CN108814536B - Variable-diameter crawler-type robot mechanism for colon examination - Google Patents
Variable-diameter crawler-type robot mechanism for colon examination Download PDFInfo
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- CN108814536B CN108814536B CN201810195031.5A CN201810195031A CN108814536B CN 108814536 B CN108814536 B CN 108814536B CN 201810195031 A CN201810195031 A CN 201810195031A CN 108814536 B CN108814536 B CN 108814536B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
Abstract
The invention relates to a micro robot mechanism for colon examination, in particular to a variable-diameter crawler-type robot mechanism for colon examination. The invention solves the problems that the existing colon examination micro-robot mechanism has too low action execution efficiency and can not realize the functions of diameter changing and staying. A variable diameter crawler type robot mechanism for colon examination comprises a variable diameter sub-mechanism and three traveling sub-mechanisms; the reducing sub-mechanism comprises a front baffle, a rear baffle, an I DC motor, a driving gear, a screw rod, a driven gear, a front nut, a rear nut, three guide rods and three four-bar mechanisms; each traveling sub-mechanism comprises a case, a II direct current motor, a driving bevel gear, a left bearing, a right bearing, a rotating shaft, a left synchronous belt wheel, a right synchronous belt wheel, a driven bevel gear, a left resistance-reducing roller, a right resistance-reducing roller, a left crawler belt, a right crawler belt and an ear plate. The invention is suitable for non-invasive diagnosis of colon diseases.
Description
Technical Field
The invention relates to a micro robot mechanism for colon examination, in particular to a variable-diameter crawler-type robot mechanism for colon examination.
Background
A micro-robotic mechanism for colon examination is a micro-robotic mechanism capable of active movement in the colon, which is considered to be the most promising device for non-invasive examination of colon diseases. Under the prior art, the colon examination micro-robot mechanism is mainly divided into two types: the first is an inchworm-like micro-robot mechanism. The micro robot mechanism adopts a peristaltic pump to fill and suck air in an air bag to realize the functions of bidirectional movement, diameter changing and residence, and has the following problems: the time for the air bag to complete one inflation and suction is too long (up to tens of seconds), so that the action execution efficiency is too low, thereby affecting the diagnosis efficiency. The second is a crawler-type micro-robot mechanism. The problems of the micro-robot mechanism are as follows: the functions of reducing and staying cannot be realized, so that the colon nursing device cannot be well adapted to the colon environment with variable pipe diameters, and missed diagnosis is easily caused. Based on the above, a brand new micro-robot mechanism for colon examination needs to be invented to solve the problems that the existing micro-robot mechanism for colon examination has too low performance efficiency and cannot realize diameter changing and staying functions.
Disclosure of Invention
The invention provides a variable-diameter crawler-type robot mechanism for colon examination, which aims to solve the problems that the existing micro robot mechanism for colon examination has too low action execution efficiency and cannot realize the functions of diameter reduction and residence.
The invention is realized by adopting the following technical scheme:
a variable diameter crawler type robot mechanism for colon examination comprises a variable diameter sub-mechanism and three traveling sub-mechanisms;
the reducing sub-mechanism comprises a front baffle, a rear baffle, an I DC motor, a driving gear, a screw rod, a driven gear, a front nut, a rear nut, three guide rods and three four-bar mechanisms;
each four-bar linkage mechanism comprises a front driving rod, a rear driving rod, a front driven rod and a rear driven rod; the middle part of the front driving rod and the middle part of the rear driving rod are hinged in a crossed manner; the head end of the front driven rod is hinged with the tail end of the rear driving rod; the head end of the rear driven rod is hinged with the tail end of the front driving rod;
the front baffle and the rear baffle are opposite to each other; the base of the first direct current motor is fixedly arranged between the front baffle and the rear baffle, and the output shaft of the first direct current motor penetrates through the front baffle in a rotating manner; the driving gear is fixedly assembled on an output shaft of the first direct current motor and is positioned on the front side of the front baffle; the front end of the screw rod penetrates through the front baffle plate in a rotating manner; the rear end of the screw rod is rotatably supported on the rear baffle; the front part and the rear part of the screw rod are respectively provided with a section of thread; the two sections of threads are positioned between the front baffle and the rear baffle, and the rotating directions of the two sections of threads are opposite; the driven gear is fixedly assembled at the front end of the screw rod and is meshed with the driving gear; the front nut is screwed on the front section thread of the screw rod; the end face of the front nut is provided with three front guide holes in a penetrating way, and the three front guide holes are arranged in parallel at equal intervals around the axis of the front nut; three front lugs extend from the outer side surface of the front nut and are arranged around the axis of the front nut at equal intervals; the axes of the ear holes of the three front lugs are all vertical to the axis of the front nut, and the axes of the ear holes of the three front lugs enclose an equilateral triangle together; the rear nut is screwed on the rear section thread of the screw rod; the end face of the rear nut is provided with three rear guide holes in a penetrating manner, and the three rear guide holes are arranged in parallel at equal intervals around the axis of the rear nut; three rear lugs extend from the outer side surface of the rear nut and are arranged around the axis of the rear nut at equal intervals; the axes of the ear holes of the three back lugs are all vertical to the axis of the back nut, and the axes of the ear holes of the three back lugs enclose an equilateral triangle together; the front ends of the three guide rods are fixedly supported on the front baffle, and the front parts of the three guide rods respectively penetrate through the three front guide holes in a sliding manner; the rear ends of the three guide rods are fixedly supported on the rear baffle, and the rear parts of the three guide rods respectively penetrate through the three rear guide holes in a sliding manner; the head ends of the three front driving rods are respectively hinged with the three front lugs; the head ends of the three rear driving rods are respectively hinged with the three rear lugs;
each traveling sub-mechanism comprises a case, a second direct current motor, a driving bevel gear, a left bearing, a right bearing, a rotating shaft, a left synchronous pulley, a right synchronous pulley, a driven bevel gear, a left resistance-reducing roller, a right resistance-reducing roller, a left crawler belt, a right crawler belt and an ear plate;
a left convex plate extends from the left edge of the front outer wall of the case; a left bearing assembling hole is formed in the left convex plate in a penetrating manner; the right edge of the front outer wall of the case is provided with a right convex plate in an extending way; a right bearing assembling hole is formed in the right convex plate in a penetrating manner; a row of left roller assembly holes are formed in the left part of the upper wall, the left part of the rear wall and the left part of the lower wall of the case in a penetrating manner; a row of right roller assembly holes are formed in the right part of the upper wall, the right part of the rear wall and the right part of the lower wall of the case in a penetrating manner; the left edge of the upper outer wall and the left edge of the lower outer wall of the case are respectively provided with a left limiting convex edge in an extending manner; the right edge of the upper outer wall and the right edge of the lower outer wall of the case are respectively provided with a right limiting convex edge in an extending way; a longitudinal upper limiting boss extends from the middle part of the upper outer wall of the case; a longitudinal lower limiting boss extends from the middle part of the lower outer wall of the case; the base of the second direct current motor is fixedly arranged in the inner cavity of the case, and the output shaft of the second direct current motor penetrates through the front wall of the case in a rotating mode; the driving bevel gear is fixedly assembled on an output shaft of the second direct current motor, and the driving bevel gear is positioned on the front side of the case; the left bearing is fixedly assembled in the left bearing assembling hole; the right bearing is fixedly assembled in the right bearing assembling hole; two ends of the rotating shaft are respectively and fixedly arranged on the inner ring of the left bearing and the inner ring of the right bearing in a penetrating way; the left synchronous belt wheel is fixedly assembled at the left part of the rotating shaft and is positioned at the right side of the left convex plate; the right synchronous belt wheel is fixedly assembled at the right part of the rotating shaft and is positioned at the left side of the right convex plate; the driven bevel gear is fixedly assembled on the rotating shaft and is positioned between the left synchronous belt wheel and the right synchronous belt wheel; the driven bevel gear is meshed with the driving bevel gear; the number of the left resistance-reducing rollers is consistent with that of the left roller assembly holes; the left resistance reducing rollers are rotatably assembled in the left roller assembly holes in a one-to-one correspondence manner, and the axes of the left resistance reducing rollers are parallel to the axis of the rotating shaft; the number of the right resistance-reducing rollers is consistent with that of the right roller assembly holes; the right resistance reducing rollers are rotatably assembled in the right roller assembling holes in a one-to-one correspondence manner, and the axes of the right resistance reducing rollers are parallel to the axis of the rotating shaft; the left crawler belt is simultaneously assembled on the left synchronous belt wheel and each left resistance-reducing roller; the right crawler belt is simultaneously assembled on the right synchronous belt wheel and each right anti-drag roller; the lug plate is longitudinally fixed in the middle of the upper surface of the longitudinal upper limiting boss; the number of the ear holes of the ear plate is two, and the two ear holes are arranged in parallel front and back;
the front ear holes of the three ear plates are respectively hinged with the tail ends of the three front driven rods; the rear ear holes of the three ear plates are respectively hinged with the tail ends of the three rear driven rods.
The specific working process is as follows: firstly, realizing bidirectional movement: the II direct current motor drives the rotating shaft to rotate forwards or reversely through the driving bevel gear and the driven bevel gear, the rotating shaft drives the left synchronous belt pulley and the right synchronous belt pulley to rotate forwards or reversely, and the left synchronous belt pulley (the right synchronous belt pulley) drives the left crawler belt (the right crawler belt) to roll forwards or reversely along the inner wall of the colon, so that the bidirectional movement of the colon is realized. Secondly, realizing the reducing and residing functions: the I direct current motor sequentially drives the lead screw to rotate forwards or reversely through the driving gear and the driven gear, the front nut and the rear nut move oppositely or move backwards from the front nut to drive the four-bar mechanism to expand (when expanding, the left crawler belt and the right crawler belt are in close contact with the inner wall of the colon, so that the staying function is realized) or close (when closing, the left crawler belt and the right crawler belt are in contact with the inner wall of the colon and generate friction force required by rolling), and the reducing and staying functions are realized. In the process, the guide rod is used for ensuring the movement stability of the front nut and the rear nut. The left bearing and the right bearing are used for reducing the rotation resistance of the rotating shaft. The left drag reduction roller (the right drag reduction roller) has the function of avoiding the direct contact between the left crawler belt (the right crawler belt) and the case, thereby reducing the rolling resistance of the left crawler belt (the right crawler belt). The longitudinal upper limit boss, the longitudinal lower limit boss and the left limit convex edge (right limit convex edge) are used for avoiding the lateral sliding of the left crawler belt (right crawler belt).
Based on the process, compared with the existing micro robot mechanism for colon examination, the variable-diameter crawler type robot mechanism for colon examination has the following advantages by adopting a brand new structure: firstly, compared with an inchworm-imitating type micro robot mechanism, the mechanism realizes the functions of bidirectional movement, diameter changing and staying in a mode of driving the four-bar mechanism by the direct current motor, thereby greatly improving the action execution efficiency and greatly improving the diagnosis efficiency. Secondly, compared with a crawler-type micro robot mechanism, the invention realizes the functions of reducing and staying, thereby being well suitable for the colon environment with variable pipe diameters and effectively avoiding missed diagnosis.
The invention has reasonable structure and ingenious design, effectively solves the problems that the existing colon examination micro-robot mechanism has too low action execution efficiency and can not realize the functions of diameter changing and staying, and is suitable for the noninvasive examination of colon diseases.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of the reducer mechanism of the present invention.
Fig. 3 is a schematic view of the closed state of the four-bar linkage mechanism of the present invention.
Fig. 4 is a schematic view showing an expanded state of the four-bar linkage mechanism of the present invention.
Fig. 5 is a schematic structural view of a front nut in the present invention.
Fig. 6 is a schematic view of the construction of the back nut of the present invention.
Fig. 7 is a schematic view of the traveling sub-mechanism of the present invention.
Fig. 8 is a partial structural view of the traveling sub-mechanism of the present invention.
Fig. 9 is a schematic view of the structure of the left crawler belt in the present invention.
Fig. 10 is a schematic view of the construction of the right track in the present invention.
In the figure: 101 a-front baffle, 101 b-rear baffle, 102-I DC motor, 103-driving gear, 104-lead screw, 105-driven gear, 106 a-front nut, 106 b-rear nut, 107-guide rod, 108 a-front driving rod, 108 b-rear driving rod, 109 a-front driven rod, 109 b-rear driven rod, 110 a-front guide hole, 110 b-rear guide hole, 111 a-front lug, 111 b-rear lug, 112-protection plate, 201-cabinet, 202-II DC motor, 203-driving bevel gear, 204 a-left bearing, 204 b-right bearing, 205-rotating shaft, 206 a-left synchronous pulley, 206 b-right synchronous pulley, 207-driven bevel gear, 208 a-left roller, 208 b-right drag reduction roller, 209 a-left crawler, 209 b-right crawler, 210-lug plate, 211 a-left convex plate, 211 b-right convex plate, 212 a-left limit convex edge, 212 b-right limit convex edge, 213 a-longitudinal upper limit boss, 213 b-longitudinal lower limit boss, 214 a-left transverse tooth and 214 b-right transverse tooth.
Detailed Description
A variable diameter crawler type robot mechanism for colon examination comprises a variable diameter sub-mechanism and three traveling sub-mechanisms;
the reducing sub-mechanism comprises a front baffle 101a, a rear baffle 101b, an I-th direct current motor 102, a driving gear 103, a lead screw 104, a driven gear 105, a front nut 106a, a rear nut 106b, three guide rods 107 and three four-bar mechanisms;
each four-bar linkage mechanism comprises a front driving rod 108a, a rear driving rod 108b, a front driven rod 109a and a rear driven rod 109 b; the middle part of the front driving rod 108a and the middle part of the rear driving rod 108b are hinged in a crossing way; the head end of the front driven rod 109a is hinged with the tail end of the rear driving rod 108 b; the head end of the rear driven rod 109b is hinged with the tail end of the front driving rod 108 a;
the front baffle 101a and the rear baffle 101b are opposite to each other; the base of the first direct current motor 102 is fixedly arranged between the front baffle plate 101a and the rear baffle plate 101b, and the output shaft of the first direct current motor 102 rotatably penetrates through the front baffle plate 101 a; the driving gear 103 is fixedly assembled on an output shaft of the I-th direct current motor 102, and the driving gear 103 is positioned on the front side of the front baffle 101 a; the front end of the screw 104 is rotatably penetrated through the front baffle 101 a; the rear end of the screw 104 is rotatably supported on the tailgate 101 b; the front part and the rear part of the screw rod 104 are respectively provided with a section of thread; the two sections of threads are positioned between the front baffle 101a and the rear baffle 101b, and the rotating directions of the two sections of threads are opposite; the driven gear 105 is fixedly assembled at the front end of the screw rod 104, and the driven gear 105 is meshed with the driving gear 103; the front nut 106a is screwed on the front section thread of the screw 104; the end face of the front nut 106a is provided with three front guide holes 110a in a penetrating manner, and the three front guide holes 110a are arranged in parallel at equal intervals around the axis of the front nut 106 a; three front lugs 111a extend from the outer side surface of the front nut 106a, and the three front lugs 111a are arranged around the axis of the front nut 106a at equal intervals; the axes of the ear holes of the three front ear plates 111a are all vertical to the axis of the front nut 106a, and the axes of the ear holes of the three front ear plates 111a enclose an equilateral triangle; the rear nut 106b is screwed on the rear section thread of the screw 104; the end face of the rear nut 106b is provided with three rear guide holes 110b in a penetrating manner, and the three rear guide holes 110b are arranged in parallel at equal intervals around the axis of the rear nut 106 b; three rear lugs 111b extend from the outer side surface of the rear nut 106b, and the three rear lugs 111b are arranged around the axis of the rear nut 106b at equal intervals; the axes of the ear holes of the three rear lugs 111b are all perpendicular to the axis of the rear nut 106b, and the axes of the ear holes of the three rear lugs 111b enclose an equilateral triangle; the front ends of the three guide rods 107 are fixedly supported on the front baffle 101a, and the front parts of the three guide rods 107 respectively penetrate through the three front guide holes 110a in a sliding manner; the rear ends of the three guide rods 107 are fixedly supported on the rear baffle 101b, and the rear parts of the three guide rods 107 respectively penetrate through the three rear guide holes 110b in a sliding manner; the head ends of the three front active rods 108a are respectively hinged with the three front lugs 111 a; the head ends of the three rear driving rods 108b are respectively hinged with the three rear lugs 111 b;
each traveling sub-mechanism comprises a case 201, a II-th direct current motor 202, a driving bevel gear 203, a left bearing 204a, a right bearing 204b, a rotating shaft 205, a left synchronous pulley 206a, a right synchronous pulley 206b, a driven bevel gear 207, a left drag reduction roller 208a, a right drag reduction roller 208b, a left crawler 209a, a right crawler 209b and an ear plate 210;
a left convex plate 211a extends from the left edge of the front outer wall of the case 201; a left bearing assembling hole is formed in the left convex plate 211a in a penetrating manner; a right convex plate 211b extends from the right edge of the front outer wall of the case 201; a right bearing assembling hole is formed in the right convex plate 211b in a penetrating manner; a row of left roller assembly holes are formed in the left part of the upper wall, the left part of the rear wall and the left part of the lower wall of the case 201 in a penetrating manner; a row of right roller assembly holes are formed in the right part of the upper wall, the right part of the rear wall and the right part of the lower wall of the case 201 in a penetrating manner; a left limiting convex edge 212a is respectively arranged at the left edge of the upper outer wall and the left edge of the lower outer wall of the case 201 in an extending manner; a right limiting convex edge 212b is respectively extended from the right edge of the upper outer wall and the right edge of the lower outer wall of the case 201; a longitudinal upper limiting boss 213a extends from the middle of the upper outer wall of the case 201; a longitudinal lower limiting boss 213b extends from the middle of the lower outer wall of the case 201; the base of the second direct current motor 202 is fixedly arranged in the inner cavity of the case 201, and the output shaft of the second direct current motor 202 rotatably penetrates through the front wall of the case 201; the drive bevel gear 203 is fixedly assembled on an output shaft of the II-th direct current motor 202, and the drive bevel gear 203 is positioned on the front side of the case 201; the left bearing 204a is fixedly assembled in the left bearing assembly hole; the right bearing 204b is fixedly assembled in the right bearing assembling hole; two ends of the rotating shaft 205 are respectively and fixedly arranged on the inner ring of the left bearing 204a and the inner ring of the right bearing 204b in a penetrating way; the left synchronous pulley 206a is fixedly assembled at the left part of the rotating shaft 205, and the left synchronous pulley 206a is positioned at the right side of the left convex plate 211 a; the right synchronous pulley 206b is fixedly assembled at the right part of the rotating shaft 205, and the right synchronous pulley 206b is positioned at the left side of the right convex plate 211 b; the driven bevel gear 207 is fixedly assembled on the rotating shaft 205, and the driven bevel gear 207 is positioned between the left synchronous pulley 206a and the right synchronous pulley 206 b; the driven bevel gear 207 is engaged with the drive bevel gear 203; the number of the left drag reduction rollers 208a is consistent with the number of the left roller assembly holes; the left drag reduction rollers 208a are rotatably assembled in the left roller assembly holes in a one-to-one correspondence manner, and the axes of the left drag reduction rollers 208a are parallel to the axis of the rotating shaft 205; the number of the right drag reduction rollers 208b is consistent with the number of the right roller assembly holes; the right drag reduction rollers 208b are rotatably assembled in the right roller assembly holes in a one-to-one correspondence manner, and the axes of the right drag reduction rollers 208b are parallel to the axis of the rotating shaft 205; the left track 209a is simultaneously mounted on the left timing pulley 206a and each of the left drag reducing rollers 208 a; the right track 209b is simultaneously mounted on the right timing pulley 206b and each of the right drag reduction rollers 208 b; the lug plate 210 is longitudinally fixed in the middle of the upper surface of the longitudinal upper limiting boss 213 a; the number of the ear holes of the ear plate 210 is two, and the two ear holes are arranged in parallel front and back;
the front ear holes of the three ear plates 210 are respectively hinged with the tail ends of the three front driven rods 109 a; the rear ear holes of the three ear plates 210 are respectively hinged with the tail ends of the three rear driven rods 109 b.
The reducing sub-mechanism further comprises a protection plate 112; the protection plate 112 is installed on the front surface of the front baffle 101a, and a gap is left between the protection plate 112 and the front baffle 101 a; the drive gear 103 and the driven gear 105 are both located within the gap. When the colon protection device works, the protection plate is used for preventing the driving gear and the driven gear from damaging the inner wall of the colon.
The left bearing 204a and the right bearing 204b are both ball bearings.
The left track 209a and the right track 209b are both made of PDMS; the outer side surface of the left crawler belt 209a and the outer side surface of the right crawler belt 209b are both processed with a cylindrical array with the diameter of 100 mu m; the inner side surface of the left crawler belt 209a is provided with left transverse teeth 214 a; the right track 209b has right lateral teeth 214b machined into its inner side. When the colon cleaning device works, the cylindrical arrays are used for increasing the friction coefficients of the left crawler belt and the right crawler belt with the inner wall of the colon, and the left transverse teeth (the right transverse teeth) are used for increasing the friction coefficients of the left crawler belt (the right crawler belt) and the left synchronous belt wheel (the right synchronous belt wheel).
Claims (4)
1. A variable diameter tracked robotic mechanism for colon examination, characterized by: comprises a diameter-variable sub-mechanism and three traveling sub-mechanisms;
the variable-diameter sub-mechanism comprises a front baffle (101 a), a rear baffle (101 b), an I-th direct current motor (102), a driving gear (103), a lead screw (104), a driven gear (105), a front nut (106 a), a rear nut (106 b), three guide rods (107) and three four-bar mechanisms;
each four-bar linkage mechanism comprises a front driving rod (108 a), a rear driving rod (108 b), a front driven rod (109 a) and a rear driven rod (109 b); the middle part of the front driving rod (108 a) and the middle part of the rear driving rod (108 b) are hinged in a crossing way; the head end of the front driven rod (109 a) is hinged with the tail end of the rear driving rod (108 b); the head end of the rear driven rod (109 b) is hinged with the tail end of the front driving rod (108 a);
the front baffle (101 a) and the rear baffle (101 b) are opposite to each other; the base of the I direct current motor (102) is fixedly arranged between the front baffle plate (101 a) and the rear baffle plate (101 b), and the output shaft of the I direct current motor (102) penetrates through the front baffle plate (101 a) in a rotating mode; the driving gear (103) is fixedly assembled on an output shaft of the I-th direct current motor (102), and the driving gear (103) is positioned on the front side of the front baffle (101 a); the front end of the lead screw (104) penetrates through the front baffle (101 a) in a rotating way; the rear end of the screw rod (104) is rotatably supported on the rear baffle (101 b); the front part and the rear part of the screw rod (104) are respectively provided with a section of thread; the two sections of threads are positioned between the front baffle (101 a) and the rear baffle (101 b), and the rotating directions of the two sections of threads are opposite; the driven gear (105) is fixedly assembled at the front end of the lead screw (104), and the driven gear (105) is meshed with the driving gear (103); the front nut (106 a) is screwed on the front section thread of the screw rod (104); the end face of the front nut (106 a) is provided with three front guide holes (110 a) in a penetrating way, and the three front guide holes (110 a) are arranged in parallel at equal intervals around the axis of the front nut (106 a); three front lugs (111 a) extend from the outer side surface of the front nut (106 a), and the three front lugs (111 a) are arranged around the axis of the front nut (106 a) at equal intervals; the axes of the ear holes of the three front ear plates (111 a) are all vertical to the axis of the front nut (106 a), and the axes of the ear holes of the three front ear plates (111 a) enclose an equilateral triangle; the rear nut (106 b) is screwed on the rear section thread of the screw rod (104); the end face of the rear nut (106 b) is provided with three rear guide holes (110 b) in a penetrating manner, and the three rear guide holes (110 b) are arranged in parallel at equal intervals around the axis of the rear nut (106 b); three rear lugs (111 b) extend from the outer side surface of the rear nut (106 b), and the three rear lugs (111 b) are arranged around the axis of the rear nut (106 b) at equal intervals; the axes of the ear holes of the three back ear plates (111 b) are all vertical to the axis of the back nut (106 b), and the axes of the ear holes of the three back ear plates (111 b) enclose an equilateral triangle; the front ends of the three guide rods (107) are fixedly supported on the front baffle (101 a), and the front parts of the three guide rods (107) respectively penetrate through the three front guide holes (110 a) in a sliding manner; the rear ends of the three guide rods (107) are fixedly supported on the rear baffle (101 b), and the rear parts of the three guide rods (107) respectively penetrate through the three rear guide holes (110 b) in a sliding manner; the head ends of the three front active rods (108 a) are respectively hinged with the three front lugs (111 a); the head ends of the three rear driving rods (108 b) are respectively hinged with the three rear lugs (111 b);
each traveling sub-mechanism comprises a case (201), a II-th direct current motor (202), a driving bevel gear (203), a left bearing (204 a), a right bearing (204 b), a rotating shaft (205), a left synchronous pulley (206 a), a right synchronous pulley (206 b), a driven bevel gear (207), a left drag reduction roller (208 a), a right drag reduction roller (208 b), a left crawler (209 a), a right crawler (209 b) and an ear plate (210);
a left convex plate (211 a) extends from the left edge of the front outer wall of the case (201); a left bearing assembling hole is formed in the left convex plate (211 a) in a penetrating manner; a right convex plate (211 b) extends from the right edge of the front outer wall of the case (201); a right bearing assembling hole is formed in the right convex plate (211 b) in a penetrating manner; a left roller assembly hole is formed in the left part of the upper wall, the left part of the rear wall and the left part of the lower wall of the case (201) in a penetrating manner; a row of right roller assembly holes are formed in the right part of the upper wall, the right part of the rear wall and the right part of the lower wall of the case (201) in a penetrating manner; the left edge of the upper outer wall and the left edge of the lower outer wall of the case (201) are respectively provided with a left limiting convex edge (212 a) in an extending way; the right edge of the upper outer wall and the right edge of the lower outer wall of the case (201) are respectively provided with a right limiting convex edge (212 b) in an extending way; a longitudinal upper limiting boss (213 a) extends from the middle part of the upper outer wall of the case (201); a longitudinal lower limiting boss (213 b) extends from the middle part of the lower outer wall of the case (201); the base of the II direct current motor (202) is fixedly arranged in the inner cavity of the case (201), and the output shaft of the II direct current motor (202) rotatably penetrates through the front wall of the case (201); the driving bevel gear (203) is fixedly assembled on an output shaft of the II-th direct current motor (202), and the driving bevel gear (203) is positioned on the front side of the case (201); the left bearing (204 a) is fixedly assembled in the left bearing assembling hole; the right bearing (204 b) is fixedly assembled in the right bearing assembly hole; two ends of the rotating shaft (205) are respectively and fixedly arranged in the inner ring of the left bearing (204 a) and the inner ring of the right bearing (204 b) in a penetrating way; the left synchronous pulley (206 a) is fixedly assembled at the left part of the rotating shaft (205), and the left synchronous pulley (206 a) is positioned at the right side of the left convex plate (211 a); the right synchronous pulley (206 b) is fixedly assembled at the right part of the rotating shaft (205), and the right synchronous pulley (206 b) is positioned at the left side of the right convex plate (211 b); the driven bevel gear (207) is fixedly assembled on the rotating shaft (205), and the driven bevel gear (207) is positioned between the left synchronous pulley (206 a) and the right synchronous pulley (206 b); the driven bevel gear (207) is meshed with the driving bevel gear (203); the number of the left drag reduction rollers (208 a) is consistent with that of the left roller assembly holes; the left drag reduction rollers (208 a) are rotatably assembled in the left roller assembly holes in a one-to-one correspondence manner, and the axial line of each left drag reduction roller (208 a) is parallel to the axial line of the rotating shaft (205); the number of the right drag reduction rollers (208 b) is consistent with the number of the right roller assembly holes; the right drag reduction rollers (208 b) are rotatably assembled in the right roller assembly holes in a one-to-one correspondence manner, and the axial line of each right drag reduction roller (208 b) is parallel to the axial line of the rotating shaft (205); the left crawler belt (209 a) is simultaneously assembled on the left synchronous pulley (206 a) and each left drag reduction roller (208 a); the right crawler belt (209 b) is simultaneously assembled on the right synchronous pulley (206 b) and each right drag reduction roller (208 b); the lug plate (210) is longitudinally fixed in the middle of the upper surface of the longitudinal upper limit boss (213 a); the number of the ear holes of the ear plate (210) is two, and the two ear holes are arranged in parallel front and back;
the front ear holes of the three ear plates (210) are respectively hinged with the tail ends of the three front driven rods (109 a); the rear ear holes of the three ear plates (210) are respectively hinged with the tail ends of the three rear driven rods (109 b).
2. A variable-diameter tracked robotic mechanism for colon examinations according to claim 1 wherein: the reducing sub-mechanism also comprises a protection plate (112); the protection plate (112) is arranged on the front surface of the front baffle (101 a), and a gap is reserved between the protection plate (112) and the front baffle (101 a); the drive gear (103) and the driven gear (105) are both located within the gap.
3. A variable-diameter tracked robotic mechanism for colon examinations according to claim 1 wherein: the left bearing (204 a) and the right bearing (204 b) are both ball bearings.
4. A variable-diameter tracked robotic mechanism for colon examinations according to claim 1 wherein: the left track (209 a) and the right track (209 b) are both made of PDMS; the outer side surface of the left crawler belt (209 a) and the outer side surface of the right crawler belt (209 b) are both processed with a cylindrical array with the diameter of 100 mu m; the inner side surface of the left crawler belt (209 a) is provided with left transverse teeth (214 a); the inner side surface of the right crawler belt (209 b) is provided with right transverse teeth (214 b).
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| CN109846451B (en) * | 2019-01-28 | 2020-07-10 | 上海交通大学 | Scissors type radial expansion device for intestinal tract micro-robot |
| CN109805884A (en) * | 2019-03-04 | 2019-05-28 | 上海交通大学 | Radial dilatation device for microrobot |
| CN110252749B (en) * | 2019-07-12 | 2020-03-06 | 厦门佰欧环境智能科技有限公司 | Robot for cleaning central air-conditioning pipeline |
| CN110393500B (en) * | 2019-08-07 | 2022-02-08 | 中北大学 | Electromagnetic and mechanical combined type capsule robot for full digestive tract examination |
| CN112728291B (en) * | 2021-01-25 | 2023-04-07 | 山东石油化工学院 | Pipeline inner wall flaw detection crawling robot and using method thereof |
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