CN207444924U - A kind of miniature gastrointestinal robot - Google Patents
A kind of miniature gastrointestinal robot Download PDFInfo
- Publication number
- CN207444924U CN207444924U CN201720454318.6U CN201720454318U CN207444924U CN 207444924 U CN207444924 U CN 207444924U CN 201720454318 U CN201720454318 U CN 201720454318U CN 207444924 U CN207444924 U CN 207444924U
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- Prior art keywords
- clamper
- clamping mechanism
- electromagnet
- housing
- energy
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Abstract
The utility model discloses a kind of miniature gastrointestinal robot, including housing, preceding clamping mechanism, rear clamping mechanism, internal energy reception system, preceding electromagnet, rear electromagnet, internal control system and external energy emission system；The front end of the endoporus of preceding clamping mechanism and housing is slidably connected；Clamping mechanism is fixed on the rear end portion of housing afterwards；Internal energy reception system, preceding electromagnet, rear electromagnet and internal control system are arranged in the endoporus of housing；Preceding electromagnet and rear electromagnet are separately fixed on preceding clamping mechanism and rear clamping mechanism；The energy acceptance coil of internal energy reception system is connected in series with rear magnet spool；Internal control system is preceding clamping mechanism, rear clamping mechanism and preceding electromagnet are powered；External energy emission system forms wireless energy supply system with internal energy reception system.The utility model has the advantage in size compared to the capsule robot of other forms, and it is 16mm that length, which only has 40mm, diameter maximum,.
Description
Technical field
The utility model is related to a kind of miniature gastrointestinal robots.
Background technology
Now allegro live causes the diet of people not have rule, and enterogastric diseases, which slowly become, influences health
One of principal disease.By visiting and investigating on the spot, mainly adopted for the inspection of gastrointestinal system in various big hospital at present
It is traditional pusher endoscope.Limited by the structure, when checking, there are blind areas.The method can give patient when checking
Larger pain is brought, many patients is caused to be unwilling that examination in hospital misses optimal treatment time.In addition endoscope is grasped
It is also higher to make the requirement got up to doctor.
Some hospitals also use the robot of capsule-type.Patient relies on the wriggling of stomach that robot is made to advance after swallowing.
The problem of movement of robot is passive, and the method is maximum is there is a situation where missing inspection, the photo value finally shot
Less.Inspection repeatedly can not be carried out to a certain position, is unfavorable for the analysis of doctor.It uses button cell to power, and there are electricity
The problem of pond not enough power supply, can not complete entire checking process.Some are designed using towing line type, solve the problems, such as power supply still
There is new trouble.Such as：Reduce the flexibility ratio of robot, when turning easily brings injury to enteron aisle, and being brought to patient need not
The pain wanted.
At present, gastrointestinal robot in the market, work efficiency be not high.It cannot comprehensively check the gastrointestinal tract of patient, add
Its upper expensive price makes many people hang back.
Utility model content
The purpose of this utility model is to provide a kind of work efficiency height, miniature gastrointestinal robot at low cost.
Realizing the technical solution of the utility model aim is：A kind of miniature gastrointestinal robot, including housing, preceding clamper machine
Structure, rear clamping mechanism, internal energy reception system, preceding electromagnet, rear electromagnet, internal control system and external energy transmitting system
System；The housing is equipped with axial endoporus, and endoporus is open on the front/rear end of housing；The preceding clamping mechanism and housing it is interior
The front end in hole is slidably connected；Clamping mechanism is fixed on the rear end portion of housing after described；The front end of the preceding clamping mechanism is equipped with
Camera and headlamp；The preceding clamping mechanism and rear clamping mechanism are designed with can be to the clamper pawl that both sides extend and retract；
The internal energy reception system, preceding electromagnet, rear electromagnet and internal control system are arranged in the endoporus of housing；It is described
Preceding electromagnet and rear electromagnet are separately fixed on preceding clamping mechanism and rear clamping mechanism；The internal energy reception system includes
Energy acceptance coil and the rectification circuit being electrically connected with energy acceptance coil；The energy of the internal energy reception system connects
Take-up circle is connected in series with rear magnet spool；The rectification circuit is electrically connected with internal control system, internal control system
It powers for preceding clamping mechanism, rear clamping mechanism and preceding electromagnet；The external energy emission system and internal energy reception system
Form wireless energy supply system；It is equipped in clamping mechanism after described and joins with the control device wireless communication of external energy emission system
The wireless signal transceiver for connecing and being electrically connected with internal control system.
The outer circumferential surface of the housing is evenly distributed with four grooves vertically, and the length direction of groove and the axial direction of housing are put down
Row.
The preceding clamping mechanism includes sliding seat, preceding clamper motor, preceding rack positioning plate, front gear, preceding clamper pawl and preceding
End cap；The front end of the rear end portion of the sliding seat and the endoporus of housing is slidably connected, and is fixedly connected with preceding electromagnet；Before described
Clamper motor is fixed between the front end face of sliding seat and the rear end face of preceding rack positioning plate, and the output shaft of preceding clamper motor passes through
Preceding rack positioning plate is fixedly connected with front gear；The front end face of the preceding rack positioning plate is equipped with prelocalization sliding slot；The nipper
Wheel and preceding clamper pawl are arranged in prelocalization sliding slot；The preceding clamper pawl is equipped with two, and preceding clamper pawl one side is equipped with grinding tooth, preceding
One end of clamper pawl is equipped with circular clamper foot；Two preceding clamper pawls engage respectively with the both sides of front gear, and respectively with it is preceding
The two side of positioning runner is slidably connected；The circular clamper foot of two preceding clamper pawls is located at the both ends of prelocalization sliding slot respectively
It is external；Before the drive end bearing bracket is fixed on the front end face of rack positioning plate, drive end bearing bracket is equipped with camera and headlamp.
Clamping mechanism includes rear clamper motor, rear rack positioning plate, backgear, rear clamper pawl and rear end cap after described；Institute
Rear rack positioning plate front end face is stated to be fixedly connected with the rear end portion of housing；Clamper motor is fixed on rear rack positioning plate after described
On front end face, and in the endoporus of housing；The energy acceptance coil encircling of the internal energy reception system is in rear clamper electricity
Outside machine；Electromagnet is fixed on rear clamper motor after described；The output shaft of clamper motor passes through rear rack positioning plate after described
It is fixedly connected with backgear；The rear end face of rack positioning plate is equipped with rear positioning runner after described；The backgear and rear clamper pawl
It is arranged in rear positioning runner；Clamper pawl is equipped with two after described, and rear clamper pawl one side is equipped with grinding tooth, one end of rear clamper pawl
Equipped with circular clamper foot；Clamper pawl engages respectively with back-geared both sides after described two, and two with rear positioning runner respectively
Side walls connect；The circular clamper foot of clamper pawl is located at outside the both ends of rear positioning runner respectively after described two；After described
End cap is fixed on rear rack positioning plate rear end face；The wireless signal transceiver is mounted in rear end cap.
The energy acceptance coil of the internal energy reception system is an entirety with rear magnet spool.
The external energy emission system includes energy transmitting coil, control device and fixing device；The energy transmitting
Coil and control device are respectively mounted on the securing means, and energy transmitting coil is electrically connected with control device；The fixing device is consolidated
It is scheduled on detected person；The wireless signal transceiver and the control device wireless communication of external energy emission system join
It connects.
Above-mentioned technical proposal is employed, the utility model has following advantageous effect：(1) the utility model is based on electromagnetism
Iron homopolarity attracts each other, heteropolar mutually exclusive principle, and since the technique of manufacture tiny electromagnet is relatively easy, installation is small
Electromagnet can greatly reduce the volume of robot, compared to other forms capsule robot have size on advantage, length
Only 40mm, diameter maximum are 16mm.
(2) the utility model, which employs wireless energy supply technology, makes it be free to mobile and position, to enteron aisle lesion position
Put the observation that can be carried out repeatedly.
(3) manufacture of the utility model is at low cost, and the repulsion, attraction phenomenon between electromagnet are apparent, can realize and stablize, is high
The gastrointestinal examination of efficiency.
(4) outer circumferential surface of the housing of the utility model is evenly distributed with four grooves vertically, among the process of movement
The frictional force with enteron aisle can be reduced, can effectively reduce the sense of discomfort of patient.
(5) the clamper pawl of the preceding clamping mechanism of the utility model and rear clamping mechanism sets circular clamper foot, can avoid
Injury is brought to gastrointestinal tract, further reduces the sense of discomfort of patient.
Description of the drawings
In order to which the content for making the utility model is easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail the utility model, wherein
Fig. 1 is the exploded perspective view of the utility model.
Fig. 2 is the structure diagram of the utility model, is not shown in figure external energy emission system.
Fig. 3 is the structure diagram of the housing of the utility model.
Fig. 4 is the structure diagram of the preceding clamping mechanism of the utility model, is not shown in figure drive end bearing bracket.
Fig. 5 is the structure diagram of the rear clamping mechanism of the utility model, is not shown in figure rear end cap.
In attached drawing marked as：
Housing 1, endoporus 11, groove 12, preceding clamping mechanism 2, sliding seat 21, preceding clamper motor 22, preceding rack positioning plate 23,
Front gear 24, preceding clamper pawl 25, drive end bearing bracket 26, rear clamping mechanism 3, rear rack positioning plate 31, backgear 32, rear clamper pawl 33,
Rear end cap 34, internal energy reception system 4, preceding electromagnet 5, rear electromagnet 6, external energy emission system 7.
Specific embodiment
(embodiment 1)
See Fig. 1 to Fig. 5, the miniature gastrointestinal robot of the present embodiment, including housing 1, preceding clamping mechanism 2, rear clamper machine
Structure 3, internal energy reception system 4, preceding electromagnet 5, rear electromagnet 6, internal control system and external energy emission system 7.
The outer circumferential surface of housing 1 is evenly distributed with four grooves 12, the length direction of groove 12 and the axial direction of housing 1 vertically
It is parallel.Housing 1 is equipped with axial endoporus 11, and endoporus 11 is open on the front/rear end of housing 1.Preceding clamping mechanism 2 and housing 1
The front end of endoporus 11 is slidably connected.Clamping mechanism 3 is fixed on the rear end portion of housing 1 afterwards.The front end of preceding clamping mechanism 2 is equipped with and takes the photograph
As head and headlamp.Preceding clamping mechanism 2 and rear clamping mechanism 3 are designed with can be to the clamper pawl that both sides extend and retract.It is internal
Energy acceptance system 4, preceding electromagnet 5, rear electromagnet 6 and internal control system are arranged in the endoporus 11 of housing 1.Preceding electromagnetism
Iron 5 and rear electromagnet 6 are separately fixed on preceding clamping mechanism 2 and rear clamping mechanism 3.Internal energy reception system 4 includes energy
Receiving coil and the rectification circuit being electrically connected with energy acceptance coil.The energy acceptance coil of internal energy reception system 4 with
The coil of electromagnet 6 is connected in series afterwards, and preferably the coil of energy acceptance coil and rear electromagnet 6 is an entirety.
Rectification circuit is electrically connected with internal control system, and internal control system is preceding clamping mechanism 2, rear clamping mechanism 3 and preceding electromagnet 5
Power supply.External energy emission system 7 forms wireless energy supply system with internal energy reception system 4.It is equipped with afterwards in clamping mechanism 3
The wireless signal for coupling with the control device wireless communication of external energy emission system 7 and being electrically connected with internal control system is received
Transmitting apparatus.
Preceding clamping mechanism 2 includes sliding seat 21, preceding clamper motor 22, preceding rack positioning plate 23, front gear 24, preceding clamper pawl
25 and drive end bearing bracket 26.The rear end portion of sliding seat 21 and the front end of the endoporus 11 of housing 1 are slidably connected, and are fixed with preceding electromagnet 5
Connection.Preceding clamper motor 22 is fixed between the front end face of sliding seat 21 and the rear end face of preceding rack positioning plate 23, preceding clamper electricity
The output shaft of machine 22 is fixedly connected through preceding rack positioning plate 23 with front gear 24.Before the front end face of preceding rack positioning plate 23 is equipped with
Positioning runner.Front gear 24 and preceding clamper pawl 25 are arranged in prelocalization sliding slot.Preceding clamper pawl 25 is equipped with two, preceding clamper pawl
25 one sides are equipped with grinding tooth, and one end of preceding clamper pawl 25 is equipped with circular clamper foot.Two preceding clamper pawls 25 respectively with front gear 24
Both sides are engaged, and the two side with prelocalization sliding slot is slidably connected respectively.The circular clamper foot difference position of two preceding clamper pawls 25
Outside the both ends of prelocalization sliding slot.Before drive end bearing bracket 26 is fixed on the front end face of rack positioning plate 23, drive end bearing bracket 26 is equipped with
Camera and headlamp.
Clamping mechanism 3 includes rear clamper motor, rear rack positioning plate 31, backgear 32, rear clamper pawl 33 and rear end cap afterwards
34.31 front end face of rack positioning plate is fixedly connected with the rear end portion of housing 1 afterwards.Clamper motor is fixed on rear rack positioning plate 31 afterwards
Front end face on, and positioned at housing 1 endoporus 11 in.The energy acceptance coil encircling of internal energy reception system 4 is in rear clamper
Outside motor.Electromagnet 6 is fixed on rear clamper motor afterwards.The output shaft of clamper motor passes through rear rack positioning plate 31 with after afterwards
Gear 32 is fixedly connected.The rear end face of rack positioning plate 31 is equipped with rear positioning runner afterwards.Backgear 32 and rear clamper pawl 33 are all provided with
It puts in rear positioning runner.Clamper pawl 33 is equipped with two afterwards, and rear 33 one side of clamper pawl is equipped with grinding tooth, and one end of rear clamper pawl 33 is set
There is circular clamper foot.Both sides of the clamper pawl 33 respectively with backgear 32 are engaged after two, and the both sides with rear positioning runner respectively
Wall is slidably connected.The circular clamper foot of clamper pawl 33 is located at outside the both ends of rear positioning runner respectively after two.Rear end cap 34 is solid
It is scheduled on rear 31 rear end face of rack positioning plate.Wireless signal transceiver is mounted in rear end cap 34.
External energy emission system 7 includes energy transmitting coil, control device and fixing device.Energy transmitting coil and control
Device processed is respectively mounted on the securing means, and energy transmitting coil is electrically connected with control device.Fixing device is fixed on detected person
With.Wireless signal transceiver couples with the control device wireless communication of external energy emission system 7.
The operation principle of the miniature gastrointestinal robot of the present embodiment is：The energy acceptance line of internal energy reception system 4
The coil of circle and rear electromagnet 6 is an entirety, and energy can directly be carried by the energy transmitting coil of external energy emission system 7
For, therefore the constant magnetic direction of its current direction is fixed.And the electric current of preceding electromagnet 5 comes from internal control system, electric current
Direction is determined by internal control system, that is to say, that its magnetic direction can freely change.It is mutual using electromagnet homopolarity
Attract, heteropolar mutually exclusive principle, then the clamper pawl of preceding clamping mechanism 2 and rear clamping mechanism 3 coordinated to extend and retract, you can
Realize walking of the miniature gastrointestinal robot of the present embodiment in human gastrointestinal tract.It is set on the drive end bearing bracket 26 of preceding clamping mechanism 2
There are camera and headlamp, for gathering the image in enteron aisle, the analysis of doctor is facilitated to propose rational therapeutic scheme.
There are six gaits altogether when walking for the miniature gastrointestinal robot of the present embodiment：
Gait one：Robot is resident, the preceding clamper motor 22 of preceding clamping mechanism 2 and the rear clamper motor of rear clamping mechanism 3
It rotating in the forward direction and respectively preceding clamper pawl 25 and rear clamper pawl 33 is driven to stretch out, preceding clamping mechanism 2 and rear clamping mechanism 3 are opened, this
When frictional force it is maximum.
Gait two：The preceding clamper motor 22 of preceding clamping mechanism 2 reversely rotates, and preceding clamping mechanism 2 is closed, then clamping mechanism
3 still in opening state, and robot still rests on original place and is ready to stride.
Gait three：Before preceding electromagnet 5 and rear 6 mutually exclusive drive of electromagnet clamping mechanism 2 move forward complete one across
Step.
Gait four：The preceding clamper motor 22 of preceding clamping mechanism 2 rotates in the forward direction, and preceding clamping mechanism 2 is opened, and makes preceding clamping mechanism
2 rest on new position, and frictional force at this time is also maximum；
Gait five：The rear clamper motor of clamping mechanism 3 reversely rotates afterwards, and rear clamping mechanism 3 is closed, and is housing 1 and forceps major
Position mechanism 3 is ready forward；
Gait six：Preceding electromagnet 5 is attracted with rear electromagnet 6, housing 1 and rear clamping mechanism 3 is driven forward, so as to complete one
A forward movement of step pitch.Robot so move in circles just constantly forward, otherwise robot is just backward.
Particular embodiments described above has carried out into one the purpose of this utility model, technical solution and advantageous effect
Step is described in detail, it should be understood that the foregoing is merely specific embodiment of the utility model, is not limited to this
Utility model, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done should all wrap
It is contained within the scope of protection of the utility model.
Claims (6)
1. a kind of miniature gastrointestinal robot, it is characterised in that：Including housing (1), preceding clamping mechanism (2), rear clamping mechanism
(3), internal energy reception system (4), preceding electromagnet (5), rear electromagnet (6), internal control system and external energy transmitting system
It unites (7)；The housing (1) is equipped with axial endoporus (11), and endoporus (11) is open on the front/rear end of housing (1)；Before described
Clamping mechanism (2) and the front end of the endoporus (11) of housing (1) are slidably connected；Clamping mechanism (3) is fixed on housing (1) after described
Rear end portion；The front end of the preceding clamping mechanism (2) is equipped with camera and headlamp；The preceding clamping mechanism (2) and rear clamper
Mechanism (3) is designed with can be to the clamper pawl that both sides extend and retract；The internal energy reception system (4), preceding electromagnet
(5), rear electromagnet (6) and internal control system are arranged in the endoporus (11) of housing (1)；The preceding electromagnet (5) and after
Electromagnet (6) is separately fixed on preceding clamping mechanism (2) and rear clamping mechanism (3)；The internal energy reception system (4) includes
Energy acceptance coil and the rectification circuit being electrically connected with energy acceptance coil；The energy of the internal energy reception system (4)
Receiving coil and the coil of rear electromagnet (6) are connected in series；The rectification circuit is electrically connected with internal control system, internal control
System is preceding clamping mechanism (2), rear clamping mechanism (3) and preceding electromagnet (5) are powered；The external energy emission system (7) with
Internal energy reception system (4) forms wireless energy supply system；It is equipped with to emit with external energy in clamping mechanism (3) after described and is
The wireless signal transceiver that the control device wireless communication of system (7) couples and is electrically connected with internal control system.
2. a kind of miniature gastrointestinal robot according to claim 1, it is characterised in that：The outer circumferential surface of the housing (1)
Four grooves (12) are evenly distributed with vertically, and the length direction of groove (12) is parallel with the axial direction of housing (1).
3. a kind of miniature gastrointestinal robot according to claim 1, it is characterised in that：Preceding clamping mechanism (2) bag
Include sliding seat (21), preceding clamper motor (22), preceding rack positioning plate (23), front gear (24), preceding clamper pawl (25) and drive end bearing bracket
(26)；The rear end portion of the sliding seat (21) and the front end of the endoporus (11) of housing (1) are slidably connected, and with preceding electromagnet (5)
It is fixedly connected；The preceding clamper motor (22) is fixed on the front end face of sliding seat (21) and the rear end face of preceding rack positioning plate (23)
Between, the output shaft of preceding clamper motor (22) is fixedly connected through preceding rack positioning plate (23) with front gear (24)；The nipper
The front end face of positioning plate (23) is equipped with prelocalization sliding slot；The front gear (24) and preceding clamper pawl (25) are arranged at prelocalization
In sliding slot；The preceding clamper pawl (25) is equipped with two, and preceding clamper pawl (25) one side is equipped with grinding tooth, and one end of preceding clamper pawl (25) is set
There is circular clamper foot；Both sides of the two preceding clamper pawls (25) respectively with front gear (24) are engaged, and are slided respectively with prelocalization
The two side of slot is slidably connected；The circular clamper foot of two preceding clamper pawls (25) is respectively outside the both ends of prelocalization sliding slot
Portion；Before the drive end bearing bracket (26) is fixed on the front end face of rack positioning plate (23), drive end bearing bracket (26) is equipped with camera and photograph
Bright lamp.
4. a kind of miniature gastrointestinal robot according to claim 1, it is characterised in that：Clamping mechanism (3) bag after described
Include rear clamper motor, rear rack positioning plate (31), backgear (32), rear clamper pawl (33) and rear end cap (34)；Rack after described
Positioning plate (31) front end face is fixedly connected with the rear end portion of housing (1)；Clamper motor is fixed on rear rack positioning plate after described
(31) on front end face, and in the endoporus (11) of housing (1)；The energy acceptance line of the internal energy reception system (4)
Ring is wound on rear clamper outside motor；Electromagnet (6) is fixed on rear clamper motor after described；The output of clamper motor after described
Axis is fixedly connected through rear rack positioning plate (31) with backgear (32)；After the rear end face of rack positioning plate (31) is equipped with after described
Positioning runner；The backgear (32) and rear clamper pawl (33) are arranged in rear positioning runner；Clamper pawl (33) is set after described
There are two, rear clamper pawl (33) one side is equipped with grinding tooth, and one end of rear clamper pawl (33) is equipped with circular clamper foot；Two forceps majors
Both sides of the position pawl (33) respectively with backgear (32) are engaged, and the two side with rear positioning runner is slidably connected respectively；Described two
The circular clamper foot of clamper pawl (33) is located at outside the both ends of rear positioning runner respectively after root；After the rear end cap (34) is fixed on
On rack positioning plate (31) rear end face；The wireless signal transceiver is mounted in rear end cap (34).
5. a kind of miniature gastrointestinal robot according to claim 1, it is characterised in that：The internal energy reception system
(4) coil of energy acceptance coil and rear electromagnet (6) is an entirety.
6. a kind of miniature gastrointestinal robot according to claim 4, it is characterised in that：The external energy emission system
(7) energy transmitting coil, control device and fixing device are included；The energy transmitting coil and control device are installed in fixation
On device, energy transmitting coil is electrically connected with control device；The fixing device is fixed on detected person；The wireless communication
Number R-T unit couples with the control device wireless communication of external energy emission system (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454318.6U CN207444924U (en) | 2017-04-26 | 2017-04-26 | A kind of miniature gastrointestinal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454318.6U CN207444924U (en) | 2017-04-26 | 2017-04-26 | A kind of miniature gastrointestinal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207444924U true CN207444924U (en) | 2018-06-05 |
Family
ID=62246212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720454318.6U Expired - Fee Related CN207444924U (en) | 2017-04-26 | 2017-04-26 | A kind of miniature gastrointestinal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207444924U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109805884A (en) * | 2019-03-04 | 2019-05-28 | 上海交通大学 | Radial expansion device for microrobots |
-
2017
- 2017-04-26 CN CN201720454318.6U patent/CN207444924U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109805884A (en) * | 2019-03-04 | 2019-05-28 | 上海交通大学 | Radial expansion device for microrobots |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20180605 Termination date: 20200426 |