CN101659054A - Capsule robot and multi-wedge effect drive control method thereof - Google Patents
Capsule robot and multi-wedge effect drive control method thereof Download PDFInfo
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Abstract
This invention belongs to the technical field of automatic engineering, which relates to a capsule robot and a multi-wedge effect drive control method thereof. The invention is characterized in that the outside surface of the robot forms a plurality of bumps with spiral rib brasses so as to form a plurality of wedged angles, and the multi-wedge effect theory of fluid is used for controlling the movement of the capsule robot; the centrifugal force of the bumps with spiral rib brasses of the robot and the rigidity of miniature elastic hinges are used for adjusting the contact degree between therobot and the soft elastic pipe wall of the robot; a ring with two magnetic poles is used for generating a rotating magnetic field so as to adjust and control the moving speed of the capsule robot. The invention has the advantages that the robot has high driving efficiency, favorable reliability and practicability, can vertically move in a soft elastic pipe wall, and has good adaptability to the environment of the soft elastic pipe wall, wide applicable scope of pipe diameter and easy control.
Description
Technical field
The invention belongs to the automation engineering technical field, relate to a kind of by under the inner rotary magnetic field condition, in the gentle elasticity complex environment closed conduct of the variable cross-section that is full of big viscous liquid, utilize fluid dynamic multi-wedge effect effectively to realize capsule robot and the driving control method in gentle elastic pipeline thereof.
Background technology
Magnetic control does not have cable and drives Micro-Robot and more approach nature, has characteristics such as reliability, safe height in gentle elastic pipeline during operation.With the body fluid in the gentle elastic pipeline is media, and it can arrive gentle elastic pipeline locations deep.Therefore artificial the intervention in the gentle elastic pipeline of the micromachine that moves about provides a kind of important operation form, has broad application prospects.
The operating environment of microrobot is the interior enteron aisle of body, urinary system, blood vessel etc., and its environmental quality is the small space that is filled with body fluid on every side by gentle elastic fibrous tissue sealing, inside.In order gentle elasticity soft tissue not to be caused wound, require Micro-Robot in no cable drive mode, enter and withdraw from depths in the body reliably by moving about, and adopt simple, as to be easy to microminiaturization structure, to realize online assignment in the body.
Gentle elastic wall does not have the wound requirement in the body in order to satisfy, people such as Japan K.Ikeuchi at first propose to utilize and drive medical micro-robot in the noncontact not damaged body of Hydrodynamic film as the power media, and it is by cylinder, spiral ribs and provide the micro motor of high pulling torque to constitute.When in micro motor drives spiral ribs and having the cavity of mucus, rotating; the fluid at spiral ribs place produces dynamic pressure effect, and forms the dynamic pressure diaphragm at tube wall surface, when the hydrodynamic pressure of the super other end of hydrodynamic pressure of rib one end; just produce axial thrust, realize that the noncontact not damaged drives.Experiment show when the gap of robot and tube wall hour, and sliding speed is when higher, the propulsive force of maximum can reach 1N.Its shortcoming is the traction cable, and motor is suspended in the pipe, and driving moment can not balance, in addition, when the gap of cylinder spiral ribs and tube wall was too big, the Hydrodynamic film can break, propulsive force die-offs, and therefore can not be implemented in vertical drive in the gentle elastic wall pipe of variable cross-section.The helical surface compliance is poor, and its structure still can not adapt to the operation in the complex environment.Domestic Zhejiang University has also successfully developed similar microrobot, the opposite columnar portion of spiral ribs rotation direction at driven by motor two ends is rotated at a high speed in the middle of adopting dexterously on the structure, make body fluid between two columnar portion and elastic wall, produce dynamic pressure effect, form thrust in the same way, the thickness of oil film and the relation of axial thrust are also studied, also there is robot and tube wall gap the problem that influences to axial thrust, its structure can not self adaptation be adjusted the gap of spiral ribs and tube wall, adaptive capacity in the therefore gentle elastic wall complex environment is still needed and is further improved, and robot also exists energy to supply with problem.In addition, this robot is under the gravity effect, and the cylinder and the tube wall contact position of band spiral ribs form key groove, when robot rotates, contact a side with tube wall and can produce wedge effect, during fluid process key groove, dynamic pressure increases sharply, and the thrust of robot is effectively increased.But when this robot drove in vertical pipe, the effect of gravity can not make a side contacts of robot and tube wall, promptly can not form key groove with tube wall, so can not produce wedge effect, as seen can not realize the driving in the vertical pipe.The drive principle of robot is simple because spiral is advanced, so reliability and security is better, and practicality has a extensive future.
Fact proved that the no cable type of drive that adopts magnetic field control is to improve the key of microrobot practicality and reliability, so the magnetic mini robot becomes international research focus rapidly.In order to realize that not having cable formula external magnetic field drives control, people such as Japanese K.Ishiyama have proposed to utilize three Helmholtz coils that space rotating magnetic field is provided, and act on the embedded neodymium iron boron magnetic body of capsule, precession under the capsule surface threaded function.But there is the contradiction between driving frequency and magnetic field intensity in hot-wire coil generation rotating excitation field, during high-frequency drive, energy loss is big, heating is serious, field decay is big, can cause reducing by driving frequency of capsule robot because of driving moment is not enough, and precession speed reduces, even make robot generation stall and can not walk, the security and the reliability of influence operation in gentle elastic tube wall environment.Also there is the noncompensable problem of radial clearance in its body rigid structure, therefore can't adapt to the driving walking in the complicated gentle elastic wall environment, can not realize vertical drive.
Theory and experimental study that we carry out show, radial clearance compensation by capsule robot, can improve hydrodynamic pressure, on this basis, make the outside of robot band spiral constitute a plurality of convex surfaces, form a plurality of wedge angle with tube wall, just can produce multi-wedge effect, by hydrodynamics as can be known, multi-wedge effect can make the thrust increase at double of hydrodynamic pressure and robot, can improve the driving force of capsule robot in gentle elastic tube wall significantly.The outer surface of this robot is made up of the some blocks of brasses that present radial protrusion with spiral ribs, even robot is when vertical drive, under micro-elasticity hinge components and brasses action of centrifugal force, polylith brasses projection contacts with tube wall all the time, still can form a plurality of wedge angle, the increase hydrodynamic pressure that can be at double and the thrust of robot, test show that the multi-wedge effect principle becomes a reality the vertical drive of capsule robot in gentle elastic wall complex environment.Because gentle elastic wall extends to any direction possibly, comprise vertical direction, so the vertical drive ability provides maximum possible for practicability.
We in the national inventing patent " a kind of magnetic driving control device of multi-capsule type medical miniature robot and method " that obtains (license number: ZL 200710159159.8), the technical scheme that proposes is that capsule robot outer surface brasses is along the circumferential direction evenly cut apart several five equilibriums together with spiral ribs, the constraint of releasing circumferencial direction, the support of centrifugal synchronous extension means is connected with along the circumferential direction evenly distributing radially respectively, under action of centrifugal force, by reducing the gap with tube wall, improve capsule robot in the complicated tube wall of gentle elasticity adaptive capacity and the thrust of robot.Further studies show that, if make every outer surface produce multi-wedge effect with the spiral ribs brasses, the thrust that can make hydrodynamic pressure and robot at double increase again significantly improves adaptive capacity and the driving force of capsule robot in the complicated tube wall of gentle elasticity.This application patent of invention is different with structure with above-mentioned acquisition patent of invention operation principle, relate generally to the multi-wedge effect principle that we find in test, this is applied for a patent described capsule robot and has in gentle elastic tube and drive effect more significantly.
In sum, on the basis of radial clearance compensation, the multi-wedge effect that utilizes capsule robot is to improve the valid approach more that drives walking in gentle elastic tube wall environment.At present, under the rotating excitation field condition,, realize that the research of the driving control of capsule robot yet there are no report based on the multi-wedge effect principle.The user can swallow capsule robot, under the driving under the rotating excitation field, based on the multi-wedge effect principle, level that realizes capsule robot and comprehensive driving such as vertical, with significantly improving with the service efficiency in the gentle elastic tube, improve security and practicality, have a extensive future.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of capsule robot and multi-wedge effect drive control method thereof, be under a kind of rotating excitation field drive condition in being full of the gentle elastic tube wall environment of big viscous liquid medium and outside, utilize the multi-wedge effect principle that capsule robot is implemented to drive operating means and the method for controlling, realize the driving control of capsule robot under rotating excitation field.
Technical scheme of the present invention is:
Be full of the gentle elastic pipeline of big viscous liquid, the lobed outside of polylith is pieced together the outer surface of capsule robot with the brasses of multi-head spiral rib, every block of brasses has identical internal diameter, internal diameter after every block of brasses pieces together is a complete circle, brasses is avette along being shaped as of capsule robot axis cross section, to improve the compliance of robotic surface, as situations such as suitable turnings; The outer radius of every block of brasses is less than inside radius, and therefore the outer surface of every block of brasses presents projection, after the amalgamation outer surface of some blocks of brasses not on same circle, visible every block of brasses and inner-walls of duct formation key groove, fluid by the time can form multi-wedge effect.
It is fixing in the circular hole of center support frame rear portion that the neodymium iron boron annulus outer driver of diametrical magnetization is packed into, and it is fixing in the anterior circular hole of center support frame to be packed in the miniature video camera cabin, and fixedly front end and follower head; Respectively with the inner concave place of every block of brasses with the micro-elasticity hinge components along with being fixed on the capsule robot center support frame of the circumferencial direction five equilibrium of capsule robot axis normal; The film emulsion capsule is enclosed within on the outer cylinder surface of polylith brasses composition, and, makes the sealing of film emulsion capsule the front port of film emulsion capsule and the front end chucking of capsule robot.The film emulsion capsule has increased the compliance of robotic surface; can play further protective effect to gentle elastic tube wall; spiral ribs also can strut film emulsion capsule projection; do not influence it and produce thrust; also can prevent the leakage of hydrodynamic pressure, the radial dimension of film emulsion capsule is bigger, and purpose is to make it not limit the centrifugal force of brasses; radial deformation is more prone to, so that effectively eliminate the gap of brasses and tube wall.
The mounting structure of the brasses of robot body outer surface and micro-elasticity hinge components is divided into three kinds:
The brasses that first kind of organization plan is the capsule robot outer surface is along the circumferential direction evenly cut apart the quartering together with spiral ribs, is fixed on the center support frame by four micro-elasticity hinge components respectively.
The brasses that second kind of organization plan is the capsule robot outer surface is along the circumferential direction evenly cut apart trisection together with spiral ribs, is fixed on the center support frame by three micro-elasticity hinge components respectively.
The third organization plan is that the brasses of capsule robot outer surface is along the circumferential direction evenly cut apart bisection together with spiral ribs, is fixed on the center support frame by two micro-elasticity hinge components respectively.
More than three kinds of structures be to adopt three kinds of different technical schemes to remove the constraint of spiral ribs at circumferencial direction, form four, three and two key grooves respectively, so that formation multi-wedge effect, and the robot outer surface that the projection that is connected some blocks of brasses on the micro-elasticity hinge components constitutes can radially freely stretch, can reduce gap with tube wall, can increase the compliance of robot outer surface again, significantly increase adaptive capacity and the driving force of robot in the complicated intestinal environment of gentle elasticity.
Outside under the coupling of rotating excitation field and inner driver, robot is applied turning moment, under the acting in conjunction of brasses centrifugal force and micro-elasticity hinge components elastic force, promotion is attached to the radially adaptive stretching, extension of spiral ribs on the brasses outer surface, and the film emulsion capsule that promotes free state is radially expanded, the elastic tube wall that softens can be strutted, can promote the helical structure capsule surface again contacts with complicated scraggly gentle elastic tube wall self adaptation, eliminate the gap of robot capsule surface and gentle elastic tube wall effectively, reduce the thickness of dynamic pressure film, and make the brasses and the tube wall with spiral ribs of every projection form key groove, produce multi-wedge effect, significantly improve the axial thrust of robot.The rotary speed control capsule surface by adjusting external magnetic field and the exposure level of gentle elastic tube wall, and then the adjustment and the control of realization capsule robot thrust and speed in complicated elastic wall environment.When the robot rotation stops, pulling is attached to spiral ribs on the brasses along return radially to the micro-elasticity hinge components by its elastic energy, the initial preload pressure of the micro-elasticity hinge components after the return still can radially be pushed the brasses with spiral ribs open certain distance, purpose is when the slow-speed of revolution, the robot outer surface still has good compliance and adaptability and excellent contact degree, and can effectively produce multi-wedge effect, significantly improve the thrust of robot, this driving to capsule robot small diameter area in gentle elastic wall pipe is necessary, because diameter hour, the centrifugal force of brasses is too little, could produce enough thrust when rotating at a high speed and push brasses with spiral ribs open; When driving in the large-diameter region scope, brasses can produce enough driving forces.
Outer surface is when to be columniform rigidity helical structure capsule robot by a certain rotating speed drive, in certain viscosity liquid, when the gap of robot outer surface and inside pipe wall reaches critical gap, machine talent setting in motion, this rotating speed is called the startup rotating speed, rotating speed be called when starting rotating speed robot by rotating speed, be only idle running in pipe of robot with the motion feature when rotating speed drives, can not realize walking.
Multi-wedge effect can significantly improve the thrust of hydrodynamic pressure and robot, the critical gap value of capsule robot is increased, starting rotating speed reduces, in other words, multi-wedge effect has significantly improved the driving force of capsule robot in gentle elastic pipeline, when even the gap is big, just can realize the driving of capsule robot in gentle elastic pipeline with the slow-speed of revolution, even can realize capsule robot vertically moving about in gentle elastic pipeline with the slow-speed of revolution, improved security, reliability and practicality.
In addition, when robot drove by certain rotating speed, brasses was under action of centrifugal force, overcome the elastic force and the hydrodynamic pressure of micro-elasticity hinge components, promote spiral ribs and radially stretch, further reduced the gap with tube wall, improved driving force and complexity has been become the adaptability of caliber.
Relation according to robot radial expansion volume and rotating speed, by changing the rigidity of micro-elasticity hinge components, perhaps by adjusting the quality of brasses, in conjunction with multi-wedge effect, realize the design of robot, make robot in maximum excursion, have minimum startup rotating speed in that human body intestinal canal is minimum, significantly improve the driving force of capsule robot in enteron aisle, realize that capsule robot safety, reliable, driven at low speed control.
Effect of the present invention and benefit are: realize two-way the move about control of microrobot in gentle enclosed elastic pipeline by the outside rotating excitation field of pipeline, no cable drive mode has improved the reliability and the practicality of robot.In the critical gap scope of robot outer surface and pipeline, the multi-wedge effect that utilizes the robot convex outer surfaces to produce, can significantly improve the hydrodynamic pressure of robot, drive the efficient and the speed of moving about, reduce and start rotating speed, promptly with small rotation magnetic field speed, just can obtain the move about speed bigger than other structure capsule robot, the security and the reliability that drive in the gentle enclosed elastic pipeline have been improved, by changing the gap that the rotating excitation field rotating speed changes robot outer surface and pipeline, and then realization is to the control of robot translational speed, utilize multi-wedge effect, can significantly improve the driving force of capsule robot in being arranged vertically gentle enclosed elastic pipe; Change the direction of rotating excitation field, can change the moving direction of robot, realize simple and easy to do; Because robot can realize the gap adaptive equalization by being radially expanded of outer surface, and has the function that struts gentle elastic tube wall, therefore be adapted at driving operation in the gentle elastic tube wall environment.It is big that robot is suitable for the caliber scope, and promptly robot can walk in the pipeline of certain caliber scope.
Description of drawings
Accompanying drawing 1 (A) is the drives structure schematic diagram of capsule micro of the present invention robot.
Accompanying drawing 1 (B) is that capsule robot outer driver of the present invention rotates the schematic diagram that produces the gyromagnet field.
Accompanying drawing 2 (A) is first kind of capsule robot structure of models schematic diagram.
Accompanying drawing 2 (B) is the left view of first kind of capsule robot model structure.
Accompanying drawing 3 (A) is second kind of capsule robot structure of models schematic diagram.
Accompanying drawing 3 (B) is the left view of second kind of capsule robot model structure.
Accompanying drawing 4 (A) is the third capsule robot structure of models schematic diagram.
Accompanying drawing 4 (B) is the left view of the third capsule robot model structure.
Among the figure: a capsule robot; B is full of the gentle elastic pipeline of big viscous liquid; C neodymium iron boron annulus outer driver;
1 shooting cabin; 2 front ends; 3 spiral ribs; 4 brasses; 5 micro-elasticity hinge components; 6 film emulsion capsules; 7 center support framves; 8 neodymium iron boron inner drivers; 9 tube walls.
The specific embodiment
Be described in detail specific embodiments of the invention below in conjunction with technical scheme and accompanying drawing.
Along the circumferential direction equally distributed micro-elasticity hinge components 5 is connected with brasses 4 with spiral ribs 3 with certain initial deformation amount in 2 in conjunction with the accompanying drawings, and radially push several brasses 4 open, when certain side pipe wall is recessed, can compress the brasses 4 of certain side, be used for increasing the compliance of robotic surface, to adapt to environment in the complicated pipe, the initial deformation amount of micro-elasticity hinge components 5 also makes several brasses 4 easier radially stretching, extension when the less state of diameter.Then presenting avettely along the axial cross section of every block of brasses 4, is in order to increase the compliance of robotic surface, to adapt to environment in the complicated pipe; Cross section along vertical robot axis and every block of brasses 4 presents outer convex tile shape, the inner surface radius of four blocks of protruding brasses 4 is a complete circle after merging, the outer surface curvature radius of brasses 4 is less than the inner surface radius, present convex shape, form four key grooves with tube wall 9, so that form multi-wedge effect.
With film emulsion capsule 6 four blocks of brasses 4 are superscribed, reducing damage, and can prevent the leakage of hydrodynamic pressure gentle elastic tube wall.
It is appropriate that the rigidity of micro-elasticity hinge components 5 is wanted, so that make capsule robot easy deformation more diametrically under action of centrifugal force, reduces the gap with tube wall 9, improves the compliance and the hydrodynamic pressure of robotic surface.
Under the acting in conjunction of the elastic force of the centrifugal force of brasses 4 and micro-elasticity hinge components 5, promotion is attached to the radially self adaptation stretching, extension of spiral ribs 3 on the brasses 4, and the film emulsion capsule 6 that promotes free state radially expands and expands, the elastic tube wall that softens can be strutted, can promote the helical structure capsule surface again contacts with the gentle elastic tube wall self adaptation of complicated variable cross-section, eliminate the gap of robot capsule surface and gentle elastic tube wall effectively, reduce the thickness of dynamic pressure film, and make the brasses 4 with spiral ribs 3 of every projection form key groove with tube wall 9, and the generation multi-wedge effect, significantly improve the axial thrust of robot.
The rotary speed control capsule surface by adjusting external magnetic field and the exposure level of gentle elastic tube wall 9, and then the adjustment and the control of realization body inner machine people thrust and speed in complicated elastic wall environment.
The design that starts rotating speed can realize by the weight of change brasses 4 and the rigidity of micro-elasticity hinge components 5.Promptly, realize starting the design of rotating speed, and then realize the design of capsule robot dynamic characteristic by the rotating speed of change rotating excitation field and the relation curve of brasses 4 radial-deformations.
Below in conjunction with accompanying drawing 2, introduce multi-wedge effect to the capsule robot performance impact in, enumerate embodiment and illustrate that capsule robot starts the design process of rotating speed.As being 500mm in kinematic viscosity
2In the silicone oil of/s (every square millimeter of second), when the thickness of dynamic pressure film during greater than 2 millimeter, the dynamic pressure film rupture takes place, the axial thrust of capsule robot can not be kept walking.
Based on the robot of technique scheme, if the diameter of its external spiral rib 3 outer surfaces is designed to 15 millimeters, being 26 millimeters at internal diameter, to be full of viscosity be that kinematic viscosity is 500mm
2When driving in the pipe of the silicone oil of/s, under brasses 4 action of centrifugal force, promote radially synchronous extension of spiral ribs 3.According to the relation of robot radial expansion volume and rotating speed, when the diameter expansion on external spiral rib 3 surfaces was 22 millimeters, unidirectional gap reached 2 millimeters, and this moment, robot began to drive walking, and this rotating speed is called the startup rotating speed of this robot.
Relation according to the radial expansion volume and the rotating speed of designed capsule robot, the rigidity of the micro-elasticity hinge components 5 of correspondence in the time of can having difference startup rotating speed in the hope of capsule robot, capsule robot is being full of fluid, if design start rotating speed be per minute 600 change the capsule-type robot time, the equivalent stiffness of corresponding micro-elasticity hinge components 5 is 29.7N/mm, has promptly finished the design that starts rotating speed.The marked difference of the hydrodynamic pressure of following calculation specifications multi-wedge effect capsule robot and radial clearance self compensation capsule robot and the speed of moving about.Radial clearance self compensation capsule robot is when starting Revolution Per Minute 600 commentaries on classics drivings, and the hydrodynamic pressure of generation is 60Pa, and the speed of moving about of robot is 8 millimeters of per seconds; The multi-wedge effect capsule robot, when walking around the speed driving with per minute 600, the hydrodynamic pressure of generation is 110Pa, the speed of moving about of robot is 14 millimeters of per seconds.As seen the dynamic property of multi-wedge effect capsule robot significantly improves.Calculate also show when the hydrodynamic pressure of the startup rotating speed that reaches radial clearance self compensation capsule robot (when per minute 600 changes) when moving about speed, the rotating speed that the multi-wedge effect capsule robot only needs per minute 400 to change can be realized, in other words, the startup rotating speed of multi-wedge effect capsule robot is reduced to per minute 400 to be changeed, and has significantly improved the driveability of robot.
Multi-wedge effect has significantly improved the driving force of capsule robot in gentle elastic tube wall, just can realize the driving of capsule robot in gentle elastic tube wall with the slow-speed of revolution, can reduce user's sense of discomfort, improves security and reliability.
The following describes the specific embodiment that realizes robot control.
In conjunction with the accompanying drawings 1, two magnetic pole neodymium iron boron annulus outer driver c among Fig. 1 adopt frequency control to drive control, to produce the adjustable rotating excitation field of rotating speed, adopt the technical scheme of two magnetic pole neodymium iron boron annulus can make the rotating excitation field intensity maximum of generation; Capsule type micro-robot a puts into the gentle enclosed elastic pipeline b that is full of big viscous liquid, and starting rotating speed is that per minute 400 changes.
By the rotary speed of Frequency Drive Control neodymium iron boron annulus outer driver c, with the rotating speed of control rotating excitation field.
When neodymium iron boron annulus outer driver c changes driving to start Revolution Per Minute 400, capsule robot a begins to move about in being full of the gentle elastic pipeline b of big viscous liquid, by the relation curve of rotating speed with the speed of moving about, can realize robot speed's control, as changeing with per minute 1000 when driving, the speed of moving about of capsule robot a is 43 millimeters of per seconds.
Among Fig. 3: the difference of first kind of capsule robot structure of models is that robot outer surface brasses 4 along the circumferential direction evenly is divided into trisection together with spiral ribs 3 among second kind of capsule robot structure of models and Fig. 2, the constraint of releasing circumferencial direction is connected to center support frame 7 upper supports by three micro-elasticity hinge components 5 that along the circumferential direction evenly distribute respectively.
Among Fig. 4: the difference of first kind of capsule robot structure of models is that robot outer surface brasses 4 along the circumferential direction evenly is divided into two five equilibriums together with spiral ribs 3 among the third capsule robot structure of models and Fig. 2, the constraint of releasing circumferencial direction is connected to center support frame 7 upper supports by two micro-elasticity hinge components 5 that along the circumferential direction evenly distribute respectively.
Claims (5)
1. capsule robot is characterized in that:
The lobed outside of polylith is pieced together the outer surface of capsule robot (a) with the brasses (4) of multi-head spiral rib (3), every block of brasses (4) has identical internal diameter, internal diameter after every block of brasses (4) pieces together is a complete circle, and brasses (4) is avette along being shaped as of capsule robot (a) axis cross section; The outer radius of every block of brasses (4) is less than inside radius, and the outer surface of polylith brasses (4) is not on same circle after the amalgamation;
It is fixing in the circular hole of center support frame (7) rear portion that diametrical magnetization neodymium iron boron inner driver (8) is packed into, and it is fixing in the anterior circular hole of center support frame that miniature video camera cabin (1) is packed into, and fixedly front end (2) and follower head; Respectively with the inner concave place of every block of brasses (4) with micro-elasticity hinge components (5) along with being fixed on capsule robot (a) the center support frame (7) of the circumferencial direction five equilibrium of capsule robot (a) axis normal; Film emulsion capsule (6) is enclosed within on the outer cylinder surface of polylith brasses (4) composition, and the front port of film emulsion capsule (6) is connected chucking with the front end of capsule robot (a), make film emulsion capsule (6) sealing.
2. a kind of capsule robot according to claim 1, it is characterized in that: the brasses (4) of capsule robot (a) outer surface is along the circumferential direction evenly cut apart the quartering together with spiral ribs (3), is fixed on the center support frame (7) by four micro-elasticity hinge components (5) respectively.
3. a kind of capsule robot according to claim 1, it is characterized in that: the brasses (4) of capsule robot (a) outer surface is along the circumferential direction evenly cut apart trisection together with spiral ribs (3), is fixed on the center support frame (7) by three micro-elasticity hinge components (5) respectively.
4. a kind of capsule robot according to claim 1, it is characterized in that: the brasses (4) of capsule robot (a) outer surface is along the circumferential direction evenly cut apart bisection together with spiral ribs (3), is fixed on the center support frame (7) by two micro-elasticity hinge components (5) respectively.
5. the multi-wedge effect drive control method of the described a kind of capsule robot of claim 1 is characterized in that:
(1), adjusts the startup rotating speed of capsule robot (a) according to the weight of brasses (4) and the rigidity of micro-elasticity hinge components (5);
(2) under the coupling of inner rotary magnetic field that produces by the neodymium iron boron annulus outer driver (c) of rotation and neodymium iron boron inner driver (8), capsule robot (a) in being full of the gentle elastic pipeline (b) of big viscous liquid is applied turning moment, micro-elasticity hinge components (5) is under the acting in conjunction of brasses (4) centrifugal force and hydrodynamic pressure, promote spiral ribs (3) and radially stretch, the promotion capsule surface radially expands and expands;
(3) by the rotary speed control many raised surface of capsule band of adjustment external magnetic field and the exposure level of gentle elastic tube wall (9), form a plurality of key grooves, realize the adjustment and the control of capsule robot (a) thrust and speed in gentle elastic tube wall (9) environment of complexity according to wedge effect; When capsule robot (a) rotation stops, micro-elasticity hinge components (5) is by the surperficial return of its elastic energy pulling brasses (4), and the initial preload pressure of micro-elasticity hinge components (5) still can radially be pushed the brasses (4) with spiral ribs (3) open certain distance.
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| CN108406739A (en) * | 2018-03-23 | 2018-08-17 | 哈尔滨工业大学 | A kind of liquid surface micro structures transmission method and its device based on Magnetic driving Micro-Robot |
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| CN1686044A (en) * | 2005-04-29 | 2005-10-26 | 大连理工大学 | External magnetic field rotary driving control method of on line medical minitype robot in blood vessel |
| KR100702155B1 (en) * | 2005-05-12 | 2007-04-02 | 한국과학기술연구원 | Capsule type micro-robot moving system |
| CN100523583C (en) * | 2007-12-20 | 2009-08-05 | 大连理工大学 | Magnetic driving control device and method for multi-capsule type medical miniature robot |
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| CN108406739B (en) * | 2018-03-23 | 2020-10-02 | 哈尔滨工业大学 | Liquid surface micro-component transmission method and device based on magnetically driven micro-robot |
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| CN113197669B (en) * | 2021-05-19 | 2022-03-22 | 广州大学 | Variable-caliber magnetic control internal spiral vascular robot |
| CN114654499A (en) * | 2022-02-16 | 2022-06-24 | 南京航空航天大学 | Rigidity-variable industrial robot passive compliant device and cooperative assembly method |
| CN114654499B (en) * | 2022-02-16 | 2023-10-24 | 南京航空航天大学 | Variable-rigidity passive compliance device of industrial robot and cooperative assembly method |
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