CN107788945A - A kind of eye examination robot - Google Patents
A kind of eye examination robot Download PDFInfo
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- CN107788945A CN107788945A CN201711004136.XA CN201711004136A CN107788945A CN 107788945 A CN107788945 A CN 107788945A CN 201711004136 A CN201711004136 A CN 201711004136A CN 107788945 A CN107788945 A CN 107788945A
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- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 210000003128 head Anatomy 0.000 claims abstract description 81
- 230000033001 locomotion Effects 0.000 claims abstract description 70
- 238000007689 inspection Methods 0.000 claims abstract description 30
- 210000001747 pupil Anatomy 0.000 claims abstract description 27
- 230000003028 elevating effect Effects 0.000 claims description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 24
- 230000000007 visual effect Effects 0.000 claims description 8
- 244000144985 peep Species 0.000 claims description 5
- 230000004438 eyesight Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 230000000630 rising effect Effects 0.000 claims 1
- 210000001508 eye Anatomy 0.000 description 30
- 210000000695 crystalline len Anatomy 0.000 description 13
- 238000010586 diagram Methods 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 5
- 210000005252 bulbus oculi Anatomy 0.000 description 5
- 208000022873 Ocular disease Diseases 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000001684 chronic effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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- 241000237858 Gastropoda Species 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 210000004561 lacrimal apparatus Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000000386 microscopy Methods 0.000 description 2
- 208000001491 myopia Diseases 0.000 description 2
- 230000004379 myopia Effects 0.000 description 2
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- 230000001681 protective effect Effects 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
- 230000004430 ametropia Effects 0.000 description 1
- 210000002159 anterior chamber Anatomy 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000795 conjunctiva Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 210000004087 cornea Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 210000000744 eyelid Anatomy 0.000 description 1
- 239000007850 fluorescent dye Substances 0.000 description 1
- 210000001061 forehead Anatomy 0.000 description 1
- 238000002577 ophthalmoscopy Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 208000014733 refractive error Diseases 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/0008—Apparatus for testing the eyes; Instruments for examining the eyes provided with illuminating means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/0016—Operational features thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/0075—Apparatus for testing the eyes; Instruments for examining the eyes provided with adjusting devices, e.g. operated by control lever
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/02—Subjective types, i.e. testing apparatus requiring the active assistance of the patient
- A61B3/028—Subjective types, i.e. testing apparatus requiring the active assistance of the patient for testing visual acuity; for determination of refraction, e.g. phoropters
- A61B3/032—Devices for presenting test symbols or characters, e.g. test chart projectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/11—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for measuring interpupillary distance or diameter of pupils
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/113—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for determining or recording eye movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/117—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for examining the anterior chamber or the anterior chamber angle, e.g. gonioscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/13—Ophthalmic microscopes
- A61B3/135—Slit-lamp microscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/14—Arrangements specially adapted for eye photography
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Biophysics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Ophthalmology & Optometry (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Human Computer Interaction (AREA)
- Eye Examination Apparatus (AREA)
Abstract
The invention discloses a kind of eye examination robot, including head shell, inspection body is internally provided with；Inspection body includes head shell connecting seat, lighting device and preposition camera device, and head shell connecting seat is provided with jaw support motion driving mechanism, front and rear focusing drive mechanism, side-to-side movement drive mechanism and hot spot are rotated horizontally to pupil drive mechanism；Head shell connecting seat is connected to the inwall of head shell；Jaw support motion driving mechanism is connected with jaw support and can drive its oscilaltion；Preposition camera device and lighting device are all connected to front and rear focusing drive mechanism and side-to-side movement drive mechanism, front and rear focusing drive mechanism and side-to-side movement drive mechanism can drive preposition camera device to move forward and backward and move left and right with lighting device, lighting device is also attached to hot spot and rotated horizontally to pupil drive mechanism, and hot spot, which rotates horizontally, can drive lighting device to pupil drive mechanism along horizontal plane left rotation and right rotation.The present invention has filled up on current domestic and international market the blank that there is no similar robot.
Description
Technical field
The present invention relates to eye field of medical technology, and in particular to a kind of eye examination robot.
Background technology
One of Main way of Chinese medical reform is progressively to carry out " classification diagnosis and treatment " pattern in the whole nation at this stage, i.e., slight disease,
Common disease, chronic are dispersed in a secondary hospital, and large-scale Grade A hospital resource covers difficult and complicated cases patient.Ophthalmology is made
For a training in hospital, the subject matter in layering Diagnosis-treat Model reform is, basic unit, infirmary of community lack have through
The oculist tested, and large hospital oculist's relative deficiency, this is exactly China's persons suffering from ocular disorders the difficulty of getting medical service, sees that difficult illness in eye is more difficult to
One of the main reason for.Therefore, in field of ophthalmology implementation layering Diagnosis-treat Model it is critical that finding a kind of effective method such as
Ophthalmology intelligence inspection machine people etc., it is possible to resolve basic unit, the experienced oculist's inspection of community hospital's shortage, see a doctor
Problem.
, it is known that mainly include in front three large hospital ophthalmology or ophthalmologic hospital outpatient service routine inspection project：Eyesight is detected and bent
Light test piece, external eyes visual inspection (eyelid and its annex, lacrimal apparatus, eyeball position and motion), eyeball leading portion slit-lamp microscopy
Look into and four kinds of funduscopy.About more than the 90% common illness in eye of outpatient service can be made a definite diagnosis by first three routine inspection.It is only few
Number is corrected defects of vision, and the case such as poor need to further inspection be made a definite diagnosis by ophthalmoscope and fundus camera etc..
The content of the invention
The present invention is intended to provide a kind of eye examination robot, to solve above-mentioned technical barrier.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of eye examination robot, including head shell, the head shell is interior to be provided with inspection body；The check machine
Structure includes head shell connecting seat, lighting device and preposition camera device, and it is dynamic that the head shell connecting seat is provided with jaw delivery
Drive mechanism, front and rear focusing drive mechanism, side-to-side movement drive mechanism and hot spot are rotated horizontally to pupil drive mechanism；The head
Cage connection seat is connected to the inwall of the head shell；The jaw support motion driving mechanism is connected with jaw support and can driven thereon
Lower lifting；The preposition camera device and lighting device are all connected to the front and rear focusing drive mechanism and side-to-side movement driving machine
Structure, the front and rear focusing drive mechanism and side-to-side movement drive mechanism can be driven before and after the preposition camera device and lighting device
Move and move left and right, the lighting device is also attached to the hot spot and rotated horizontally to pupil drive mechanism, the hot spot level
Rotation can drive the lighting device to pupil drive mechanism along horizontal plane left rotation and right rotation.
Further, the lighting device includes light source and hot spot rotating disk, and the light source irradiates through the hot spot rotating disk,
The hot spot rotating disk is by motor-driven rotation.
Further, the head shell connecting seat is provided with left and right rectilinear movement pedestal, the side-to-side movement driving machine
The structure driving left and right rectilinear movement pedestal or so rectilinear movement；The left and right rectilinear movement pedestal moves provided with tandem
Pedestal, the front and rear focusing drive mechanism drive the tandem mobile foundation front and rear on the left and right rectilinear movement pedestal
Rectilinear movement；The hot spot is rotated horizontally to pupil drive mechanism on the tandem mobile foundation, the preposition shooting
Device is connected to the tandem mobile foundation.
Further, the side-to-side movement drive mechanism include rotary electric machine, extend in left-right direction rotation screw rod,
The silk braid coordinated on the rotation screw rod and with its screw thread is socketed in, the output shaft of the rotary electric machine is connected to the rotation spiral shell
Bar, the silk braid are fixed on the left and right rectilinear movement pedestal, and the rotation screw rod is rotatably connected at the head shell
Connecting seat.
Further, the front and rear focusing drive mechanism include motor, the drive screw that extends along the longitudinal direction,
The drive nut for being socketed in the drive screw and coordinating with its screw thread, the drive nut are connected to the tandem and moved
Moving base, the output shaft of the motor are connected to the drive screw, and the drive screw is rotatably connected at described
Left and right rectilinear movement pedestal.
Further, the hot spot rotate horizontally pupil drive mechanism is included driving electric rotating machine, driving rotary worm,
Left rotation and right rotation worm gear, the output shaft of the motor are connected to the driving rotary worm, the driving rotary worm transmission
The left rotation and right rotation turbine is connected to, the left rotation and right rotation worm gear drive is connected to lighting device；The left rotation and right rotation worm gear set
It is connected in a tooth case, the tooth case is fixedly connected on the tandem mobile foundation.
Further, the jaw support motion driving mechanism include lifting motor, lifting worm gear, elevating endless screw, lifting screw,
Elevating lever, the jaw support are fixedly connected on the elevating lever；The lifting motor drive connection is in the elevating endless screw, the liter
Drop worm-drive is connected to the lifting worm gear, and the lifting worm-drive is connected to the lifting screw and can drive its left and right
Rotate；The lifting screw is socketed in the elevating lever, and the elevating lever inwall is provided with what is matched with the lifting screw
Screw thread, and coordinate with the lifting screw screw thread.
Further, the head shell, which is provided with, checks form, and the jaw restitope is in inspection form；The head shell
Examination of refraction component is additionally provided with, it is mainly made up of examination of refraction disk and visual chart, and the head shell is provided with bends with described
Examination of refraction peep hole corresponding to optical test disk, the visual chart are located at the rear of the examination of refraction disk.
Further, the left-right rotation drive mechanism for driving head shell connecting seat left-right rotation, and band are also included
The dynamic front and rear front and rear rotating drive mechanism rotated of head shell connecting seat,
Further, the left-right rotation drive mechanism includes electric rotating machine, worm and gear gearbox, the electric rotating machine
Output shaft be connected to the worm and gear gearbox, the output end of the worm and gear gearbox is connected to the head shell
Connecting seat simultaneously can drive its left-right rotation.
Further, the front and rear rotating drive mechanism include front and rear motor, worm gear of nodding, the worm screw that nods, screw rod,
Movable support and connecting bracket of nodding；The output shaft drive connection of the front and rear motor is in the worm screw that nods, institute
Stating worm-drive of nodding and being connected to described nod worm gear and can drive its left-right rotation；The screw drive is connected to described nod
Worm gear, left-right rotation can be made under the drive for worm gear of nodding；The movable support is connected in the screw rod, works as screw rod
It is moved forward and backward along screw rod during left-right rotation；The movable support is articulated and connected nods under connecting bracket in described
End, the upper end of the connecting bracket of nodding then is fixedly connected on the top of the head shell connecting seat.
The beneficial effects of the present invention are：
The present invention can substitute experienced oculist had an eyesight test by visual chart and trial lens, diopter, by can
Left and right, movable preposition camera device and can left rotation and right rotation adjustment angle lighting source, intake obtain external eyes (eye
Face, lacrimal apparatus, conjunctiva, eyeball position and motion etc.) and similar slit-lamp microscopy eyeball leading portion it is (cornea fluorescent staining, transparent
Degree, anterior chamber depth, pupil shape and crystalline lens transparency) image, and can be by inspection result and person under inspection's symptom with image etc.
Mode is transmitted to experienced oculist or expert by internet, professor holds a consultation, and proposes further diagnosis and treatment opinion for being examined
Person refers to, so that it may and greatly reduce most of common, slight illness in eye and chronic ocular disease patient goes to a doctor to large hospital ophthalmology, so as to
Large hospital is avoided to see illness in eye hardly possible, slight illness in eye or chronic ocular disease take the problem of high-end Ophthalmic resource.
It there is no similar robot to report on domestic and international market at present, the invention belongs to initiate, filled up domestic and international blank.
Brief description of the drawings
Fig. 1 is the external structure schematic diagram of the embodiment of the present invention；
Fig. 2 is the overall exploded perspective view of the embodiment of the present invention；
Fig. 3 is the general structure schematic diagram of inspection body in the embodiment of the present invention；
Fig. 4 is the structural representation of left-right rotation drive mechanism in the embodiment of the present invention；
Fig. 5 is the combination diagram of left-right rotation drive mechanism in the embodiment of the present invention；
Fig. 6 is the decomposing schematic representation of front and rear rotating drive mechanism in the embodiment of the present invention；
Fig. 7 is the combination diagram of front and rear rotating drive mechanism in the embodiment of the present invention；
Fig. 8 is side-to-side movement drive mechanism in the embodiment of the present invention, the decomposing schematic representation of front and rear focusing drive mechanism；
Fig. 9 is side-to-side movement drive mechanism in the embodiment of the present invention, the combination diagram of front and rear focusing drive mechanism；
Figure 10 is the decomposing schematic representation that hot spot rotates horizontally to pupil drive mechanism in the embodiment of the present invention；、
Figure 11 is the decomposing schematic representation of camera device in the embodiment of the present invention；
Figure 12 is the combination schematic diagram that lighting device and hot spot rotate horizontally to pupil drive mechanism in the embodiment of the present invention；
Figure 13 is the concrete structure schematic diagram of lighting device in the embodiment of the present invention；
Figure 14 is the decomposing schematic representation of mesognathy support motion driving mechanism of the embodiment of the present invention；
Figure 15 is the combination diagram of mesognathy support motion driving mechanism of the embodiment of the present invention；
Figure 16 is that mesognathy support motion driving mechanism of the embodiment of the present invention is checking the overall schematic of motion；
Figure 17 is the decomposing schematic representation of examination of refraction disk in the embodiment of the present invention.
Embodiment
Below with reference to accompanying drawing, the invention will be further described, it is necessary to which explanation, following examples are with this technology
Premised on scheme, detailed embodiment and specific operating process are given, but protection scope of the present invention is not limited to this
Embodiment.
As shown in Figure 1-2, a kind of eye examination robot, including head shell 1, body shell 2, body-post 3 and bottom
Disk 4, the head shell 1 are movably connected in the body shell 2.
As shown in Figure 3.Inspection body 5 is provided with the head shell 1；The inspection body includes head shell connecting seat
6, drive the left-right rotation drive mechanism 7 of the left-right rotation of head shell connecting seat 6, drive head shell connecting seat 6 is front and rear to rotate
Front and rear rotating drive mechanism 8, the head shell connecting seat 6 be provided with jaw support motion driving mechanism 8, front and rear focusing driving machine
Structure 9, side-to-side movement drive mechanism 10 and hot spot are rotated horizontally to pupil drive mechanism 11；The head shell connecting seat 6 is connected to
The inwall of the head shell 1；The jaw support motion driving mechanism 8 is connected with jaw support 12 and the jaw support can be driven to be risen about 12
Drop；Preposition camera device 13 and lighting device 67 are all connected to front and rear focusing drive mechanism 9 and side-to-side movement drive mechanism 10, and
It can move forward and backward and move left and right under the driving of front and rear focusing drive mechanism 9 and side-to-side movement drive mechanism 10.The illumination
Device is also attached to hot spot and rotated horizontally to pupil drive mechanism 11, and under the driving that hot spot rotates horizontally to pupil drive mechanism 11
Left rotation and right rotation can be made along the horizontal plane.
Further, as illustrated in figures 4-5, the left-right rotation mechanism 7 includes electric rotating machine 14, worm and gear gearbox
15, the output shaft of the electric rotating machine 14 is connected to the worm and gear gearbox by motor fixed cover 16 and shaft coupling 17
15, the output end of the worm and gear gearbox 15 is connected to the head shell connecting seat 6 and can drive its left-right rotation.
In the present embodiment, the left-right rotation mechanism 7 is installed in the body shell, and there is the body cover top portion opening to supply snail
The output end of worm and gear gearbox 15 passes through, but can not pass through whole left-right rotation mechanism 7.The worm and gear speed change
The output end of case 15 is connected after passing through opening through connecting plate 18 with the head shell connecting seat 6.When the startup electric rotating
Machine, its output shaft drive the worm and gear gearbox, and the worm and gear gearbox drives the head shell connecting seat left
Turn right dynamic, so as to drive the head shell left-right rotation.
In the present embodiment, the bottom of the head shell connecting seat 6 is provided with limit switch touching portion 19, the electric rotating
Machine 14 is electrically connected in left-right rotation limit switch 20, when head cage connection seat 6 turns to left-right rotation limit switch 20
During position, the limit switch touching portion 19 touches the left-right rotation limit switch 20, and electric rotating machine is out of service.
Further, as shown in fig. 6-7, the front and rear rotating drive mechanism includes front and rear motor 21, worm gear of nodding
22nd, nod worm screw 23, screw rod 24, movable support 25 and connecting bracket 26 of nodding；The output of the front and rear motor 21
For axle drive connection in the worm screw 23 that nods, the worm screw 23 that nods is connected worm gear 22 and can drive its left in described nod
Turn right dynamic；The screw rod 24 is connected in the worm gear 22 of nodding, and can make left-right rotation under the drive for worm gear 22 of nodding；Institute
State movable support 25 to be connected in the screw rod 24, when 24 left-right rotation of screw rod, it is movable along screw rod 24；
The movable support 25 is articulated and connected in the lower end of the connecting bracket 26 of nodding, the upper end of the connecting bracket 26 of nodding
Then it is fixedly connected on the top of the head shell connecting seat 6.In the present embodiment, the top of the head shell connecting seat is set
There is power transmission shaft 27, the upper end for nodding connecting bracket 26 is fixedly connected on the power transmission shaft 27.
Before and after startup after motor, the worm screw that nods starts to rotate, and drives worm gear of nodding to start to rotate.In worm gear of nodding
Drive under, the screw rod rotates in the lump.The movable support moves when screw rod rotates along the screw rod.Currently
After when moving support and being moved rearwards, motive force backward is produced to the lower end of connecting bracket of nodding, then is nodded under connecting bracket
End then rotates forward using upper end as fulcrum, so as to drive head shell connecting seat and head shell to rotate forward.When front and rear shifting
When dynamic support moves forward, produce motive force forward to the lower end of connecting bracket of nodding, then the lower end of connecting bracket of nodding with
Upper end rotates backward for fulcrum, so as to drive head shell to rotate backward.So as to complete the nodding action of robot head.
In the present embodiment, the worm gear 22 of nodding, the worm screw 23 that nods, screw rod 24 are in a shell body, including preceding
Shell 28 and rear shell 29, movable support 25 are directly entrenched in bracket cover 30.In order that must move forward and backward, support 25 is front and rear to be moved
Dynamic more steady, also line slideway 31, the line slideway pass through the two of the movable support 25 in the present embodiment
Side.
In the present embodiment, in order to limit the amplitude nodded before and after head, on the head shell connecting seat 6,
The position corresponding to the front of connecting bracket 26 of nodding is provided with front and rear rotary spacing and switchs 32, the front and rear rotary spacing switch
32 and front and rear motor 21 be electrically connected.Institute can be touched when the connecting bracket 26 of nodding turns to certain amplitude forward
Front and rear rotary spacing switch 32 is stated, front and rear motor 21 reversely operates, until head shell resets.
Further, the head shell connecting seat 6 is provided with left and right rectilinear movement pedestal 33, the side-to-side movement driving
The mechanism driving left and right rectilinear movement pedestal 33 or so moves linearly；The left and right rectilinear movement pedestal 33 is provided with front and rear straight
Line mobile foundation 34, the front and rear focusing drive mechanism drive the tandem mobile foundation 34 in the left and right rectilinear movement
Front and rear rectilinear movement on pedestal 33；The hot spot rotates horizontally and is located at the tandem mobile foundation 34 to pupil drive mechanism 11
On, the preposition camera device is fixed on the tandem mobile foundation 34, and the lighting device is connected to the hot spot water
Flat rotation is to pupil drive mechanism 11 and lower edge can be driven horizontal plane left rotation and right rotation pupil drive mechanism 11 in hot spot horizontal rotation.
When left and right rectilinear movement pedestal moves left and right under the driving of side-to-side movement drive mechanism, it is arranged on left and right straight line and moves
Tandem mobile foundation on moving base, be arranged on tandem mobile foundation hot spot rotate horizontally to pupil drive mechanism,
It is fixed on the preposition camera device of tandem mobile foundation and is connected to the hot spot and rotates horizontally to pupil drive mechanism
Lighting device all moves left and right in the lump.When needing to carry out the front and rear focusing of preposition camera device, pass through front and rear focusing driving machine
Structure drives the tandem mobile foundation tandem movement, then preposition camera device, hot spot are rotated horizontally to pupil driving machine
Structure and lighting device move forward and backward in the lump.When needing to shoot different angle photo, then hot spot is rotated horizontally to pupil drive mechanism
The lighting device is driven independently to rotate.
Further, as Figure 8-9, the side-to-side movement drive mechanism includes rotary electric machine 35, left and right directions prolongs
The rotation screw rod 36 stretched, the silk braid 37 coordinated on the rotation screw rod 36 and with its screw thread is socketed in, the rotary electric machine 35
Output shaft is connected to the rotation screw rod 36 by shaft coupling 39 and motor fixed cover 40, and the silk braid 37 is fixed on the left and right
Move linearly pedestal 33, and the rotation screw rod 36 is rotatably connected at the head shell connecting seat 6 by bearing 38.
When needing to adjust the right position of preposition camera device, rotary electric machine 35 is opened, rotates screw rod in rotary electric machine
Start to rotate under driving, the silk braid moves linearly along described screw rod or so, the left and right rectilinear movement base for driving it to be connected
Seat moves left and right.
In the present embodiment, the left and right directions in the head shell connecting seat 6 and the left and right rectilinear movement pedestal pair
The position answered is provided with left and right limit switch 45, and left and right limit switch 45 is electrically connected in the rotary electric machine 35.When left and right is straight
Line mobile foundation can contact when being moved at left and right limit switch 45 with left and right limit switch 45.In addition, in order to which left and right straight line moves
Moving base can more smoothly be run, and two are also provided with the present embodiment and rotates that screw rod 36 is parallel moves left and right with described
The head shell connecting seat 6 is fixed at guide rail 46, the both ends for moving left and right guide rail 46, and passes through left and right rectilinear movement base
Seat.
Further, the driving spiral shell that the front and rear focusing drive mechanism includes motor 41, extended along the longitudinal direction
Bar 42, the drive nut 43 for being socketed in the drive screw 42 and coordinating with its screw thread, the drive nut 43 are connected to institute
Tandem mobile foundation 34 is stated, the output shaft of the motor 41 is connected with the drive screw 42 by shaft coupling 44,
The drive screw 42 is rotatably connected at the left and right rectilinear movement pedestal 33.In the present embodiment, as shown in figure 11, institute
Stating preposition camera device 13 includes shell, camera 132 and LED illumination 133, and the shell includes fore shell 131 and rear shell 132,
The camera 132 and LED illumination 133 are accommodated in the shell, and fore shell 131 is preset with camera hole.
When needing to carry out the front and rear focusing of preposition camera device, start motor, drive screw is in motor
Start to rotate under driving, drive nut moves linearly along the drive screw, and drives the tandem movement being attached thereto
Pedestal moves forward and backward, so as to lighting device and the tandem movement in the lump of preposition camera device.
In the present embodiment, in order to limit the moving range of tandem mobile foundation, in the head shell
On connecting seat, the front of tandem mobile foundation be provided with front and rear limit switch 47, front and rear limit switch 47 is electrically connected in institute
State motor 41.The front and rear limit can be touched when front and rear rectilinear movement pedestal is moved at the front and rear limit switch 47
Bit switch 47, so as to which motor 41 is out of service.In addition, in order that obtaining tandem mobile foundation runs more steady, sheet
Movable guide rail 48 is also provided with embodiment, the movable guide rail is fixed on the left and right rectilinear movement pedestal, and
The tandem mobile foundation is passed through by linear bearing 49.
Further, as shown in Figure 10, the hot spot rotate horizontally pupil drive mechanism is included driving electric rotating machine 50,
Rotary worm 51, left rotation and right rotation worm gear 52 are driven, the output shaft of the driving electric rotating machine 50 is connected to the driving rotation snail
Bar 51, the driving rotary worm 51 is connected to be connected in the left rotation and right rotation turbine 52, the left rotation and right rotation turbine 52
Lighting device 67.In the present embodiment, as shown in Figure 10,12, the lighting device 67 is installed on a right angle rack 68, described
Straight line support 68 is connected in left rotation and right rotation turbine 52.The left rotation and right rotation worm gear 52 is socketed in a tooth case 53, the tooth
Case 53 is fixedly connected on the tandem mobile foundation 34.In the present embodiment, in order to limit the rotation of the lighting device
Amplitude, the tandem mobile foundation are provided with rotary spacing switch 54 and are electrically connected in the driving electric rotating machine 50, when
Lighting device rotation is until touch rotary spacing switch 54, then driving electric rotating machine 50 stops.
When needing to rotate the lighting device to provide the light source of shooting from different angles, start the driving electric rotating
Machine, under the driving of driving electric rotating machine, driving rotary worm rotates and drives the left rotation and right rotation worm gear left rotation and right rotation,
And then the lighting device 67 is driven to rotate.
As shown in figure 13, the lighting device 67 includes light shell outer cover (including fore shell 671 and rear shell 678), the light source
LED light source 672 and projection lens set 673 are sequentially provided with shell 671 from lower to upper；The rear of the light shell outer cover 671 is provided with
Bearing support 674, the bearing support 674 is interior to be provided with rotatable hot spot rotating disk 675, and it drives rotation by motor 676.Hot spot rotating disk
On be provided with some hot spot holes, have all the time a hot spot hole position in it is described projection lens set and LED light source between, the LED light
The hot spot hole is passed through in source, is cast out under the projection of projection lens set from the top of light shell outer cover 671, is filled for preposition shooting
Put intake person under inspection's eyeball image and required light source is provided.In the present embodiment, can be projected by the rotation of hot spot rotating disk
A variety of hot spots such as round dot, thin light belt, thick light belt, a plurality of thin light belt, to meet different inspection needs.
In the present embodiment, the light shell outer cover 671, LED light source 672 and projection lens set 673, motor 676, bearing support
674th, for hot spot rotating disk 675 etc. all in peripheral protective shell 69, the top of the peripheral protective shell 69 is provided with reflective mirror 70.Separately
Outside, it is additionally provided with hot spot rotating disk rotary spacing switch 677 and is electrically connected in the motor 676, when hot spot rotating disk turns to setting
Hot spot rotating disk rotary spacing switch 677 will be touched during amplitude, motor 676 is out of service.
Further, as shown in figs. 14-15, the jaw support motion driving mechanism include lifting motor 55, lifting worm gear 56,
Elevating endless screw 57, lifting screw 59, elevating lever 58, the jaw support 12 are fixedly connected on the top of the elevating lever 58；The liter
Drop motor 55 is connected in the lifting by the drive connection of shaft coupling 62 in the elevating endless screw 57, the elevating endless screw 57
Worm gear 56, the lifting worm gear 56 are connected in the lifting screw 59 and can drive its left-right rotation；The lifting screw
59 are socketed in the elevating lever 58, and the inwall of elevating lever 58 is provided with the screw thread that matches with the lifting screw 59, and with
The screw thread of lifting screw 59 coordinates.The lifting worm gear is placed in a shell 63, and the bottom of shell is closed by bottom 71.It is described
Shell is fixed on the head shell connecting seat 6, and the elevating endless screw 57 is rotatably connected at the head by bearing 64
Portion's cage connection seat 6.
When needing to adjust the height of jaw support, start the lifting motor, elevating endless screw turns under the driving of lifting motor
It is dynamic, so as to drive lifting worm gear wheel.Under the drive of lifting worm gear, lifting screw starts to rotate, and elevating lever is along the liter
Drop bar moves up and down, and finally realizes the height regulation of jaw support.
In the present embodiment, the bottom of the elevating lever 58 is provided with base 60, on the head shell connecting seat 6, institute
The lower section for stating base 60 is provided with lifting limit switch 61, and the lifting limit switch is electrically connected in the lifting motor, works as institute
Base is stated with that can be contacted when the elevating lever drops at lifting limit switch, lifting motor is out of service.In addition, it is
Elevating lever is operated steadily, the present embodiment is additionally provided with riser guide 65, the both ends of the riser guide are connected to head
Portion's cage connection seat 6, and the base 60 is passed through by linear bearing 66.
In the present embodiment, the head shell 1 includes head fore shell 101 and head rear shell 102, the head shell 1
Head inner casing is inside additionally provided with, it includes before head inner casing 104 after inner casing 103 and head.In before the head fore shell 101 and head
Shell 103 is accordingly provided with and checks form 105, by the inspection form 105 it can be seen that the inside of the head inner casing.It is described
Jaw support 12 is in the inspection form 105.When needing to be checked, head is embedded in the inspection form 105 by person under inspection,
Lower jaw is placed in jaw support, passes through jaw support motion driving mechanism adjustment position.Forehead fixing band 106 can be used solid if necessary
Determine head.
Examination of refraction component is additionally provided with the head shell, it is mainly by 110 groups of examination of refraction disk 108 and visual chart
Into.The side of the head fore shell 101 is provided with observation window, and the front of inner casing 103 is provided with and the observation window position before the head
Examination of refraction peep hole 107 corresponding to putting, the examination of refraction disk 108 is located at the back side of inner casing 103 before the head, with dioptric
Check the correspondence of peep hole 107.The observation window is configured with the lid 112 to match.The image currently absorbed in order to facilitate observation,
Display screen 113 is additionally provided with the head shell, connects preposition camera device.As shown in figure 17, the examination of refraction Pan108Bao
Lens slewing disc 1081 is included, the lens slewing disc is provided with multiple lens holes 1082, the different number of degrees are inlaid with each lens hole
Eyeglass 1083.The lens slewing disc is rotatably installed on turntable mounting 1084.In the present embodiment, lens slewing disc is by motor
1086 drivings, and the amplitude of rotation is limited by limit switch 1085.
Examination of refraction disk is apart from visual chart 33mm { 33cm visual charts }, when eyes have ametropia (myopia, long sight etc.), leads to
The eyeglass for crossing the different number of degrees on examination of refraction disk sees visual chart, it is known that the general number of degrees of eyes.For example, normal person does not have to mirror
Piece, it can be seen that 1.2 sighting target, the people for having myopia may can just see 1.2 sighting target with -2.0 or other number of degrees.Rotate
The lens slewing disc can turn to the eyeglass of the different number of degrees position corresponding with examination of refraction peep hole.
In the present embodiment, some guiding mechanisms and eye position can also be set to analyze camera 109 on inner casing behind head,
Guide eyes to see to each orientation by guiding mechanism, image of the intake of camera 109 for the analysis of eye position is analyzed by eye position.Eye
Position analysis camera 109 can also connect display screen 113, to show that the eye position currently absorbed is analyzed on display screen 113 in real time
Image.
In the present embodiment, it is in order to realize that the image of preposition camera device and the first-class intake of eye position analysis shooting is real
When be transferred to person under inspection, ophthalmologist, oculist etc. and need a side of data, be also provided with communication control system 111, preposition camera device
Communication control system 111 is connected to eye position analysis camera, is led to obtained image is absorbed in real time by communication control system 111
Cross internet and be sent to each party for needing data.In order to facilitate the movement of robot, the chassis 4 is provided with steering motor 401,
Drive connection is in roller 402, and after starting steering motor 401, roller 402 starts to rotate, and robot starts to move, rear portion driven pulley
403 also roll therewith.
In actual applications, above-mentioned eye examination robot can be manipulated by non-eye care professional could, humanoid by machine
, can be by person under inspection and remote control high in the clouds be transmitted to during internet in fact into several external eyes and the high definition enlarged drawing of anterior segment
Platform.View data screening, analyzing and processing can be carried out by platform computer or professional, and picture after processing is passed in time
On person under inspection and remote medical consultation with specialists doctor's mobile phone A pp.The number of registration (before inspection) that person under inspection can be obtained by scanning Quick Response Code, is checked
The high definition check image of oneself eyes.And can each city ophthalmologist, oculist consultation of doctors in the payment selection whole nation on App.Ophthalmologist, oculist also may be used
After the expert consultation mobile phone website remote medical consultation with specialists of platform construction, consultation of doctors opinion is passed on the patient APP in 1~2 day
Complete professional judgement, suggestion.Cloud platform also can be by person under inspection's scanning information (WeChat ID, the photo of initial analysis processing, person under inspection
Selection doctor, consultation of doctors expense and opinion record backup automatically, and are checked out with doctor, realize cheap paid service.
This robot can make community optician's shop, pharmacy, eye health-care recovery center or the base of above-mentioned persons suffering from ocular disorders at home
Layer community hospital can freely complete the conventional examination of eyes of similar large hospital outpatient service, obtain the first visit of platform image processing software
And suggest.And the city, province and national ophthalmologist, oculist that can select oneself to take a fancy to by App (a small amount of payment) hold a consultation, and obtain into one
Step checks, handling suggestion.
For those skilled in the art, technical scheme that can be more than and design, provide various corresponding
Change and deform, and all these change and deformation, should be construed as being included within the protection domain of the claims in the present invention.
Claims (11)
1. a kind of eye examination robot, including head shell, it is characterised in that be provided with inspection body in the head shell；
The inspection body includes head shell connecting seat, lighting device and preposition camera device, is set on the head shell connecting seat
There are jaw support motion driving mechanism, front and rear focusing drive mechanism, side-to-side movement drive mechanism and hot spot to rotate horizontally to pupil driving machine
Structure；The head shell connecting seat is connected to the inwall of the head shell；The jaw support motion driving mechanism is connected with jaw support
And its oscilaltion can be driven；The preposition camera device and lighting device are all connected to the front and rear focusing drive mechanism and a left side
Right motion driving mechanism, the front and rear focusing drive mechanism and side-to-side movement drive mechanism can drive the preposition camera device with
Lighting device is movable and moves left and right, and the lighting device is also attached to the hot spot and rotated horizontally to pupil drive mechanism,
The hot spot, which rotates horizontally, can drive the lighting device to pupil drive mechanism along horizontal plane left rotation and right rotation.
2. eye examination robot according to claim 1, it is characterised in that the lighting device includes light source and hot spot
Rotating disk, the light source irradiate through the hot spot rotating disk, and the hot spot rotating disk is by motor-driven rotation.
3. eye examination robot according to claim 1, it is characterised in that the head shell connecting seat is provided with a left side
Right rectilinear movement pedestal, the side-to-side movement drive mechanism driving left and right rectilinear movement pedestal or so rectilinear movement；It is described
Left and right rectilinear movement pedestal is provided with tandem mobile foundation, and the front and rear focusing drive mechanism drives the tandem to move
Moving base front and rear rectilinear movement on the left and right rectilinear movement pedestal；The hot spot rotates horizontally and is located at institute to pupil drive mechanism
State on tandem mobile foundation, the preposition camera device is connected to the tandem mobile foundation.
4. eye examination robot according to claim 3, it is characterised in that the side-to-side movement drive mechanism includes turning
Dynamic motor, the rotation screw rod extended in left-right direction, the silk braid coordinated on the rotation screw rod and with its screw thread is socketed in, it is described
The output shaft of rotary electric machine is connected to the rotation screw rod, and the silk braid is fixed on the left and right rectilinear movement pedestal, described turn
Dynamic screw rod is rotatably connected at the head shell connecting seat.
5. eye examination robot according to claim 3, it is characterised in that the front and rear focusing drive mechanism includes driving
Dynamic motor, the drive screw extended along the longitudinal direction, the drive nut for being socketed in the drive screw and coordinating with its screw thread,
The drive nut is connected to the tandem mobile foundation, and the output shaft of the motor is connected to the driving spiral shell
Bar, the drive screw are rotatably connected at the left and right rectilinear movement pedestal.
6. eye examination robot according to claim 3, it is characterised in that the hot spot is rotated horizontally to pupil driving machine
Structure includes driving electric rotating machine, driving rotary worm, left rotation and right rotation worm gear, and the output shaft of the motor is connected to the drive
Dynamic rotary worm, the driving rotary worm is connected to be connected in the left rotation and right rotation turbine, the left rotation and right rotation worm gear drive
It is connected to lighting device；The left rotation and right rotation worm gear is socketed in a tooth case, and the tooth case is fixedly connected on the tandem and moved
Moving base.
7. eye examination robot according to claim 1, it is characterised in that the jaw support motion driving mechanism includes rising
Motor, lifting worm gear, elevating endless screw, lifting screw, elevating lever drop, and the jaw support is fixedly connected on the elevating lever；The liter
Motor drive connection drops in the elevating endless screw, and the elevating endless screw is connected in the lifting worm gear, the lifting worm gear
It is connected in the lifting screw and its left-right rotation can be driven；The lifting screw is socketed in the elevating lever, described
Elevating lever inwall is provided with the screw thread to match with the lifting screw, and coordinates with the lifting screw screw thread.
8. eye examination robot according to claim 1, it is characterised in that the head shell, which is provided with, checks form,
The jaw restitope is in inspection form；The head shell is additionally provided with examination of refraction component, its mainly by examination of refraction disk and
Visual chart forms, and the head shell is provided with examination of refraction peep hole corresponding with the examination of refraction disk, the eyesight epitope
In the rear of the examination of refraction disk.
9. eye examination robot according to claim 1, it is characterised in that also include and drive head shell connecting seat
The left-right rotation drive mechanism of left-right rotation, and drive the front and rear front and rear rotating drive mechanism rotated of head shell connecting seat.
10. eye examination robot according to claim 9, it is characterised in that the left-right rotation drive mechanism includes
Electric rotating machine, worm and gear gearbox, the output shaft of the electric rotating machine are connected to the worm and gear gearbox, the worm gear
The output end of worm screw gearbox is connected to the head shell connecting seat and can drive its left-right rotation.
11. eye examination robot according to claim 1, it is characterised in that the front and rear rotating drive mechanism includes
Front and rear motor, worm gear of nodding, the worm screw that nods, screw rod, movable support and connecting bracket of nodding；The front and rear driving electricity
For the output shaft drive connection of machine in the worm screw that nods, the worm-drive of nodding, which is connected to described nod, worm gear and can drive it
Left-right rotation；The screw drive is connected to the worm gear of nodding, and can make left-right rotation under the drive for worm gear of nodding；Before described
After move support and be connected in the screw rod, when screw rod left-right rotation, it is moved forward and backward along screw rod；It is described movable
Support is articulated and connected then is fixedly connected on the head in the lower end of the connecting bracket of nodding, the upper end of the connecting bracket of nodding
The top of portion's cage connection seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711004136.XA CN107788945A (en) | 2017-10-24 | 2017-10-24 | A kind of eye examination robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711004136.XA CN107788945A (en) | 2017-10-24 | 2017-10-24 | A kind of eye examination robot |
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| CN107788945A true CN107788945A (en) | 2018-03-13 |
Family
ID=61534309
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| CN201711004136.XA Pending CN107788945A (en) | 2017-10-24 | 2017-10-24 | A kind of eye examination robot |
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| CN (1) | CN107788945A (en) |
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| CN109924942A (en) * | 2019-04-25 | 2019-06-25 | 南京博视医疗科技有限公司 | A kind of photorefractive crystals method and system based on Line-scanning Image Acquisition System |
| CN110367926A (en) * | 2019-07-22 | 2019-10-25 | 天津市索维电子技术有限公司 | A kind of xerophthalmia check device and method applied to self-medicine |
| CN112084961A (en) * | 2020-09-11 | 2020-12-15 | 宁波市眼科医院 | Artificial intelligence ophthalmopathy screening diagnosis and treatment system based on ophthalmic robot |
| CN112102941A (en) * | 2020-09-11 | 2020-12-18 | 宁波市眼科医院 | Eye disease screening robot carrying on eye fundus photo screening system |
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