraction disk, the eyesight epitope In the rear of the examination of refraction disk.

9. eye examination robot according to claim 1, it is characterised in that also include and drive head shell connecting seat The left-right rotation drive mechanism of left-right rotation, and drive the front and rear front and rear rotating drive mechanism rotated of head shell connecting seat.

10. eye examination robot according to claim 9, it is characterised in that the left-right rotation drive mechanism includes Electric rotating machine, worm and gear gearbox, the output shaft of the electric rotating machine are connected to the worm and gear gearbox, the worm gear The output end of worm screw gearbox is connected to the head shell connecting seat and can drive its left-right rotation.

11. eye examination robot according to claim 1, it is characterised in that the front and rear rotating drive mechanism includes Front and rear motor, worm gear of nodding, the worm screw that nods, screw rod, movable support and connecting bracket of nodding；The front and rear driving electricity For the output shaft drive connection of machine in the worm screw that nods, the worm-drive of nodding, which is connected to described nod, worm gear and can drive it Left-right rotation；The screw drive is connected to the worm gear of nodding, and can make left-right rotation under the drive for worm gear of nodding；Before described After move support and be connected in the screw rod, when screw rod left-right rotation, it is moved forward and backward along screw rod；It is described movable Support is articulated and connected then is fixedly connected on the head in the lower end of the connecting bracket of nodding, the upper end of the connecting bracket of nodding The top of portion's cage connection seat.