CN103117606B - For the micro electromagnetic actuator of gastrointestinal robot - Google Patents
For the micro electromagnetic actuator of gastrointestinal robot Download PDFInfo
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- CN103117606B CN103117606B CN201310069816.5A CN201310069816A CN103117606B CN 103117606 B CN103117606 B CN 103117606B CN 201310069816 A CN201310069816 A CN 201310069816A CN 103117606 B CN103117606 B CN 103117606B
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Abstract
The micro electromagnetic actuator for gastrointestinal robot in endoscope quasi-instrument field, comprising: stator mechanism and be arranged at the rotor mechanism comprising commutator segment of its inside; Described rotor mechanism comprises: two groups of coils, commutator segment, asymmetrical rotor and output shafts, wherein: rotor is arranged on output shaft, first coil, the second coil winding are on asymmetrical rotor and be all positioned at rotor outer, and commutator segment is connected with asymmetrical rotor and arranges with one heart.The present invention makes gastrointestinal robot axial dimension shorten, and improves gastrointestinal robot space availability ratio, realizes gastrointestinal robot miniaturization.
Description
Technical field
What the present invention relates to is a kind of device of endoscope quasi-instrument technical field, specifically a kind of micro electromagnetic actuator for gastrointestinal robot.
Background technology
Along with the continuous quickening of people's rhythm of life and the continuous change of dietary structure, disease of digestive tract gets more and more.Cancer of the stomach is one of modal malignant tumour in world wide, about has 640,000 people every year because of mortality of gastric carcinoma, occupies the 2nd of the cancer cause of the death.The incidence of disease of intestinal cancer also rises with the speed of annual 2% in the world, and be often close on 500000 people and die from intestinal cancer, and the speedup of China's intestinal cancer incidence of disease is the twice of world standard, the death rate occupies the cancer cause of the death the 3rd.Gi system disease belongs to the high chronic disease of the incidence of disease, the death rate and disability rate, therefore check in advance prevention and Diagnosis of Gastric intestines problem significant to raising people ' s health level, and good disease of digestive tract diagnostic method is the key of preventing enterogastric diseases.
In recent years, development in science and technology, enterogastric diseases diagnosis and treatment method constantly makes a breakthrough.The appearance of intelligent capsule just indicates that enterogastric diseases diagnoses the new breakthrough finding advanced intelligent capsule gastrointestinal examination from traditional endoscopy.But at present conventional endoscope and intelligent capsule endoscope are for the examination still existing defects of enterogastric diseases, therefore study the active gastrointestinal robot that can swallow and realize intestines and stomach noninvasive test and non-invasive procedures has become enterogastric diseases diagnosis and treatment method new breakthrough direction.
Current gastrointestinal robot is mainly divided into bionic type gastrointestinal robot and the rotary gastrointestinal robot of capsule.Bionic type gastrointestinal robot has imitative chi Kuo formula, imitative earthworm-type and imitative galleyworm formula etc.The type of drive of this type of bionic type gastrointestinal robot is generally common micro motor or special material (SMA or EP) drives, gastrointestinal robot mechanical arm or outer wall and intestines and stomach inwall are interacted thus makes its effective exercise in intestines and stomach, but this motion mode easy damaged intestines and stomach, and there is obvious shortcoming: the gastrointestinal robot overall dimension that common micro motor drives is larger, space availability ratio is not high, further miniaturization difficult; The gastrointestinal robot exercise performance that special material drives is undesirable, there is the problems such as the too little or action response frequency of actuating force is low.The rotary gastrointestinal robot of capsule has common micro motor driving, external magnetic field drives two kinds.The rotary gastrointestinal robot of capsule by the spiral member of capsule outer walls screw thread or capsule afterbody and mucus, fine hair effect in intestines and stomach, thus promotes gastrointestinal robot and moves.The rotary gastrointestinal robot shortcoming of capsule that common micro motor drives mainly is type of drive inefficiency, and in motion process, without effective clamping mechanism, more difficult realization is to sick Zhao point stable detection; Though the rotary gastrointestinal robot of capsule that external magnetic field drives can realize sick Zhao point stable detection, mechanism is miniaturized, and the rotation of extraneous driver and capsule controls all very complicated, is not easy to practical application.
Through finding the retrieval of prior art, Chinese patent literature CN1686044, publication date 2005-10-26, describe the inner rotary magnetic field noncontact screw type online drived control method of a kind of medical micromotion robot in human vas, by driving diametrical magnetization and N, S pole even number many magnetic poles cylindrical shape neodymium iron boron (NdFeB) permanent magnet outer driver alternately rotates and moves axially, medium in rotating magnetic field the coupling of magnetic machine to be loaded with same field structure inner driver produce magnetic torque and axial magnetic pull formed drive " power is revolved ", realize robot in endovascular two-way contactless axially driving.But this technical development is still immature now, control complicated, be difficult to realize at the endovascular effective exercise of complications, and easily damage caused to blood vessel.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of micro electromagnetic actuator for gastrointestinal robot is provided, by the structure of novelty, gastrointestinal robot axial dimension is shortened, improve gastrointestinal robot space availability ratio, realize gastrointestinal robot miniaturization.
The present invention is achieved by the following technical solutions, the present invention includes: stator mechanism and be arranged at the rotor mechanism comprising commutator segment of its inside.
Described stator mechanism comprises: ring-type magnetic sheet and brush, and wherein: ring-type magnetic sheet and rotor mechanism effect make rotor mechanism rotate, brush is fixed on annular magnetic sheet inner surface;
Described rotor mechanism comprises: two groups of coils, commutator segment, asymmetrical rotor and output shafts, wherein: rotor is arranged on output shaft, first coil, the second coil winding are in asymmetrical rotor and be all positioned at rotor outer, and commutator segment is connected with asymmetrical rotor and arranges with one heart;
Described commutator segment and described brush contact with each other.
The two ends of described output shaft and stator mechanism are all arranged in closed magnetic conduction shell; The radial cross-section of this output shaft and the D font centre bore of asymmetrical rotor match.
Described magnetic conduction shell comprises: magnetic conduction upper cover and magnetic conduction round bottom plate, and wherein: magnetic conduction upper cover is wrapped in outside mover mechanism, magnetic conduction round bottom plate is arranged at the bottom of stator mechanism and is connected with magnetic conduction upper cover.
Described magnetic conduction round bottom plate and the center of magnetic conduction upper cover arrange clutch shaft bearing and the second bearing respectively, and two bearings coordinate with the two ends of output shaft respectively.
Described commutator segment is divided into 6 parts, and two regions of both sides, the relative center of circle are interconnected and are same group, altogether a, b, c tri-groups.
Described brush is the L-shaped structure of positive and negative electrode brush composition, and this brush and commutator segment lower surface contact portion are linear, wherein: both positive and negative polarity brush is by copper wire helically coiling.
Described asymmetrical rotor has two line of symmetry angles be the symmetrical fan-shaped hole of 120 °, embed the first coil and the second coil respectively, two fan-shaped hole symmetric positions become waisted hole, to make asymmetrical rotor stable rotation.
The upper surface of described ring-type magnetic sheet is divided into four regions, and region polarity is followed successively by N pole, S pole, N pole, S pole.
The first described coil and the second coil are equidirectional coiling, and the tail end of two coils is connected, and tie point is connected with commutator segment b group, and the front end of the first coil is connected with commutator segment a group, and the front end of the second coil is connected with commutator segment c group.
The first described coil and the second coil are the sector structure of 60 °, central angle, and two coils respectively symmetry are positioned at commutator segment b group both sides, and the first coil is identical with rotor diameter with the second coil outer diameter, and internal diameter is identical with ring-type magnetic sheet internal diameter.
The angle of the symmetry axis of the first described coil, the sector structure of the second coil is 120 °.
Technique effect
The present invention can realize the effective action of gastrointestinal robot, and mechanism is miniaturized, is more conducive to gastrointestinal robot and moves in enteron aisle.Volume of the present invention is little, structure simple, it is easy to control, cost is low, dependable performance, can substitute the common micro motor in existing gastrointestinal robot, greatly improves the space availability ratio of gastrointestinal robot.It can be made to carry medicine for the raising of gastrointestinal robot space availability ratio or microsurgical instruments enters human body.The present invention is also applicable to be arranged on limited space, the occasion that useable electric moter drives.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of rotor;
Fig. 3 is the structural representation of commutator segment, ring-type magnetic sheet and brush;
Fig. 4 is polycrystalline substance schematic diagram of the present invention;
Fig. 5 is structural blast view of the present invention;
Fig. 6 is brush structure schematic diagram;
Fig. 7 is asymmetrical rotor structural representation;
Fig. 8 is that embodiment 1 rotates initial condition figure;
Fig. 9 is that embodiment 1 turns over 15 ° of schematic diagrames;
Figure 10 is that embodiment 1 turns over 45 ° of schematic diagrames;
Figure 11 is that embodiment 1 turns over 75 ° of schematic diagrames;
Figure 12 is that embodiment 1 turns over 105 ° of schematic diagrames;
Figure 13 is that embodiment 1 turns over 135 ° of schematic diagrames;
Figure 14 is that embodiment 1 turns over 165 ° of schematic diagrames;
Figure 15 is that embodiment 1 turns over 180 ° of schematic diagrames.
Embodiment
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed execution mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figures 1 to 5, the present embodiment comprises: stator mechanism and be arranged at the rotor mechanism comprising commutator segment of its inside.
Described stator mechanism comprises: ring-type magnetic sheet 3 and brush 4, wherein: ring-type magnetic sheet 3 and rotor mechanism effect make rotor mechanism rotate, and brush 4 is fixed on annular magnetic sheet 3 inner surface;
Described rotor mechanism comprises: two groups of coils 5,6, commutator segment 7, asymmetrical rotor 8 and output shaft 9, wherein: rotor 8 is arranged on output shaft 9, first coil 5, second coil 6 is arranged at rotor 8 inside and is all positioned at rotor 8 outer, and the energising direction of two coils is contrary; Commutator segment 7 is connected with rotor 8 lower surface and arranges with rotor 8 is concentric; Brush 4 is fixed on annular magnetic sheet 3 inner surface; Rotor 8, near ring-type magnetic sheet 3, makes the commutator segment 7 of rotor 8 lower surface and brush 4 contact with each other;
The two ends of described output shaft 9 are respectively arranged with mutually closed magnetic conduction upper cover 11 and magnetic conduction round bottom plate 2, wherein: magnetic conduction upper cover 11 is wrapped in outside rotor 8 and ring-type magnetic sheet 3.
Described magnetic conduction round bottom plate 2 and the center of magnetic conduction upper cover 11 arrange clutch shaft bearing 1 respectively and the second bearing 10, two bearings coordinate with the two ends of output shaft 9 respectively.
Described commutator segment 7 is divided into 6 parts, altogether a, b, c tri-groups, and the region about center of circle symmetry is same group, with organizing regional connectivity.
The first described coil 5 and the second coil 6 are left-handed coiling, and the tail end of two coils is connected, and tie point is connected with commutator segment 7b group, and the front end of the first coil 5 is connected with commutator segment 7a group, and the front end of the second coil 6 is connected with commutator segment 7c group.
The first described coil 5 and the structure of the second coil 6 are the fan-shaped of 60 °, central angle, and two coils respectively symmetry are positioned at commutator segment 7b group both sides, and the first coil 5 is identical with rotor 8 external diameter with the second coil 6 external diameter, and internal diameter is identical with ring-type magnetic sheet 3 internal diameter.
The angle of the symmetry axis of the sector structure of the first described coil 5, second coil 6 is 120 °.
The upper surface of described ring-type magnetic sheet 3 is divided into four regions, and region polarity is followed successively by N pole, S pole, N pole, S pole.
As shown in Figure 6, the L-shaped structure that described brush 4 forms for positive and negative electrode brush, wherein positive pole+, negative pole-brush is by copper wire helically coiling.Brush 4 and commutator segment 7 lower surface contact portion are linear, label L part in Fig. 6, and brush 4 rectilinear segments all crosses annular magnetic sheet center, angle in 90 °.Two straight lines are the line of demarcation of annular magnetic sheet 3 magnetic pole just, and the region comprised is S pole.
As shown in Figure 7, two symmetrical fan-shaped hole line of symmetry angles of described asymmetrical rotor 8 are 120 °, embed the first coil 5 and the second coil 6 respectively.For making asymmetrical rotor 8 stable rotation, be designed to waisted hole H1 in two fan-shaped hole symmetric positions, centre bore is D font centre bore H2.
Magnetic conduction upper cover 11 and rotor 8 near, and and the mutual compact siro spinning technology of magnetic conduction round bottom plate 2, the external seal environment of formation electromagnetic driver.
The present embodiment Electromagnetic Drive rotates clockwise specific as follows:
Assumed initial state: as shown in Figure 8, the first coil 5, second coil 6 inlayed in rotor 8 and brush 4 homonymy, and be symmetrical in the center line at brush 4 the two poles of the earth, now brush 4 positive pole contacts with a group commutator segment 7, brush 4 negative pole and the effect of c group commutator segment 7 phase.When brush 4 adds positive voltage, first coil 5 magnetic field is S pole, upper end, N pole, lower end, second coil 6 magnetic field is N pole, upper end, S pole, lower end, the N pole of corresponding ring-type magnetic sheet 3 and region, two, S pole below the first coil 5, the N pole of corresponding ring-type magnetic sheet 3 and region, two, S pole below the second coil 6, due to the interaction between magnetic field, rotor 8 will rotate clockwise.
As shown in Figure 9, rotor 8 goes in 15 ° of processes at 0 °, and below ring-type magnetic sheet 3 polarity of the magnetic field of first and second coil 5,6 magnetic field and its correspondence is constant.When rotor 8 goes to 15 ° clockwise, brush 4 negative pole is just between commutator segment 7b, c group, and the second coil 6 short circuit, the first coil 5 magnetic field is upper S pole, lower N pole, and the N pole of corresponding ring-type magnetic sheet 3 and territory, S polar region below it, rotor 8 continues to rotate clockwise.
As shown in Figure 10, rotor 8 goes in 45 ° of processes at 15 ° clockwise, and the first coil 5 magnetic field is S pole, upper end, N pole, lower end, and corresponding ring-type magnetic sheet 3N pole, below and region, two, S pole, the second coil 6 no current passes through.
When rotor 8 goes to 45 °, brush 4 positive pole acts on commutator segment 7a, c group just simultaneously mutually, negative pole is connected with commutator segment 7b group, now the first coil 5 magnetic field is S pole, upper end, N pole, lower end, and the second coil 6 magnetic field is S pole, upper end, N pole, lower end, the territory, S polar region of corresponding ring-type magnetic sheet 3 below first coil 5, the N pole of corresponding ring-type magnetic sheet 3 below the second coil 6, rotor 8 continues to rotate clockwise.
As shown in figure 11, rotor 8 goes to 75 ° of processes from 45 ° clockwise, and the first coil 5 no current passes through, and the second coil 6 magnetic field is S pole, upper end, N pole, lower end, the N pole of corresponding ring-type magnetic sheet 3 and territory, S polar region below the second coil 6.
When rotor 8 goes to 75 °, brush 4 negative pole is connected with commutator segment 7a, b group, brush 4 positive pole contacts with commutator segment 7c group, first coil 5 short circuit, second coil 6 magnetic field is S pole, upper end, N pole, lower end, the N pole of corresponding ring-type magnetic sheet 3 and territory, S polar region below the second coil 6, rotor 8 continues to rotate clockwise.
As shown in figure 12, when rotor 8 goes to 105 ° clockwise from 75 °, brush 4 positive pole is connected with commutator segment 7c group, brush 4 negative pole is connected with commutator segment 7a group, first coil 5 magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet 3S pole, below and territory, N polar region, second coil 6 magnetic field is S pole, upper end, N pole, lower end, corresponding ring-type magnetic sheet 3N pole, below and territory, S polar region.
When rotor 8 goes to 105 ° clockwise, brush 4 positive pole is connected with commutator segment 7b, c group, and brush 4 negative pole is connected with commutator segment 7a group, first coil 5 magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet 3S pole, below and territory, N polar region, second coil 6 short circuit, rotor 8 continues to rotate clockwise.
As shown in figure 13, when rotor 8 goes to 135 ° clockwise from 105 °, brush 4 positive pole is connected with commutator segment 7b group, brush 4 negative pole is connected with commutator segment 7a group, and the first coil 5 magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet 3N pole, below and territory, S polar region, the second coil 6 no current passes through.
When rotor 8 goes to 135 ° clockwise, brush 4 positive pole is connected with commutator segment 7b group, brush 4 negative pole is just connected with commutator segment 7a, c group, and the first coil 5 magnetic field is N pole, upper end, S pole, lower end, territory, corresponding ring-type magnetic sheet 3N polar region, below, second coil 6 magnetic field is N pole, upper end, S pole, lower end, corresponding territory, ring-type magnetic sheet 3S polar region, below, due to the interphase interaction in magnetic field, rotor 8 continues to rotate clockwise.
As shown in figure 14, rotor 8 goes to 165 ° of processes from 135 °, and the first coil 5 no current passes through, and the second coil 6 magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet 3N pole, below and territory, S polar region.
When rotor 8 goes to 165 °, brush 4 positive pole is connected with commutator segment 7a, b group, brush 4 negative pole is connected with commutator segment 7c group, first coil 5 short circuit, second coil 6 magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet 3N pole, below and territory, S polar region, due to the interphase interaction in magnetic field, rotor 8 continues to rotate clockwise.
As shown in figure 15, rotor 8 goes to 180 ° of processes from 165 °, and the first coil 5 magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet 3N pole, below and territory, S polar region, the second coil 6 magnetic field is S pole, upper end, N pole, lower end, corresponding ring-type magnetic sheet 3S pole, below and territory, N polar region.
When rotor 8 goes to 180 °, rotor 8 is got back to and initial condition symmetric position, and rotor 8 still can run well within the scope of 180 ° to 360 °, therefore electromagnetic driver can run well clockwise.
When brush 4 loads negative voltage, the present embodiment counterclockwise movement, its motion process is contrary with electromagnetic driver clockwise movement process.
Claims (1)
1. for a micro electromagnetic actuator for gastrointestinal robot, it is characterized in that, comprising: stator mechanism and be arranged at the in-house rotor mechanism comprising commutator segment of stator;
Described rotor mechanism comprises: two coils, commutator segment, asymmetrical rotor and output shafts, wherein: asymmetrical rotor is arranged on output shaft, first coil, the second coil winding are on asymmetrical rotor and be all positioned at asymmetrical rotor outer, and commutator segment is connected with asymmetrical rotor and arranges with one heart;
The first described coil and the second coil are equidirectional coiling, and the tail end of two coils is connected, and tie point is connected with b group commutator segment, and the front end of the first coil is connected with a group commutator segment, and the front end of the second coil is connected with c group commutator segment;
The first described coil and the second coil are the sector structure of 60 °, central angle, and two coils respectively symmetry are positioned at b group commutator segment both sides, and the first coil is identical with asymmetrical rotor external diameter with the second coil outer diameter, and internal diameter is identical with ring-type magnetic sheet internal diameter;
The angle of the symmetry axis of the first described coil, the sector structure of the second coil is 120 °;
The upper surface of described ring-type magnetic sheet is divided into four regions, and region polarity is followed successively by N pole, S pole, N pole, S pole;
Described stator mechanism comprises: ring-type magnetic sheet and brush, and wherein: ring-type magnetic sheet and rotor mechanism effect make rotor mechanism rotate, brush is fixed on annular magnetic sheet inner surface;
Described brush is the L-shaped structure of positive and negative electrode brush composition and is linear with commutator segment lower surface contact portion;
Described commutator segment and described brush contact with each other;
Described commutator segment is divided into 6 parts, and two regions of both sides, the relative center of circle are interconnected and are same group, altogether a, b, c tri-groups;
The two ends of described output shaft and stator mechanism are all arranged in closed magnetic conduction shell; The radial cross-section of this output shaft and the D font centre bore of asymmetrical rotor match;
The first coil inlayed in asymmetrical rotor, the second coil and brush homonymy, and be symmetrical in the center line at brush the two poles of the earth, now positive brush contacts with a group commutator segment, and negative pole brush acts on mutually with c group commutator segment; When brush adds positive voltage, first coil magnetic field is S pole, upper end, N pole, lower end, second coil magnetic field is N pole, upper end, S pole, lower end, the N pole of corresponding ring-type magnetic sheet and region, two, S pole below the first coil, the N pole of corresponding ring-type magnetic sheet and region, two, S pole below the second coil, due to the interaction between magnetic field, asymmetrical rotor will rotate clockwise;
Asymmetrical rotor goes in 15 ° of processes at 0 °, and the below ring-type magnetic sheet polarity of the magnetic field of first and second coil magnetic field and first and second coil magnetic field difference correspondence is constant; When asymmetrical rotor goes to 15 ° clockwise, negative pole brush just between commutator segment b, c group, the second coil short, first coil magnetic field is upper S pole, lower N pole, the N pole of corresponding ring-type magnetic sheet and territory, S polar region below the first coil, asymmetrical rotor continues to rotate clockwise;
Asymmetrical rotor goes in 45 ° of processes at 15 ° clockwise, and the first coil magnetic field is S pole, upper end, N pole, lower end, corresponding ring-type magnetic sheet N pole, below and region, two, S pole, and the second coil no current passes through;
When asymmetrical rotor goes to 45 °, positive brush acts on commutator segment a, c group just simultaneously mutually, negative pole brush is connected with b group commutator segment, now the first coil magnetic field is S pole, upper end, N pole, lower end, and the second coil magnetic field is S pole, upper end, N pole, lower end, the territory, S polar region of corresponding ring-type magnetic sheet below first coil, the territory, N polar region of corresponding ring-type magnetic sheet below the second coil, asymmetrical rotor continues to rotate clockwise;
Asymmetrical rotor goes to 75 ° of processes from 45 ° clockwise, and the first coil no current passes through, and the second coil magnetic field is S pole, upper end, N pole, lower end, the N pole of corresponding ring-type magnetic sheet and territory, S polar region below the second coil;
When asymmetrical rotor goes to 75 °, negative pole brush is connected with commutator segment a, b group, positive brush contacts with c group commutator segment, first coil short, second coil magnetic field is S pole, upper end, N pole, lower end, the N pole of corresponding ring-type magnetic sheet and territory, S polar region below the second coil, asymmetrical rotor continues to rotate clockwise;
When asymmetrical rotor goes to 105 ° clockwise from 75 °, positive brush is connected with c group commutator segment, negative pole brush is connected with a group commutator segment, first coil magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet S pole, below and territory, N polar region, the second coil magnetic field is S pole, upper end, N pole, lower end, corresponding ring-type magnetic sheet N pole, below and territory, S polar region;
When asymmetrical rotor goes to 105 ° clockwise, positive brush is connected with commutator segment b, c group, and negative pole brush is connected with a group commutator segment, first coil magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet S pole, below and territory, N polar region, second coil short, asymmetrical rotor continues to rotate clockwise;
When asymmetrical rotor goes to 135 ° clockwise from 105 °, positive brush is connected with b group commutator segment, and negative pole brush is connected with a group commutator segment, first coil magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet N pole, below and territory, S polar region, the second coil no current passes through;
When asymmetrical rotor goes to 135 ° clockwise, positive brush is connected with b group commutator segment, negative pole brush is just connected with commutator segment a, c group, and the first coil magnetic field is N pole, upper end, S pole, lower end, territory, corresponding ring-type magnetic sheet N polar region, below, second coil magnetic field is N pole, upper end, S pole, lower end, corresponding territory, ring-type magnetic sheet S polar region, below, due to the interphase interaction in magnetic field, asymmetrical rotor continues to rotate clockwise;
Asymmetrical rotor goes to 165 ° of processes from 135 °, and the first coil no current passes through, and the second coil magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet N pole, below and territory, S polar region;
When asymmetrical rotor goes to 165 °, positive brush is connected with commutator segment a, b group, negative pole brush is connected with c group commutator segment, first coil short, second coil magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet N pole, below and territory, S polar region, due to the interphase interaction in magnetic field, asymmetrical rotor continues to rotate clockwise;
Asymmetrical rotor goes to 180 ° of processes from 165 °, and the first coil magnetic field is N pole, upper end, S pole, lower end, corresponding ring-type magnetic sheet N pole, below and territory, S polar region, and the second coil magnetic field is S pole, upper end, N pole, lower end, corresponding ring-type magnetic sheet S pole, below and territory, N polar region;
When asymmetrical rotor goes to 180 °, asymmetrical rotor is got back to and initial condition symmetric position, and asymmetrical rotor still can run well within the scope of 180 ° to 360 °, therefore electromagnetic driver can run well clockwise;
When brush loads negative voltage, described asymmetrical rotor counterclockwise movement, electromagnetic driver motion process is contrary with electromagnetic driver clockwise movement process.
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| CN201310069816.5A CN103117606B (en) | 2013-03-05 | 2013-03-05 | For the micro electromagnetic actuator of gastrointestinal robot |
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| CN201310069816.5A CN103117606B (en) | 2013-03-05 | 2013-03-05 | For the micro electromagnetic actuator of gastrointestinal robot |
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| CN103393440B (en) * | 2013-08-02 | 2015-11-18 | 同济大学附属上海市肺科医院 | Thoracoscopic operation electric magnet operating means |
| CN106606346B (en) * | 2015-10-21 | 2020-04-10 | 新加坡国立大学 | Self-supporting initiative axial drive arrangement is used to medical science |
| CN106510605B (en) * | 2017-01-04 | 2017-11-07 | 京东方科技集团股份有限公司 | Stomach check device and stomach inspection system |
| CN111150436B (en) * | 2020-02-15 | 2023-05-30 | 赵勇 | Spiral propulsion type medical robot |
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| US7365509B2 (en) * | 2005-05-12 | 2008-04-29 | Korea Institute Of Science And Technology | Capsule type micro-robot moving system |
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| JP2001104882A (en) * | 1999-10-12 | 2001-04-17 | Shigeru Takeuchi | Flat type vibration motor |
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| US7365509B2 (en) * | 2005-05-12 | 2008-04-29 | Korea Institute Of Science And Technology | Capsule type micro-robot moving system |
| CN101622773A (en) * | 2007-02-26 | 2010-01-06 | 奥林巴斯医疗株式会社 | Magnetic actuator, magnetic actuator operation method, and encapsulated endoscope using the same |
| CN102048517A (en) * | 2011-01-05 | 2011-05-11 | 华南理工大学 | Screw-type active-thrust capsule-like robot |
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