CN109770834A - A kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis - Google Patents
A kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis Download PDFInfo
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- CN109770834A CN109770834A CN201910029149.5A CN201910029149A CN109770834A CN 109770834 A CN109770834 A CN 109770834A CN 201910029149 A CN201910029149 A CN 201910029149A CN 109770834 A CN109770834 A CN 109770834A
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Abstract
The present invention relates to small intestine indagation micromachine robot movement mechanism, specifically a kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis.The present invention solve the problems, such as existing small intestine indagation micromachine robot movement mechanism make one body do not feel good, indagation inefficiency, it is big using difficulty, be easy to cause and fail to pinpoint a disease in diagnosis.A kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis, including capsule shape shell, impact drive module, driving reinforcing module；The capsule shape shell includes circle tube form shell body, preceding hemispherical shell, later half spherical shell；The impact drive module includes preceding track type baffle, rear track type baffle, left circular tube shape metal guide rail, right circular tube shape metal guide rail, metal block, battery, single-chip microcontroller, binary channels motor driving chip；The driving reinforcing module includes upper bar shaped mounting blocks, lower bar shaped mounting blocks, upper bar permanent magnet, lower bar permanent magnet.The present invention is suitable for the woundless diagnosis of disease of intestine.
Description
Technical field
The present invention relates to small intestine indagation micromachine robot movement mechanism, specifically a kind of impact for small intestine woundless diagnosis
Drive-type capsule robot mechanism.
Background technique
Small intestine indagation micromachine robot movement mechanism be it is a kind of can in small intestine actively, the microrobot of bidirectional-movement
Movement mechanism is considered as the device for realizing disease of intestine woundless diagnosis most prospect.Under prior art conditions, small intestine is examined
Look into micromachine robot movement mechanism and be broadly divided into three kinds: the first is tradition machinery formula capsule robot.Such microrobot
Movement mechanism generates active movement tractive force by pedipulator and the effect of small intestine inner wall, thus can cause to stimulate to small intestine inner wall,
It does not feel good to make one body.Second is the towed capsule endoscope of magnetic.Such micromachine robot movement mechanism is due to itself
Structure is limited, and there are problems that tractive force small (being less than 300mN), control difficulty is big, is difficult to realize accurate positioning in real time, thus leads
Cause indagation inefficiency.The third is magnetic rotation type capsule endoscope.Such micromachine robot movement mechanism on the one hand need by
Small intestine inner cavity hydraulically full (this is clinically not easy to realize) could work normally, and thus lead to, another aspect big using difficulty
It is rotated always at work, thus causes the stability of signal acquisition poor, failed to pinpoint a disease in diagnosis to be easy to cause.Based on this, having must
A kind of completely new small intestine indagation micromachine robot movement mechanism is invented, to solve existing small intestine indagation microrobot fitness machine
Structure make one body do not feel good, indagation inefficiency, it is big using difficulty, be easy to cause the problem of failing to pinpoint a disease in diagnosis.
Summary of the invention
The present invention in order to solve existing small intestine indagation micromachine robot movement mechanism make one body do not feel good, indagation low efficiency
Under, it is big using difficulty, be easy to cause the problem of failing to pinpoint a disease in diagnosis, provide a kind of impact drive-type capsule machine for small intestine woundless diagnosis
Device robot mechanism.
The present invention is achieved by the following technical scheme:
A kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis, including capsule shape shell, impact driving mould
Block, driving reinforcing module；
The capsule shape shell includes circle tube form shell body, preceding hemispherical shell, later half spherical shell；
The medial surface front of circle tube form shell body, which is extended, preceding track type position limiting convex ring；The medial surface of preceding track type position limiting convex ring
Upper segmental arc and medial surface arc lower section respectively offer a front arc limiting groove；The medial surface rear portion of circle tube form shell body extends
It is provided with rear track type position limiting convex ring；Segmental arc and medial surface arc lower section respectively open up on the medial surface of track type position limiting convex ring afterwards
There is a rear arc limiting groove；Preceding hemispherical shell seal buckle is connected to the front end nozzle of circle tube form shell body；Later half spherical shell
Sealing is buckled in the rear end nozzle of circle tube form shell body；
The impact drive module includes preceding track type baffle, rear track type baffle, left circular tube shape metal guide rail, right circular tube shape gold
Belong to guide rail, metal block, battery, single-chip microcontroller, binary channels motor driving chip；
Segmental arc and edge arc lower section are flush-mounted in respectively in two front arc limiting grooves on the edge of preceding track type baffle；Before
The right straightway of the left straightway in the edge of track type baffle and edge respectively offers a preceding rectangle gap, and two preceding rectangle gap
Bottom surface contacted respectively with the left straightway of medial surface of preceding track type position limiting convex ring and the right straightway of medial surface；Track type baffle afterwards
Edge on segmental arc and edge arc lower section be flush-mounted in two rear arc limiting grooves respectively；The edge of track type baffle afterwards
Rectangle gap after the right straightway of left straightway and edge respectively offers one, and after two rectangle gap bottom surface respectively with rear race
The right straightway contact of the left straightway of medial surface and medial surface of road shape position limiting convex ring；The surface left part of preceding track type baffle and surface
Right part, which respectively penetrates through, offers a front support hole；Copper round tube before each fixation is equipped with one in two front support holes, and two
The front end face of preceding copper round tube exceeds the front surface of preceding track type baffle；The surface left part and surface right part of track type baffle afterwards
Each perforation offers a rear support hole；Copper round tube after each fixation is equipped with one in two rear support holes, and copper after two
The rear end face of matter round tube exceeds the rear surface of rear track type baffle；The rear surface center of preceding track type baffle is extended before having
One cylindrical shock convex block；The front surface center of track type baffle, which is extended, afterwards latter cylindrical shock convex block；
Left circular tube shape metal guide rail and right circular tube shape metal guide rail parallel arrangement；The front end of left circular tube shape metal guide rail and right circular tube
The front end of shape metal guide rail respectively it is fixed be arranged in two before in copper round tube；The rear end of left circular tube shape metal guide rail and right circular tube
The rear end of shape metal guide rail respectively it is fixed be arranged in two after in copper round tube；The left surface center of metal block, which is extended, to be had
Left assembly convex block；The left pilot hole that front and back penetrates through is offered on left assembly convex block, and left assembly convex block is slided by left pilot hole
It is assemblied in left circular tube shape metal guide rail；The right face center of metal block, which is extended, right assembly convex block；Right assembly convex block
On offer front and back penetrate through right pilot hole, and right assembly convex block by right pilot hole slidable fit in right circular tube shape metal guide rail
On；The front surface center of metal block, which is extended, has the first two cylinder to hit convex block；The rear surface center of metal block extends
Two cylindrical shock convex block after being provided with；
The inner cavity of hemispherical shell before battery, single-chip microcontroller, binary channels motor driving chip are mounted on；Binary channels motor drives core
The positive power source terminal of piece and the anode of battery connect；The negative power end of binary channels motor driving chip and the cathode of battery connect；It is double
First positive input terminal of channel motor driving chip, the first negative input end, the second positive input terminal, the second negative input end are and monolithic
Machine connection；First positive output end of binary channels motor driving chip passes through left circular tube shape metal guide rail and left circular tube shape metal guide rail
The rear copper round tube connection of rear end；First negative output terminal of binary channels motor driving chip passes through right circular tube shape metal guide rail and the right side
The rear copper round tube connection of tubular metal guide rail rear end；The second positive output end and right circular tube shape of binary channels motor driving chip
The preceding copper round tube connection of metal guide rail front end；Second negative output terminal of binary channels motor driving chip is led with left circular tube shape metal
The preceding copper round tube connection of rail front end；
The driving reinforcing module includes upper bar shaped mounting blocks, lower bar shaped mounting blocks, upper bar permanent magnet, lower bar permanent magnet；
It is fixed in the middle part of the upper side of upper bar shaped mounting blocks and the medial surface of circle tube form shell body；The front end face top of upper bar shaped mounting blocks
It is fixed with segmental arc on the rear end face of preceding track type position limiting convex ring；The rear end face top of upper bar shaped mounting blocks and rear track type limit
Segmental arc is fixed on the front end face of bulge loop；The upper bar shaped mounting hole of left and right perforation is offered on upper bar shaped mounting blocks；Lower bar shaped peace
It fills fixed in the middle part of the downside of block and the medial surface of circle tube form shell body；The front end face lower part of lower bar shaped mounting blocks and preceding track type limit
The rear end face arc lower section of position bulge loop is fixed；Under the front end face of the rear end face lower part of lower strip-shaped frame and rear track type position limiting convex ring
Segmental arc is fixed；The lower bar shaped mounting hole of left and right perforation is offered on lower bar shaped mounting blocks；Upper bar permanent magnet is flush-mounted in upper item
In shape mounting hole；The N of upper bar permanent magnet is extremely downward, S is extremely upward；Lower bar permanent magnet is in lower bar shaped mounting hole；Under
The N of bar permanent magnet is extremely downward, S is extremely upward.
(this method is to be based on for a kind of control method of the impact drive-type capsule robot mechanism for small intestine woundless diagnosis
What a kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis of the present invention realized), this method is to adopt
It is realized with following steps:
Firstly, mechanism is placed in small intestine inner cavity；Then, two-way fortune is carried out along small intestine inner wall by single-chip microcontroller control mechanism
It is dynamic:
Step S1: propulsion is carried out along small intestine inner wall:
Step S1.1: single-chip microcontroller is powered to the first positive input terminal of binary channels motor driving chip and the first negative input end, is powered
Shi Changwei T, so that voltage is generated between the first positive output end and the first negative output terminal of binary channels motor driving chip, from
And to generate between the rear end of left circular tube shape metal guide rail and the rear end of right circular tube shape metal guide rail and flow through metal from left to right
The electric current of sliding block, and then generate top-down induced magnetic field；At the same time, between upper bar permanent magnet and lower bar permanent magnet
Generate top-down stationary magnetic field；Under the collective effect of induced magnetic field and stationary magnetic field, metal block is by preceding Xiang Anpei
Power, and forward direction Ampere force is less than the stiction between capsule shape shell and small intestine inner wall；Under the action of forward direction Ampere force, gold
Belong to sliding block and carry out propulsion, and the first two cylindrical convex block that hits is driven to carry out propulsion, until the first two cylinder shock is convex
Block strikes previous cylindrical shock convex block, and resulting forward direction impact force is greater than between capsule shape shell and small intestine inner wall
Stiction；Under the action of forward direction impact force, mechanism carries out a Duan Qianxiang ballistic motion along small intestine inner wall；
Step S1.2: single-chip microcontroller stops being powered to the first positive input terminal of binary channels motor driving chip and the first negative input end,
And be powered to the second positive input terminal of binary channels motor driving chip and the second negative input end, energization period T/2, so that
Voltage is generated between the second positive output end and the second negative output terminal of binary channels motor driving chip, so that left circular tube shape gold
Belong to and generate the electric current for flowing through metal block from right to left between the front end of guide rail and the front end of right circular tube shape metal guide rail, and then produces
Raw top-down induced magnetic field；At the same time, top-down perseverance is generated between upper bar permanent magnet and lower bar permanent magnet
Fixed-field；Under the collective effect of induced magnetic field and stationary magnetic field, to Ampere force, and backward, Ampere force is small by rear for metal block
Stiction between capsule shape shell and small intestine inner wall；It is rear to Ampere force under the action of, metal block carry out after to multiple
Position；
Step S1.3: circulation executes step S1.1 ~ step S1.2 so that mechanism is persistently carried out along small intestine inner wall it is preceding to
Movement；
Step S2: reverse is carried out along small intestine inner wall:
Step S2.1: single-chip microcontroller is powered to the second positive input terminal of binary channels motor driving chip and the second negative input end, is powered
Shi Changwei T, so that voltage is generated between the second positive output end and the second negative output terminal of binary channels motor driving chip, from
And to generate between the front end of left circular tube shape metal guide rail and the front end of right circular tube shape metal guide rail and flow through metal from right to left
The electric current of sliding block, and then generate top-down induced magnetic field；At the same time, between upper bar permanent magnet and lower bar permanent magnet
Generate top-down stationary magnetic field；Under the collective effect of induced magnetic field and stationary magnetic field, metal block is by rear Xiang Anpei
Power, and backward Ampere force is less than the stiction between capsule shape shell and small intestine inner wall；It is rear to Ampere force under the action of, gold
Belong to sliding block and carry out reverse, and two cylinder shock convex blocks carry out reverse after drive, until rear two cylinders shock is convex
Block strikes latter cylindrical shock convex block, and resulting backward impact force is greater than between capsule shape shell and small intestine inner wall
Stiction；It is rear to impact force under the action of, mechanism carries out one section of backward ballistic motion along small intestine inner wall；
Step S2.2: single-chip microcontroller stops being powered to the second positive input terminal of binary channels motor driving chip and the second negative input end,
And be powered to the first positive input terminal of binary channels motor driving chip and the first negative input end, energization period T/2, so that
Voltage is generated between the first positive output end and the first negative output terminal of binary channels motor driving chip, so that left circular tube shape gold
Belong to and generate the electric current for flowing through metal block from left to right between the rear end of guide rail and the rear end of right circular tube shape metal guide rail, and then produces
Raw top-down induced magnetic field；At the same time, top-down perseverance is generated between upper bar permanent magnet and lower bar permanent magnet
Fixed-field；Under the collective effect of induced magnetic field and stationary magnetic field, metal block is by preceding to Ampere force, and forward direction Ampere force is small
Stiction between capsule shape shell and small intestine inner wall；Under the action of forward direction Ampere force, metal block carries out preceding to multiple
Position；
Step S2.3: circulation executes step S2.1 ~ step S2.2, so that mechanism persistently carries out backward along small intestine inner wall
Movement.
It is of the present invention a kind of for small intestine woundless diagnosis compared with existing small intestine indagation micromachine robot movement mechanism
Impact drive-type capsule robot mechanism by using brand new, have following advantage: first, with tradition machinery formula glue
Capsule robot compares, and the present invention is no longer rely on pedipulator and the effect of small intestine inner wall generates active movement tractive force, thus without right
Small intestine inner wall causes to stimulate, and does not feel good to effectively prevent human body.Second, compared with the towed capsule endoscope of magnetic, this
Not only tractive force is bigger for invention, control difficulty is smaller, but also can be realized accurate positioning in real time, thus effectively increases indagation effect
Rate.Third, compared with magnetic rotation type capsule endoscope, one aspect of the present invention be not necessarily to by small intestine inner cavity is hydraulically full can normal work
Make, thus effectively reduces using difficulty, on the other hand no longer rotated at work, thus effectively increase signal acquisition
Stability, to effectively prevent failing to pinpoint a disease in diagnosis.
Structure of the invention is reasonable, ingenious in design, and efficiently solving existing small intestine indagation micromachine robot movement mechanism makes one
Body do not feel good, indagation inefficiency, it is big using difficulty, be easy to cause the problem of failing to pinpoint a disease in diagnosis, noninvasive suitable for disease of intestine is examined
It looks into.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of preceding track type baffle in the present invention.
Fig. 3 is the structural schematic diagram of rear track type baffle in the present invention.
Fig. 4 is the operation schematic diagram that metal block carries out propulsion in the present invention.
Fig. 5 is the operation schematic diagram that metal block carries out reverse in the present invention.
Fig. 6 is the original that metal block carries out propulsion under the collective effect of induced magnetic field and stationary magnetic field in the present invention
Manage schematic diagram.
Fig. 7 is the original that metal block carries out reverse under the collective effect of induced magnetic field and stationary magnetic field in the present invention
Manage schematic diagram.
In figure: 101- circle tube form shell body, hemispherical shell before 102a-, the later half spherical shell of 102b-, track type before 103a-
Position limiting convex ring, track type position limiting convex ring after 103b-, track type baffle before 201a-, track type baffle after 201b-, the left circle of 202a-
Tubular metal guide rail, 202b- right circular tube shape metal guide rail, 203- metal block, rectangle gap before 204a-, rectangle slits after 204b-
Mouthful, 205a- front support hole, 205b- rear support hole, copper round tube after 206b-, 207a- is previous cylindrical to hit convex block, 207b-
Latter cylindrical shock convex block, the left assembly convex block of 208a-, the right assembly convex block of 208b-, the first two cylinder of 209a- hit convex block,
After 209b- two it is cylindrical hit convex block, the upper bar shaped mounting blocks of 301a-, bar shaped mounting blocks under 301b-, the upper bar shaped permanent magnetism of 302a-
Iron, bar permanent magnet under 302b-；I indicates electric current；F indicates Ampere force.
Specific embodiment
A kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis, including capsule shape shell, impact drive
Dynamic model block, driving reinforcing module；
The capsule shape shell includes circle tube form shell body 101, preceding hemispherical shell 102a, later half spherical shell 102b；
The medial surface front of circle tube form shell body 101, which is extended, preceding track type position limiting convex ring 103a；Preceding track type position limiting convex ring
Segmental arc and medial surface arc lower section respectively offer a front arc limiting groove on the medial surface of 103a；Circle tube form shell body 101
Medial surface rear portion be extended have rear track type position limiting convex ring 103b；Arc on the medial surface of track type position limiting convex ring 103b afterwards
Section and medial surface arc lower section respectively offer a rear arc limiting groove；Preceding hemispherical shell 102a sealing is buckled in tubular
The front end nozzle of shell 101；Later half spherical shell 102b sealing is buckled in the rear end nozzle of circle tube form shell body 101；
The impact drive module includes preceding track type baffle 201a, rear track type baffle 201b, left circular tube shape metal guide rail
202a, right circular tube shape metal guide rail 202b, metal block 203, battery, single-chip microcontroller, binary channels motor driving chip；
Segmental arc and edge arc lower section are flush-mounted in two front arc limiting grooves respectively on the edge of preceding track type baffle 201a
It is interior；The right straightway of the left straightway in edge and edge of preceding track type baffle 201a respectively offers a preceding rectangle gap 204a, and
The bottom surface of two preceding rectangle gap 204a is right with the left straightway of medial surface of preceding track type position limiting convex ring 103a and medial surface respectively
Straightway contact；Segmental arc and edge arc lower section are flush-mounted in two rear arc limits respectively on the edge of track type baffle 201b afterwards
In the groove of position；Rectangle gap after the right straightway of the left straightway in the edge of track type baffle 201b and edge respectively offers one afterwards
204b, and after two rectangle gap 204b bottom surface respectively with the left straightway of medial surface of rear track type position limiting convex ring 103b and interior
The right straightway contact in side；The surface left part and surface right part of preceding track type baffle 201a, which respectively penetrates through, offers a front support hole
205a；Copper round tube before each fixation is equipped with one in two front support hole 205a, and before two copper round tube front end face it is equal
Front surface beyond preceding track type baffle 201a；The surface left part of track type baffle 201b and surface right part, which respectively penetrate through, afterwards offers
One rear support hole 205b；Copper round tube 206b after each fixation is equipped with one in two rear support hole 205b, and copper after two
The rear end face of matter round tube 206b exceeds the rear surface of rear track type baffle 201b；The rear surface center of preceding track type baffle 201a
Being extended has previous cylindrical shock convex block 207a；The front surface center of track type baffle 201b, which is extended, afterwards latter circle
Cylindricality hits convex block 207b；
Left circular tube shape metal guide rail 202a and right circular tube shape metal guide rail 202b parallel arrangement；Left circular tube shape metal guide rail 202a's
Front end and the front end of right circular tube shape metal guide rail 202b respectively it is fixed be arranged in two before in copper round tube；Left circular tube shape metal is led
The rear end of rail 202a and the rear end of right circular tube shape metal guide rail 202b are fixed after being arranged in two respectively in copper round tube 206b；Gold
The left surface center for belonging to sliding block 203, which is extended, left assembly convex block 208a；Front and back perforation is offered on left assembly convex block 208a
Left pilot hole, and left assembly convex block 208a by left pilot hole slidable fit on left circular tube shape metal guide rail 202a；Metal
The right face center of sliding block 203, which is extended, right assembly convex block 208b；Offer what front and back penetrated through on right assembly convex block 208b
Right pilot hole, and right assembly convex block 208b by right pilot hole slidable fit on right circular tube shape metal guide rail 202b；Metal is sliding
The front surface center of block 203, which is extended, has the first two cylinder to hit convex block 209a；The rear surface center of metal block 203 extends
Two cylindrical shock convex block 209b after being provided with；
The inner cavity of hemispherical shell 102a before battery, single-chip microcontroller, binary channels motor driving chip are mounted on；Binary channels motor drives
The positive power source terminal of dynamic chip and the anode of battery connect；The negative power end of binary channels motor driving chip and the cathode of battery connect
It connects；The first positive input terminal, the first negative input end, the second positive input terminal, the second negative input end of binary channels motor driving chip are equal
It is connect with single-chip microcontroller；First positive output end of binary channels motor driving chip passes through left circular tube shape metal guide rail 202a and left circular tube
The rear copper round tube 206b connection of the rear end shape metal guide rail 202a；First negative output terminal of binary channels motor driving chip passes through the right side
Tubular metal guide rail 202b is connect with the rear copper round tube 206b of the rear end right circular tube shape metal guide rail 202b；Binary channels motor drives
Second positive output end of dynamic chip is connect with the preceding copper round tube of the front end right circular tube shape metal guide rail 202b；The driving of binary channels motor
Second negative output terminal of chip is connect with the preceding copper round tube of the front end left circular tube shape metal guide rail 202a；
The driving reinforcing module include upper bar shaped mounting blocks 301a, lower bar shaped mounting blocks 301b, upper bar permanent magnet 302a, under
Bar permanent magnet 302b；
It is fixed in the middle part of the upper side of upper bar shaped mounting blocks 301a and the medial surface of circle tube form shell body 101；Upper bar shaped mounting blocks 301a
Front end face top fixed with segmental arc on the rear end face of preceding track type position limiting convex ring 103a；The rear end of upper bar shaped mounting blocks 301a
Face top is fixed with segmental arc on the front end face of rear track type position limiting convex ring 103b；Left and right is offered on upper bar shaped mounting blocks 301a
The upper bar shaped mounting hole of perforation；It is fixed in the middle part of the downside of lower bar shaped mounting blocks 301b and the medial surface of circle tube form shell body 101；Under
The front end face lower part of bar shaped mounting blocks 301b and the rear end face arc lower section of preceding track type position limiting convex ring 103a are fixed；Lower bar-shaped frame
The rear end face lower part of frame 301b and the front end face arc lower section of rear track type position limiting convex ring 103b are fixed；Lower bar shaped mounting blocks 301b
On offer left and right perforation lower bar shaped mounting hole；Upper bar permanent magnet 302a is in upper bar shaped mounting hole；Upper bar shaped is forever
The N of magnet 302a is extremely downward, S is extremely upward；Lower bar permanent magnet 302b is in lower bar shaped mounting hole；Lower bar permanent magnet
The N of 302b is extremely downward, S is extremely upward.
When it is implemented, the circle tube form shell body 101, preceding hemispherical shell 102a, later half spherical shell 102b, preceding runway
Shape position limiting convex ring 103a, rear track type position limiting convex ring 103b, upper bar shaped mounting blocks 301a, lower bar shaped mounting blocks 301b are using 3D
Printing integrated forming；The preceding track type baffle 201a, rear track type baffle 201b are acrylic board；The binary channels horse
It is AT5550 type binary channels motor driving chip up to driving chip.
(this method is to be based on for a kind of control method of the impact drive-type capsule robot mechanism for small intestine woundless diagnosis
What a kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis of the present invention realized), this method is to adopt
It is realized with following steps:
Firstly, mechanism is placed in small intestine inner cavity；Then, two-way fortune is carried out along small intestine inner wall by single-chip microcontroller control mechanism
It is dynamic:
Step S1: propulsion is carried out along small intestine inner wall:
Step S1.1: single-chip microcontroller is powered to the first positive input terminal of binary channels motor driving chip and the first negative input end, is powered
Shi Changwei T, so that voltage is generated between the first positive output end and the first negative output terminal of binary channels motor driving chip, from
And to generate from left to right between the rear end of left circular tube shape metal guide rail 202a and the rear end of right circular tube shape metal guide rail 202b
The electric current of metal block 203 is flowed through, and then generates top-down induced magnetic field；At the same time, upper bar permanent magnet 302a and
Top-down stationary magnetic field is generated between lower bar permanent magnet 302b；Under the collective effect of induced magnetic field and stationary magnetic field,
Metal block 203 is by preceding to Ampere force, and forward direction Ampere force is less than the stiction between capsule shape shell and small intestine inner wall；
Under the action of forward direction Ampere force, metal block 203 carries out propulsion, and drives the first two cylinder to hit convex block 209a and carry out
Propulsion, until the first two cylinder hits convex block 209a and strikes previous cylindrical shock convex block 207a, before resulting
It is greater than the stiction between capsule shape shell and small intestine inner wall to impact force；Under the action of forward direction impact force, mechanism edge
Small intestine inner wall carry out a Duan Qianxiang ballistic motion；
Step S1.2: single-chip microcontroller stops being powered to the first positive input terminal of binary channels motor driving chip and the first negative input end,
And be powered to the second positive input terminal of binary channels motor driving chip and the second negative input end, energization period T/2, so that
Voltage is generated between the second positive output end and the second negative output terminal of binary channels motor driving chip, so that left circular tube shape gold
Belong to generating between the front end of guide rail 202a and the front end of right circular tube shape metal guide rail 202b and flows through metal block 203 from right to left
Electric current, and then generate top-down induced magnetic field；At the same time, upper bar permanent magnet 302a and lower bar permanent magnet 302b it
Between generate top-down stationary magnetic field；Under the collective effect of induced magnetic field and stationary magnetic field, metal block 203 is by backward
Ampere force, and backward Ampere force is less than the stiction between capsule shape shell and small intestine inner wall；In the rear effect to Ampere force
Under, Xiang Fuwei after metal block 203 carries out；
Step S1.3: circulation executes step S1.1 ~ step S1.2 so that mechanism is persistently carried out along small intestine inner wall it is preceding to
Movement；
Step S2: reverse is carried out along small intestine inner wall:
Step S2.1: single-chip microcontroller is powered to the second positive input terminal of binary channels motor driving chip and the second negative input end, is powered
Shi Changwei T, so that voltage is generated between the second positive output end and the second negative output terminal of binary channels motor driving chip, from
And to generate from right to left between the front end of left circular tube shape metal guide rail 202a and the front end of right circular tube shape metal guide rail 202b
The electric current of metal block 203 is flowed through, and then generates top-down induced magnetic field；At the same time, upper bar permanent magnet 302a and
Top-down stationary magnetic field is generated between lower bar permanent magnet 302b；Under the collective effect of induced magnetic field and stationary magnetic field,
By rear, to Ampere force, and backward, Ampere force is less than the stiction between capsule shape shell and small intestine inner wall to metal block 203；
It is rear to Ampere force under the action of, metal block 203 carries out reverse, and the two cylindrical convex block 209b that hit are carried out after driving
Reverse, until the rear two cylindrical convex block 209b that hit strike latter cylindrical shock convex block 207b, after resulting
It is greater than the stiction between capsule shape shell and small intestine inner wall to impact force；It is rear to impact force under the action of, mechanism edge
Small intestine inner wall carry out one section of backward ballistic motion；
Step S2.2: single-chip microcontroller stops being powered to the second positive input terminal of binary channels motor driving chip and the second negative input end,
And be powered to the first positive input terminal of binary channels motor driving chip and the first negative input end, energization period T/2, so that
Voltage is generated between the first positive output end and the first negative output terminal of binary channels motor driving chip, so that left circular tube shape gold
Belong to generating between the rear end of guide rail 202a and the rear end of right circular tube shape metal guide rail 202b and flows through metal block 203 from left to right
Electric current, and then generate top-down induced magnetic field；At the same time, upper bar permanent magnet 302a and lower bar permanent magnet 302b it
Between generate top-down stationary magnetic field；Under the collective effect of induced magnetic field and stationary magnetic field, metal block 203 by it is preceding to
Ampere force, and forward direction Ampere force is less than the stiction between capsule shape shell and small intestine inner wall；In the effect of forward direction Ampere force
Under, metal block 203 carries out preceding Xiang Fuwei；
Step S2.3: circulation executes step S2.1 ~ step S2.2, so that mechanism persistently carries out backward along small intestine inner wall
Movement.
In step S1 ~ step S2, on the one hand preceding copper round tube and rear copper round tube 206b are used as left circular tube shape metal to lead
The current terminal of rail 202a and right circular tube shape metal guide rail 202b, on the other hand can be avoided front support hole 205a and rear support hole
Reaming phenomenon occurs for 205b.
Claims (4)
1. a kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis, it is characterised in that: including capsule shape shell
Body, impact drive module, driving reinforcing module；
The capsule shape shell includes circle tube form shell body (101), preceding hemispherical shell (102a), later half spherical shell (102b)；
The medial surface front of circle tube form shell body (101), which is extended, preceding track type position limiting convex ring (103a)；Preceding track type limit
Segmental arc and medial surface arc lower section respectively offer a front arc limiting groove on the medial surface of bulge loop (103a)；Tubular shell
The medial surface rear portion of body (101), which is extended, rear track type position limiting convex ring (103b)；Track type position limiting convex ring (103b) afterwards
Segmental arc and medial surface arc lower section respectively offer a rear arc limiting groove on medial surface；Preceding hemispherical shell (102a) is close
Closure is connected to the front end nozzle of circle tube form shell body (101)；Later half spherical shell (102b) sealing is buckled in circle tube form shell body (101)
Rear end nozzle；
The impact drive module includes that preceding track type baffle (201a), rear track type baffle (201b), left circular tube shape metal are led
Rail (202a), right circular tube shape metal guide rail (202b), metal block (203), battery, single-chip microcontroller, binary channels motor driving chip；
It is recessed to be flush-mounted in two front arc limits respectively for segmental arc and edge arc lower section on the edge of preceding track type baffle (201a)
In slot；The right straightway of the left straightway in edge and edge of preceding track type baffle (201a) respectively offers a preceding rectangle gap
(204a), and the bottom surface of two preceding rectangle gap (204a) the left straight line of medial surface with preceding track type position limiting convex ring (103a) respectively
Section and the right straightway contact of medial surface；Segmental arc and edge arc lower section are embedded in respectively on the edge of track type baffle (201b) afterwards
In in two rear arc limiting grooves；The right straightway of the left straightway in edge and edge of track type baffle (201b) respectively offers afterwards
Rectangle gap (204b) after one, and after two rectangle gap (204b) bottom surface respectively with rear track type position limiting convex ring (103b)
The left straightway of medial surface and medial surface right straightway contact；The surface left part and surface right part of preceding track type baffle (201a) are each
Perforation offers a front support hole (205a)；Copper round tube before each fixation is equipped with one in two front support holes (205a),
And the front end face of copper round tube exceeds the front surface of preceding track type baffle (201a) before two；Track type baffle (201b) afterwards
Surface left part and surface right part, which respectively penetrate through, offers a rear support hole (205b)；Each fixation is worn in two rear support holes (205b)
Equipped with round tube (206b) copper after one, and after two, the rear end face of copper round tube (206b) exceeds rear track type baffle
The rear surface of (201b)；The rear surface center of preceding track type baffle (201a), which is extended, previous cylindrical shock convex block
(207a)；The front surface center of track type baffle (201b), which is extended, afterwards latter cylindrical shock convex block (207b)；
Left circular tube shape metal guide rail (202a) and right circular tube shape metal guide rail (202b) parallel arrangement；Left circular tube shape metal guide rail
The front end of (202a) and the front end of right circular tube shape metal guide rail (202b) are fixed before being arranged in two respectively in copper round tube；Zuo Yuan
Copper after being arranged in two is fixed in the rear end of tubular metal guide rail (202a) and the rear end of right circular tube shape metal guide rail (202b) respectively
In matter round tube (206b)；The left surface center of metal block (203), which is extended, left assembly convex block (208a)；Left assembly convex block
The left pilot hole that front and back penetrates through is offered on (208a), and left assembly convex block (208a) passes through left pilot hole slidable fit Yu Zuoyuan
On tubular metal guide rail (202a)；The right face center of metal block (203), which is extended, right assembly convex block (208b)；Right dress
With the right pilot hole for offering front and back perforation on convex block (208b), and right assembly convex block (208b) passes through right pilot hole slidable fit
In in right circular tube shape metal guide rail (202b)；The front surface center of metal block (203), which is extended, has the first two cylinder to hit
Convex block (209a)；The rear surface center of metal block (203) is extended two cylindrical shock convex block (209b) after having；
Battery, single-chip microcontroller, binary channels motor driving chip are mounted on the inner cavity of preceding hemispherical shell (102a)；Binary channels motor
The positive power source terminal of driving chip and the anode of battery connect；The negative power end of binary channels motor driving chip and the cathode of battery connect
It connects；The first positive input terminal, the first negative input end, the second positive input terminal, the second negative input end of binary channels motor driving chip are equal
It is connect with single-chip microcontroller；First positive output end of binary channels motor driving chip passes through left circular tube shape metal guide rail (202a) and Zuo Yuan
Rear copper round tube (206b) connection of the rear end tubular metal guide rail (202a)；First negative output terminal of binary channels motor driving chip
It is connect across right circular tube shape metal guide rail (202b) with the rear copper round tube (206b) of the rear end right circular tube shape metal guide rail (202b)；
Second positive output end of binary channels motor driving chip is connect with the preceding copper round tube of the front end right circular tube shape metal guide rail (202b)；
Second negative output terminal of binary channels motor driving chip is connect with the preceding copper round tube of the front end left circular tube shape metal guide rail (202a)；
The driving reinforcing module includes upper bar shaped mounting blocks (301a), lower bar shaped mounting blocks (301b), upper bar permanent magnet
(302a), lower bar permanent magnet (302b)；
It is fixed in the middle part of the upper side of upper bar shaped mounting blocks (301a) and the medial surface of circle tube form shell body (101)；Upper bar shaped mounting blocks
The front end face top of (301a) is fixed with segmental arc on the rear end face of preceding track type position limiting convex ring (103a)；Upper bar shaped mounting blocks
The rear end face top of (301a) is fixed with segmental arc on the front end face of rear track type position limiting convex ring (103b)；Upper bar shaped mounting blocks
The upper bar shaped mounting hole of left and right perforation is offered on (301a)；The downside of lower bar shaped mounting blocks (301b) and circle tube form shell body
(101) fixed in the middle part of medial surface；The front end face lower part of lower bar shaped mounting blocks (301b) and preceding track type position limiting convex ring (103a)
Rear end face arc lower section fix；Before the rear end face lower part of lower strip-shaped frame (301b) and rear track type position limiting convex ring (103b)
End face arc lower section is fixed；The lower bar shaped mounting hole of left and right perforation is offered on lower bar shaped mounting blocks (301b)；Upper bar shaped permanent magnetism
Iron (302a) is in upper bar shaped mounting hole；The N of upper bar permanent magnet (302a) is extremely downward, S is extremely upward；Lower bar permanent magnet
(302b) is in lower bar shaped mounting hole；The N of lower bar permanent magnet (302b) is extremely downward, S is extremely upward.
2. a kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis according to claim 1, special
Sign is: the circle tube form shell body (101), preceding hemispherical shell (102a), later half spherical shell (102b), the limit of preceding track type
Bulge loop (103a), rear track type position limiting convex ring (103b), upper bar shaped mounting blocks (301a), lower bar shaped mounting blocks (301b) are to use
3D printing is integrally formed；The preceding track type baffle (201a), rear track type baffle (201b) are acrylic board；It is described double
Channel motor driving chip is AT5550 type binary channels motor driving chip.
3. a kind of control method of the impact drive-type capsule robot mechanism for small intestine woundless diagnosis, this method is based on such as
What a kind of impact drive-type capsule robot mechanism for small intestine woundless diagnosis described in claim 1 realized, feature exists
In: this method is realized using following steps:
Firstly, mechanism is placed in small intestine inner cavity；Then, two-way fortune is carried out along small intestine inner wall by single-chip microcontroller control mechanism
It is dynamic:
Step S1: propulsion is carried out along small intestine inner wall:
Step S1.1: single-chip microcontroller is powered to the first positive input terminal of binary channels motor driving chip and the first negative input end, is powered
Shi Changwei T, so that voltage is generated between the first positive output end and the first negative output terminal of binary channels motor driving chip, from
And to generate between the rear end of left circular tube shape metal guide rail (202a) and the rear end of right circular tube shape metal guide rail (202b) from a left side
The electric current of metal block (203) is flowed through to the right, and then generates top-down induced magnetic field；At the same time, upper bar permanent magnet
Top-down stationary magnetic field is generated between (302a) and lower bar permanent magnet (302b)；In being total to for induced magnetic field and stationary magnetic field
Under same-action, metal block (203) is by preceding to Ampere force, and forward direction Ampere force is less than between capsule shape shell and small intestine inner wall
Stiction；Under the action of forward direction Ampere force, metal block (203) carries out propulsion, and the first two cylinder is driven to hit
It hits convex block (209a) and carries out propulsion, until the first two cylinder shock convex block (209a) strikes previous cylinder and hits convex block
(207a), resulting forward direction impact force are greater than the stiction between capsule shape shell and small intestine inner wall；It is hit in forward direction
Under the action of power, mechanism carries out a Duan Qianxiang ballistic motion along small intestine inner wall；
Step S1.2: single-chip microcontroller stops being powered to the first positive input terminal of binary channels motor driving chip and the first negative input end,
And be powered to the second positive input terminal of binary channels motor driving chip and the second negative input end, energization period T/2, so that
Voltage is generated between the second positive output end and the second negative output terminal of binary channels motor driving chip, so that left circular tube shape gold
Belong to generating between the front end of guide rail (202a) and the front end of right circular tube shape metal guide rail (202b) and flows through metal block from right to left
(203) electric current, and then generate top-down induced magnetic field；At the same time, upper bar permanent magnet (302a) and lower bar shaped be forever
Top-down stationary magnetic field is generated between magnet (302b)；Under the collective effect of induced magnetic field and stationary magnetic field, metal is sliding
By rear, to Ampere force, and backward, Ampere force is less than the stiction between capsule shape shell and small intestine inner wall to block (203)；Rear
To under the action of Ampere force, Xiang Fuwei after metal block (203) carries out；
Step S1.3: circulation executes step S1.1 ~ step S1.2 so that mechanism is persistently carried out along small intestine inner wall it is preceding to
Movement；
Step S2: reverse is carried out along small intestine inner wall:
Step S2.1: single-chip microcontroller is powered to the second positive input terminal of binary channels motor driving chip and the second negative input end, is powered
Shi Changwei T, so that voltage is generated between the second positive output end and the second negative output terminal of binary channels motor driving chip, from
And to generate between the front end of left circular tube shape metal guide rail (202a) and the front end of right circular tube shape metal guide rail (202b) from the right side
The electric current of metal block (203) is flowed through to the left, and then generates top-down induced magnetic field；At the same time, upper bar permanent magnet
Top-down stationary magnetic field is generated between (302a) and lower bar permanent magnet (302b)；In being total to for induced magnetic field and stationary magnetic field
Under same-action, by rear, to Ampere force, and backward, Ampere force is less than between capsule shape shell and small intestine inner wall metal block (203)
Stiction；It is rear to Ampere force under the action of, metal block (203) carries out reverse, and two cylinders are hit after driving
It hits convex block (209b) and carries out reverse, until rear two cylindrical shocks convex block (209b), which strike latter cylinder, hits convex block
(207b), resulting backward impact force are greater than the stiction between capsule shape shell and small intestine inner wall；Rear to shock
Under the action of power, mechanism carries out one section of backward ballistic motion along small intestine inner wall；
Step S2.2: single-chip microcontroller stops being powered to the second positive input terminal of binary channels motor driving chip and the second negative input end,
And be powered to the first positive input terminal of binary channels motor driving chip and the first negative input end, energization period T/2, so that
Voltage is generated between the first positive output end and the first negative output terminal of binary channels motor driving chip, so that left circular tube shape gold
Belong to generating between the rear end of guide rail (202a) and the rear end of right circular tube shape metal guide rail (202b) and flows through metal block from left to right
(203) electric current, and then generate top-down induced magnetic field；At the same time, upper bar permanent magnet (302a) and lower bar shaped be forever
Top-down stationary magnetic field is generated between magnet (302b)；Under the collective effect of induced magnetic field and stationary magnetic field, metal is sliding
Block (203) is by preceding to Ampere force, and forward direction Ampere force is less than the stiction between capsule shape shell and small intestine inner wall；Preceding
To under the action of Ampere force, Xiang Fuwei before metal block (203) carries out；
Step S2.3: circulation executes step S2.1 ~ step S2.2, so that mechanism persistently carries out backward along small intestine inner wall
Movement.
4. a kind of control of impact drive-type capsule robot mechanism for small intestine woundless diagnosis according to claim 3
Method, it is characterised in that: in step S1 ~ step S2, preceding copper round tube and rear copper round tube (206b) are on the one hand used as left circle
The current terminal of tubular metal guide rail (202a) and right circular tube shape metal guide rail (202b), on the other hand can be avoided front support hole
Reaming phenomenon occurs for (205a) and rear support hole (205b).
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| CN110393500A (en) * | 2019-08-07 | 2019-11-01 | 中北大学 | A kind of electromagnetic and mechanical combined type capsule robot for all-digestive tract indagation |
| CN112998637A (en) * | 2021-02-04 | 2021-06-22 | 北京科技大学 | Self-propelled capsule endoscope based on rotation and impact dual-drive mode |
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Application publication date: 20190521 |