CN109580270A - A kind of magnetic suspension capsule robot experimental rig - Google Patents
A kind of magnetic suspension capsule robot experimental rig Download PDFInfo
- Publication number
- CN109580270A CN109580270A CN201910051866.8A CN201910051866A CN109580270A CN 109580270 A CN109580270 A CN 109580270A CN 201910051866 A CN201910051866 A CN 201910051866A CN 109580270 A CN109580270 A CN 109580270A
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- Prior art keywords
- enteron aisle
- clamper
- robot
- capsule robot
- permanent magnet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
Abstract
The invention discloses a kind of magnetic suspension capsule robot experimental rigs, including rack, driving robot, controller, simulation enteron aisle, enteron aisle strainer, permanent magnet, the first enteron aisle clamper and the second enteron aisle clamper.Driving robot upper end is fixed in rack, lower end is connected with mounting plate, enteron aisle strainer is provided on mounting plate, enteron aisle strainer is connected with the first enteron aisle clamper, enteron aisle strainer is able to drive the sliding of the first enteron aisle clamper, for enteron aisle through in enteron aisle clamper and simulated intestinal fluid is full of, permanent magnet drives capsule robot movement.Driving robot and permanent magnet are controlled by controller, capsule robot is set to realize the multi-dimensional movements such as translation, rotation, wriggling and the contraction of enteron aisle can also be simulated by enteron aisle strainer, and the related data parameter of capsule robot during the motion can be obtained by sensor, data foundation is provided with walk problem to be detained in capsule robot body, the damage to enteron aisle can be reduced by experiment.
Description
Technical field
The present invention relates to the technical fields of medical experiment device, test and fill more particularly to a kind of magnetic suspension capsule robot
It sets.
Background technique
Minimally invasive and noninvasive Clinics are the inexorable trend of physianthropy development and the eternal pursuit of human civilization progress.Glue
The invention of capsule robot provides actual application technology, but either cylinder, leg formula, outer spiral shell for minimally invasive and noninvasive Clinics
The capsule robot of rotation and inside spin, because the resistance of intestines peristalsis, intestinal juice and intestinal wall, frictional force etc. are to capsule in enteron aisle
The movement of robot has direct influence, how to control capsule robot movement, optimize capsule robot structure and
Reduce damage of the capsule robot to enteron aisle, needs largely to test to obtain and verify.
In existing method in such a way that capsule robot and measurement silk are affixed, the stress of capsule robot, or electricity are measured
Myenteron is shunk stimulus method and extrusion press people is mobile forward, or using magnetic dragging navigation, i.e. external permanent magnets drive capsule
The movement of interior permanent magnets work, big angle rotary and stagnation movement or Rotational magnetic field method in scope, which refer to, utilizes multiple groups coil to produce
Space rotating magnetic field is given birth to drive capsule robot to make precessional motion etc..Capsule robot is in passive movement shape in these methods
State, it is difficult to obtain capsule robot actual loading situation.
And by the fixed capsule robot of long filament, obtained by way of mobile enteron aisle capsule it is elastic it is big, full of intestines
Running resistance in the enteron aisle of liquid, but fail to simulate intestines peristalsis state.And it is difficult to realize the rotation and translation of capsule robot
And the motion conditions deposited, it is even more impossible to learn the situation of change of frictional resistance of the capsule robot under intestines peristalsis situation.
The theory analysis of the problems such as movement of the capsule robot studied both at home and abroad at present in enteron aisle, friction and experiment
Research is all based on no magnetic field control environment, and primarily directed under the conditions of enteron aisle is without wriggling conventional cylindrical robot it is flat
Shifting movement, when not considering capsule robot rotation and translation and depositing, the situation of change of robotic friction resistance is not also simulated
Intestines peristalsis can not obtain capsule robot frictional force relevant to the deformation of enteron aisle viscoelasticity, friction relevant to intestines peristalsis
Power, the factors such as intestinal juice viscous friction resistance relevant to lubricating status, in capsule robot frictional resistance experimental study also not plus
Enter intestines peristalsis device.However the optimization of capsule robot and be controllably that minimally invasive and noninvasive the most important of Clinics of gastrointestinal tract is commented
Valence index, existing testing equipment are unable to satisfy experiment demand.
Summary of the invention
The object of the present invention is to provide a kind of magnetic suspension capsule robot experimental rigs, exist to solve the above-mentioned prior art
The problem of, so that magnetic suspension capsule robot is able to dry run in the enteron aisle that simulation is wriggled, and operating status is controllable, is moved through
The related datas such as frictional force, resistance in journey are available.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of magnetic suspension capsule robot experimental rig, including rack, driving robot, controller,
Simulate enteron aisle, enteron aisle strainer, permanent magnet, the first enteron aisle clamper and the second enteron aisle clamper；The simulation enteron aisle is used
In filling simulated intestinal fluid；
The rack is rectangular frame, and the rectangular frame is provided with top and bottom；The upper end of the driving robot
Hinged with the top surface, the lower end of the driving robot is connect with a mounting plate, and the driving robot can drive described
Mounting plate translation and rotation；
The enteron aisle strainer is provided on the mounting plate, the enteron aisle strainer and first enteron aisle clamp
Device is connected, and the enteron aisle strainer is able to drive the first enteron aisle clamper sliding；The second enteron aisle clamper and institute
Mounting plate connection is stated, the simulation enteron aisle is arranged in the first enteron aisle clamper and the second enteron aisle clamper；Capsule
The both ends of robot are provided with magnetcisuspension axis, and rotary magnet is provided in the middle part of the capsule robot, and the capsule robot is set
It is placed in the simulation enteron aisle between the first enteron aisle clamper and the second enteron aisle clamper, the capsule robot
On be provided with sensor；The permanent magnet matches respectively with the magnetcisuspension axis and the rotary magnet, the permanent magnet
The capsule robot translation and rotation can be controlled；
The controller is set on the bottom surface, the controller and the capsule robot, the sensor and drive
Mobile robot electrical connection, the controller can control the movement of the capsule robot.
Preferably, the permanent magnet include rotation permanent magnet and translation permanent magnet, the rotation permanent magnet and
The connecting rod of the connection of one rotating electric machine, the shaft of the rotating electric machine and the second enteron aisle clamper is rotatablely connected, the rotation
Turn permanent magnet to match with the rotary magnet in the middle part of the capsule robot；The translation permanent magnet is two pairs, Mei Duisuo
It states translation permanent magnet and is connected and is fixed on the first enteron aisle clamper, the translation permanent magnet by a short axle
It is set to the magnetcisuspension between the first enteron aisle clamper and the second enteron aisle clamper and with the capsule robot both ends
Axis matches.
Preferably, the enteron aisle strainer be slider-crank mechanism, the slider-crank mechanism include motor, crankshaft,
Connecting rod and sliding block are provided with the motor on the mounting plate, and the axis of the motor is connect with one end of the crankshaft, the song
The other end of axis and one end of the connecting rod are hinged, and the other end of the connecting rod is connected with the slide block, the sliding block with it is described
The slide block slot being arranged on mounting plate matches, and the sliding block is connect with the first enteron aisle clamper.
Preferably, the slider-crank mechanism replaces with eccentric shoe mechanism, and the eccentric shoe mechanism includes successively connecting
The slide block slot being arranged on motor, eccentric wheel, connecting rod and the sliding block connect, the sliding block and the mounting plate matches, the sliding block
It is connect with the first enteron aisle clamper.
Preferably, the movement speed of the sliding block is 0.5-2.0cm/s.
Preferably, the first enteron aisle clamper and the second enteron aisle clamper include connecting rod interconnected and clamping
Portion, the clamping part include cylindrical outer wall and elastic inner wall, and the both ends of the cylindrical outer wall and the elastic inner wall are corresponding
It is tightly connected, air inlet and bleeding point is set in the cylindrical outer wall.
Preferably, the artificial six-degree-of-freedom parallel robot of the driving machine or six degree of freedom serial manipulator or mostly free
Spend Cartesian robot.
Preferably, it is provided with miniature strain transducer on the end of the magnetcisuspension axis, is set on the surface of the rotary magnet
It is equipped with miniature target formula sensor, the miniature strain transducer and the miniature target formula sensor are connected with the controller.
Preferably, the both ends of the simulation enteron aisle are each passed through a fixing seat and are connected with a simulated intestinal fluid container, institute
It states and is provided with check valve in fixing seat, the fixing seat and the simulated intestinal fluid container are all set on the bottom surface.
Preferably, described simulation enteron aisle one end is connected with water pump, and the water pump is electrically connected with the controller.
The present invention achieves following technical effect compared with the existing technology:
By the present invention in that realizing that the multidimensional such as translation, rotation are transported with driving robot and permanent magnet control capsule robot
It is dynamic, additionally it is possible to simulate wriggling and the contraction of enteron aisle, and the correlation of capsule robot during the motion can be obtained by sensor
Data parameters provide data foundation with walk problem to be detained in capsule robot body, can be reduced by experiment to enteron aisle
Damage.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram one of magnetic suspension capsule robot experimental rig of the present invention；
Fig. 2 is the principle assumption diagram of magnetic suspension capsule robot experimental rig of the present invention；
Fig. 3 is the structural schematic diagram two of magnetic suspension capsule robot experimental rig of the present invention；
Fig. 4 is the structural schematic diagram three of magnetic suspension capsule robot experimental rig of the present invention；
Fig. 5 is the partial structurtes enlarged drawing one of magnetic suspension capsule robot experimental rig of the present invention；
Fig. 6 is the structural schematic diagram of enteron aisle strainer in the present invention；
Fig. 7 is the structural schematic diagram of crank link mechanism in the present invention；
Fig. 8 is the structural schematic diagram of the first enteron aisle clamper and the second enteron aisle clamper in the present invention；
Wherein: 1- rack, 2- drive robot, 3- enteron aisle strainer, and 4- simulates enteron aisle, 5- capsule robot, 6- the
One enteron aisle clamper, 7- the second enteron aisle clamper, 8- controller, the top surface 9-, the bottom surface 10-, 11- hydraulic stem, 12- mounting plate, 13-
Motor, 14- crankshaft, 15- connecting rod, 16- sliding block, 17- fixing seat, 18- simulated intestinal fluid container, 19- magnetcisuspension axis, 20- rotary magnet,
21- translates permanent magnet, and 22- rotates permanent magnet, 23- rotating electric machine, 24- cylindrical outer wall, 25- elasticity inner wall, 26- air inlet
Mouthful, 27- bleeding point.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art under the premise of not making the creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of magnetic suspension capsule robot experimental rigs, to solve of the existing technology ask
Topic makes magnetic suspension capsule robot be able to dry run in the enteron aisle that simulation is wriggled, and operating status is controllable, in motion process
The related datas such as frictional force, resistance it is available.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
It is as shown in Figures 1 to 8: present embodiments provide a kind of magnetic suspension capsule robot experimental rig, including rack 1,
Drive robot 2, controller 8, simulation enteron aisle 4, enteron aisle strainer 3, permanent magnet, the first enteron aisle clamper 6 and the second intestines
Road clamper 7.
Rack 1 is rectangular frame, and rectangular frame is provided with top surface 9 and bottom surface 10；Drive the upper end and top surface 9 of robot 2
Hingedly, the lower end of robot 2 is driven to connect with a mounting plate 12, driving robot 2 being capable of the translation of drive installation plate 12 and rotation；
Drive robot 2 for six-degree-of-freedom parallel robot or six degree of freedom serial manipulator or multiple degrees of freedom Cartesian robot,
Six-degree-of-freedom parallel robot is used in this embodiment, hydraulic stem 11 is used as driving part, and is connected with controller 8.
Enteron aisle strainer 3 is provided on mounting plate 12, enteron aisle strainer 3 is connected with the first enteron aisle clamper 6, enteron aisle
Strainer 3 is able to drive the sliding of the first enteron aisle clamper 6.Enteron aisle strainer 3 in the present embodiment is slider-crank mechanism,
Slider-crank mechanism includes motor 13, crankshaft 14, connecting rod 15 and sliding block 16, and motor 13 is provided on mounting plate 12, motor 13
Axis is connect with one end of crankshaft 14, and one end of the other end and connecting rod 15 of crankshaft 14 is hinged, the other end and sliding block 16 of connecting rod 15
It connects, the slide block slot being arranged on sliding block 16 and mounting plate 12 matches, and sliding block 16 is connect with the first enteron aisle clamper 6.
Or slider-crank mechanism replaces with eccentric shoe mechanism, eccentric shoe mechanism include sequentially connected motor 13,
The slide block slot being arranged on eccentric wheel, connecting rod 15 and sliding block 16, sliding block 16 and mounting plate 12 matches, and sliding block 16 and the first enteron aisle press from both sides
Holder 6 connects.Wherein, intestines peristalsis is a kind of continuity contraction that ring muscle is mutually coordinated with vertical shape flesh, and it is close to betide small intestine
End, and propagated to the distal end of intestines, speed 0.5-2.0cm/s.So the movement speed of sliding block 16 is set as 0.5-2.0cm/s.
Wherein, motor 13 is moved with movable eccentric wheel or crankshaft 14, is slid by connecting rod 15 with movable slider 16, and then drives the first intestines
Road clamper 6 is mobile, and the simulation enteron aisle 4 being arranged in the first enteron aisle clamper 6 is elongated.From working principle it is found that crank block
Mechanism also could alternatively be that hydraulic mechanism, air pressure mechanism, electromagnetism telescoping mechanism or screw mechanism etc. do being capable of straight reciprocating motion
Mechanism realize the reciprocating motion of sliding block 16.
Second enteron aisle clamper 7 is connect with mounting plate 12, and simulation enteron aisle 4 is arranged in the first enteron aisle clamper 6 and the second intestines
In road clamper 7；Capsule robot 5 is set to the simulation enteron aisle 4 between the first enteron aisle clamper 6 and the second enteron aisle clamper 7
Interior, the both ends of simulation enteron aisle 4 are each passed through a fixing seat 17 and are connected with a simulated intestinal fluid container 18, are arranged in fixing seat 17
There is check valve, only allows simulated intestinal fluid to flow into simulation enteron aisle 4, fixing seat 17 and simulated intestinal fluid container 18 are all set in bottom surface 10
On.Simulation enteron aisle 4 is connected with water pump for filling simulated intestinal fluid, simulation 4 one end of enteron aisle, and water pump is set to simulated intestinal fluid container 18
Interior and water pump is electrically connected with controller 8, and controller 8 is preferably disposed on the top of simulated intestinal fluid container 18 in the present embodiment.
The both ends of capsule robot 5 are provided with magnetcisuspension axis 19, and the middle part of capsule robot 5 is provided with rotary magnet 20, forever
Long magnet matches respectively with magnetcisuspension axis 19 and rotary magnet 20, and permanent magnet can control the translation of capsule robot 5 and rotation.
Sensor is provided on capsule robot 5.Wherein, miniature strain transducer, rotary magnet are provided on the end of magnetcisuspension axis 19
Miniature target formula sensor is provided on 20 surface, with respect to the axial direction pressure of magnetcisuspension axis 19 when available capsule robot 5 rotates
Power, to obtain the resistance of motion of capsule robot 5；Miniature strain transducer and miniature target formula sensor are connected with controller 8,
Rotational resistance square when can obtain capsule rotation relative to liquid.
Wherein, permanent magnet includes rotation permanent magnet 22 and translation permanent magnet 21, rotates permanent magnet 22 and a rotation
Rotating motor 23 connects, and the connecting rod of the shaft of rotating electric machine 23 and the second enteron aisle clamper 7 is rotatablely connected, and rotates permanent magnet 22
Match with the rotary magnet 20 at 5 middle part of capsule robot；Translating permanent magnet 21 is two pairs, and each pair of translation permanent magnet 21 is logical
It crosses a short axle to be connected and be fixed on the first enteron aisle clamper 6, translation permanent magnet 21 is set to the first enteron aisle clamper 6 and the
Match between two enteron aisle clampers 7 and with the magnetcisuspension axis 19 at 5 both ends of capsule robot.
First enteron aisle clamper 6 and the second enteron aisle clamper 7 include connecting rod interconnected and clamping part, clamping part
Including cylindrical outer wall 24 and elastic inner wall 25, the sealed connection corresponding with the elastic both ends of inner wall 25 of cylindrical outer wall 24, tubular
Air inlet 26 and bleeding point 27 are set on outer wall 24.It is connect by inlet duct with air inlet 26, air-blowing increases air pressure, in turn
So that elastic inner wall 25 is contacted and is squeezed with simulation enteron aisle 4, simulation 4 section of enteron aisle is made to become smaller, when air pressure passes through bleeding point 27
When releasing, simulation 4 section of enteron aisle is restored, and simulates the process of intestinal contraction.
Controller 8 is set on bottom surface 10, and controller 8 is electrically connected with capsule robot 5, sensor and driving robot 2,
It can be wired connection, be also possible to be wirelessly connected, controller 8 can control the movement of capsule robot 5.
The specific motion process of the present embodiment is as follows:
First the first enteron aisle clamper 6 and the second enteron aisle clamper 7 are placed in simulation enteron aisle 4 and penetrated to capsule robot 5,
It is located at capsule robot 5 between the two, the both ends for simulating intestines are then each passed through a fixing seat 17 and holds with simulated intestinal fluid
Device 18 is connected, wherein simulation 4 one end of enteron aisle is connected with water pump.After simulation enteron aisle 4 installs, controller 8 controls water pump to intestines
Simulated intestinal fluid is injected in road, is filled rear controller 8 and is controlled water pump according to the flow of simulated intestinal fluid, supplement is pumped into simulated intestinal fluid.
Controller 8 controls six-degree-of-freedom parallel robot movement, makes mounting plate 12 according to setting program directed movement, thus
Drive the second enteron aisle clamper 7 movement being mounted on mounting plate 12, so make to rotate permanent magnet 22 and rotating electric machine 23 with
It is dynamic.Drive robot 2 by mounting plate 12 mobile first enteron aisle clamper 6, the second enteron aisle clamper 7, in translation permanent magnet
Under 21 tractions, capsule robot 5 is moved to the designated position of simulation enteron aisle 4, at this moment the first enteron aisle clamper 6, the second enteron aisle folder
Holder 7 is in opposite proximal most position；Later, the clamping part by air inlet 26 into the second enteron aisle clamper 7 is inflated, in elasticity
Wall 25 is contacted with simulation enteron aisle 4 and is squeezed it, so that simulation 4 section of enteron aisle is become smaller, due to being provided with list in fixing seat 17
To valve, extruding can make simulated intestinal fluid one-way flow, and then simulate the movement of enteron aisle ring muscle contraction.Then the first enteron aisle clamps
Clamping part inflation and extrusion simulation enteron aisle 4 in device 6, further drive simulated intestinal fluid one-way flow, while because of extruded bullet
Property inner wall 25 and the outer wall for simulating enteron aisle 4 between there are frictional force, when the first enteron aisle clamper 6 is moved by the driving of slider-crank mechanism
When dynamic, controller 8 controls motor 13 and rotates, and motor 13 is transported by slider-crank mechanism or eccentric shoe mechanism band movable slider 16
It is dynamic, and then drive the first enteron aisle clamper 6 and embedded simulation enteron aisle 4 reciprocating relative to the second enteron aisle clamper 7, and
Translation permanent magnet 21 then follows the first enteron aisle clamper 6 to drive capsule robot 5 mobile, and simulation enteron aisle 4 is promoted to be elongated.Mould
After quasi- enteron aisle 4 is elongated, the second enteron aisle clamper 7 and the first enteron aisle clamper 6 successively carry out pumping pressure release by bleeding point 27,
The length simulating the section of enteron aisle 4 and being stretched is restored, and simulated intestinal fluid is by water pump according to the changes in flow rate of simulated intestinal fluid
It needs, the flow of simulated intestinal fluid is replenished in time, simulate the contraction process of enteron aisle, meanwhile, slider-crank mechanism resets, and completes primary
Simulate the peristaltic action of enteron aisle.It drives robot 2 that mounting plate 12 is moved to the next position, repeats the above process, it can be achieved that mould
The continuity of ring muscle is shunk and is propagated on quasi- enteron aisle 4, to complete the wriggling of simulation enteron aisle 4, realizes that simulation enteron aisle 4 indulges shape flesh
Continuity shrink, propagate and capsule robot 5 motion status simulation.
The miniature strain transducer being arranged on the end that controller 8 passes through capsule robot 5, available capsule robot
With respect to the axial compressive force of magnetcisuspension axis 19 when 5 rotation, to obtain the resistance of motion of capsule robot 5；Pass through capsule robot 5
The miniature target formula sensor being arranged on surface, rotational resistance square when can obtain capsule rotation relative to liquid, and then measure
Capsule robot 5 wriggle and shrink simulation 4 environment of enteron aisle under kinematic parameter, convenient for capsule robot 5 research and
It improves, provides data foundation with walk problem to be detained in 5 body of capsule robot, the damage to enteron aisle can be reduced by experiment
Wound.
Apply that a specific example illustrates the principle and implementation of the invention in this specification, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of magnetic suspension capsule robot experimental rig, it is characterised in that: including rack, driving robot, controller, simulation
Enteron aisle, enteron aisle strainer, permanent magnet, the first enteron aisle clamper and the second enteron aisle clamper；The simulation enteron aisle is for filling out
Fill simulated intestinal fluid；
The rack is rectangular frame, and the rectangular frame is provided with top and bottom；The upper end of the driving robot and institute
State that top surface is hinged, the lower end of the driving robot is connect with a mounting plate, and the driving robot can drive the installation
Plate translation and rotation；
The enteron aisle strainer, the enteron aisle strainer and the first enteron aisle clamper phase are provided on the mounting plate
Even, the enteron aisle strainer is able to drive the first enteron aisle clamper sliding；The second enteron aisle clamper and the peace
Loading board connection, the simulation enteron aisle are arranged in the first enteron aisle clamper and the second enteron aisle clamper；Capsule machine
The both ends of people are provided with magnetcisuspension axis, and rotary magnet is provided in the middle part of the capsule robot, and the capsule robot is set to
In the simulation enteron aisle between the first enteron aisle clamper and the second enteron aisle clamper, set on the capsule robot
It is equipped with sensor；The permanent magnet matches respectively with the magnetcisuspension axis and the rotary magnet, and the permanent magnet can
Control the capsule robot translation and rotation；
The controller is set on the bottom surface, the controller and the capsule robot, the sensor and driving machine
Device people electrical connection, the controller can control the movement of the capsule robot.
2. magnetic suspension capsule robot experimental rig according to claim 1, it is characterised in that: the permanent magnet includes
Permanent magnet and translation permanent magnet are rotated, the rotation permanent magnet is connect with a rotating electric machine, and the rotating electric machine turns
The connecting rod of axis and the second enteron aisle clamper is rotatablely connected, in the middle part of the rotation permanent magnet and the capsule robot
Rotary magnet matches；The translation permanent magnet is two pairs, and each pair of translation permanent magnet is connected and solid by a short axle
Due on the first enteron aisle clamper, the translation permanent magnet is set to the first enteron aisle clamper and second intestines
Match between road clamper and with the magnetcisuspension axis at the capsule robot both ends.
3. magnetic suspension capsule robot experimental rig according to claim 1, it is characterised in that: the enteron aisle strainer
For slider-crank mechanism, the slider-crank mechanism includes motor, crankshaft, connecting rod and sliding block, is arranged on the mounting plate
Motor is stated, the axis of the motor is connect with one end of the crankshaft, and the other end of the crankshaft and one end of the connecting rod are hinged,
The other end of the connecting rod is connected with the slide block, and the slide block slot being arranged on the sliding block and the mounting plate matches, described
Sliding block is connect with the first enteron aisle clamper.
4. magnetic suspension capsule robot experimental rig according to claim 3, it is characterised in that: the slider-crank mechanism
Replace with eccentric shoe mechanism, the eccentric shoe mechanism includes sequentially connected motor, eccentric wheel, connecting rod and sliding block, described
The slide block slot being arranged on sliding block and the mounting plate matches, and the sliding block is connect with the first enteron aisle clamper.
5. magnetic suspension capsule robot experimental rig according to claim 4, it is characterised in that: the mobile speed of the sliding block
Degree is 0.5-2.0cm/s.
6. magnetic suspension capsule robot experimental rig according to claim 1, it is characterised in that: the first enteron aisle clamping
Device and the second enteron aisle clamper include connecting rod interconnected and clamping part, and the clamping part includes cylindrical outer wall and elasticity
Air inlet is arranged in the cylindrical outer wall in inner wall, the corresponding sealed connection in both ends of the cylindrical outer wall and the elastic inner wall
Mouth and bleeding point.
7. magnetic suspension capsule robot experimental rig according to claim 1, it is characterised in that: the driving machine is artificial
Six-degree-of-freedom parallel robot or six degree of freedom serial manipulator or multiple degrees of freedom Cartesian robot.
8. magnetic suspension capsule robot experimental rig according to claim 1, it is characterised in that: the end of the magnetcisuspension axis
On be provided with miniature strain transducer, miniature target formula sensor, the miniature strain are provided on the surface of the rotary magnet
Sensor and the miniature target formula sensor are connected with the controller.
9. magnetic suspension capsule robot experimental rig according to claim 1, it is characterised in that: the two of the simulation enteron aisle
End is each passed through a fixing seat and is connected with a simulated intestinal fluid container, and check valve, the fixation are provided in the fixing seat
Seat and the simulated intestinal fluid container are all set on the bottom surface.
10. magnetic suspension capsule robot experimental rig according to claim 1, it is characterised in that: the simulation enteron aisle one
End is connected with water pump, and the water pump is electrically connected with the controller.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111351957A (en) * | 2020-05-04 | 2020-06-30 | 长沙学院 | Flow field PIV (particle image velocimetry) measuring platform of magnetic control capsule robot in conduit |
| CN112345284A (en) * | 2020-11-26 | 2021-02-09 | 吉林大学 | Device for testing reciprocating motion dynamic performance of magnetic field driven cableless pipeline robot |
| CN114176489A (en) * | 2021-12-27 | 2022-03-15 | 北京航空航天大学 | Magnetic control system of magnetic suspension capsule robot |
| WO2022143259A1 (en) * | 2020-12-31 | 2022-07-07 | 陈晓东 | Biomimetic colon bioreactor |
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