CN109938681A - Expansion park device for gastrointestinal tract microrobot - Google Patents
Expansion park device for gastrointestinal tract microrobot Download PDFInfo
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- CN109938681A CN109938681A CN201910324378.XA CN201910324378A CN109938681A CN 109938681 A CN109938681 A CN 109938681A CN 201910324378 A CN201910324378 A CN 201910324378A CN 109938681 A CN109938681 A CN 109938681A
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Abstract
A kind of expansion park device for gastrointestinal tract microrobot, it include: shell, rotor arrangement and power device, wherein: rotor arrangement is set in shell, and power device is set under shell and is connected with rotor arrangement, to transmit the expansion and contraction of powered belt turn rotation realization device；Rotor arrangement includes: overhead gage, lower baffle plate and the expanding mechanism being set between upper and lower baffle, rotor connection sleeve；Expanding mechanism includes: the expansion arm and fixed column of imitative tape structure；Shell includes: cover board and main casing.Power device include: from top to bottom sequentially connected planetary reducer, be connected by power sleeve and motor.Present invention employs the rotor arrangements for having elastic dilatation arm, have both increased the variable diameter ratio of expanding mechanism, and have improved the applicability of gastrointestinal robot, in turn simplify mechanical structure, improve transmission efficiency, ensure that mechanism reliability of operation.
Description
Technical field
It is specifically a kind of for gastrointestinal tract microrobot the present invention relates to a kind of technology of medical instruments field
Expand park device.
Background technique
Traditional endoscopy is there are missing inspection, process are excessively painful, the problems such as may cause severe complication, and capsule
Endoscope cannot be resident in enteron aisle, cannot implement radial dilatation to gastrointestinal tract, it is difficult to find gastrointestinal tract fold and collapse place
Lesion.Currently, the gastrointestinal disease minitype bionic intestinal robot for having autokinetic movement and radial dilatation gastrointestinal function has become
Current international electromechanical and engineering in medicine area research emphasis.And extension fixture is one of the critical component in intestinal robot,
Its major function has two aspects: first is that realizing that robot is resident in enteron aisle, another is to strut enteron aisle so as to robot pair
Enteron aisle carries out observation diagnosis and treatment.
Summary of the invention
The present invention is larger for existing gastrointestinal tract microrobot radial dilatation mechanism thickness, and its driving gear set is driven
Chain is longer, and complicated defect, proposes a kind of expansion park device for gastrointestinal tract microrobot, using having
The rotor arrangement of elastic dilatation arm had both increased the variable diameter ratio of expanding mechanism, and had improved the applicability of gastrointestinal robot, and simple
Change mechanical structure, improved transmission efficiency, ensure that mechanism reliability of operation.
The present invention is achieved by the following technical solutions:
The present invention includes: shell, rotor arrangement and power device, in which: rotor arrangement is set in shell, power device
It is set under shell and is connected with rotor arrangement, to transmit the expansion and contraction of powered belt turn rotation realization device.
The rotor arrangement includes: overhead gage, lower baffle plate and the expanding mechanism being set between upper and lower baffle, rotor
Connect sleeve, in which: expanding mechanism connects sleeve interval center symmetric setting with rotor on lower baffle plate one week.
The overhead gage is equipped with the screw being fixedly connected for connecting sleeve with rotor.
The expanding mechanism includes: the expansion arm and fixed column of imitative tape structure, in which: expansion arm extending transversely is uniformly distributed
Outside fixed column.
The fixed column is equipped with slot identical with expansion arm cross-sectional shape.
The expansion arm end is equipped with limit angle.
The shell includes: cover board and main casing, in which: cover board is set on main casing, and main casing is set to rotor
Device is outer and is set in power device.
The main casing body side surface is symmetrically arranged with the groove for matching with rotor arrangement.
The number of recesses is consistent with expansion arm and groove size is greater than expansion arm size.
The power device include: from top to bottom sequentially connected planetary reducer, be connected by power sleeve and electricity
Machine, in which: planetary reducer is connected with rotor arrangement.
Technical effect
Compared with prior art, present invention employs the rotor arrangement for having elastic dilatation arm, expanding mechanism is both increased
Variable diameter ratio, improve the applicability of gastrointestinal robot, in turn simplify mechanical structure, improve transmission efficiency, ensure that machine
Structure reliability of operation.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is rotor arrangement structural schematic diagram of the present invention；
Fig. 3 is the rotor and main shell structure schematic diagram of contraction state of the present invention；
Fig. 4 is that contraction process of the present invention moves schematic diagram；
Fig. 5 is powerplant configuration schematic diagram of the present invention；
In figure: shell 1, power device 3, cover board 4, main casing 5, groove 6, overhead gage 7, lower baffle plate 8, expands rotor arrangement 2
Open mechanism 9, rotor connects sleeve 10, screw 11, through-hole 12, expansion arm 13, fixed column 14, limit angle 15, planetary gear speed-reduction
Device 16 is connected by power sleeve 17, motor 18, slot 19, dynamic trough 20.
Specific embodiment
As shown in Figure 1, for a kind of expansion park device for gastrointestinal tract microrobot that the present embodiment is related to, wherein
Include: shell 1, rotor arrangement 2 and power device 3, in which: rotor arrangement 2 is set in shell 1, and power device 3 is set to outer
Shell 1 is lower and is connected with rotor arrangement 2, to transmit the expansion and contraction of powered belt turn rotation realization device.
The rotor arrangement 2 includes: overhead gage 7, lower baffle plate 8 and four dilators being set between upper and lower baffle
Structure 9 and rotor connect sleeve 10, in which: expanding mechanism 9 be connected with rotor connection sleeve 10 be spaced 45 ° of center symmetric settings in
On lower baffle plate 8 one weeks.
The overhead gage 7 is equipped with screw 11 and corresponding through-hole for being fixedly connected with rotor connection sleeve 10
12。
The overhead gage 7 and lower baffle plate 8 is equipped with the dynamic trough being connected with power device 3, in which: dynamic trough 20 and biography
Moving axis is on same center.
The expanding mechanism 9 includes: expansion arm 13 and fixed column 14, in which: 13 extending transversely of expansion arm is set to solid
On fixed column 14, adjacent expansion arm 13 is in 90 ° of settings.
The fixed column 14 is equipped with slot 19 identical with expansion arm cross-sectional shape.
13 end of expansion arm is equipped with limit angle 15.
The expansion arm 13 uses elastic material, and cutting plane is slight bending, and when contraction is rolled, and when elongation becomes initial
Shape, expansion arm and enteron aisle contact jaw area are larger, can reduce the damage to enteron aisle and play the work of limit when shrinking
With.
The shell 1 includes: cover board 4 and main casing 5, in which: cover board 4 is set on main casing 5, and main casing 5 is arranged
Outside rotor arrangement 2 and it is set in power device 3.
5 side of main casing is symmetrically arranged with the groove 6 for matching with expansion arm 13, in which: 6 quantity of groove with
Expansion arm 13 is consistent and 6 size of groove is slightly larger than 13 size of expansion arm.
The power device 3 include: from top to bottom sequentially connected planetary reducer 16, be connected by power sleeve 17
With motor 18, in which: planetary reducer 16 is connected by transmission shaft with rotor arrangement 2.
The present apparatus by power device drive rotor arrangement rotation, using elastic material expansion arm therewith shrinks be bent or
Person's rebound is stretched, to realize the elongation and contraction of expanding mechanism.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (8)
1. a kind of expansion park device for gastrointestinal tract microrobot characterized by comprising shell, rotor arrangement and
Power device, in which: rotor arrangement is set in shell, and power device is set under shell and is connected with rotor arrangement, to
Transmit the expansion and contraction of powered belt turn rotation realization device；
The rotor arrangement includes: overhead gage, lower baffle plate and the expanding mechanism being set between upper and lower baffle, rotor connection
Sleeve, in which: expanding mechanism connects sleeve interval center symmetric setting with rotor on lower baffle plate one week；
The expanding mechanism includes: the expansion arm and fixed column of several imitative tape structures, in which: expansion arm extending transversely is uniformly distributed
Outside fixed column.
2. the apparatus according to claim 1, characterized in that the overhead gage is equipped with solid for connecting sleeve with rotor
Surely the screw connected.
3. the apparatus according to claim 1, characterized in that the fixed column is equipped with and expansion arm cross-sectional shape phase
Same slot.
4. the apparatus according to claim 1, characterized in that the expansion arm end is equipped with limit angle.
5. the apparatus according to claim 1, characterized in that the shell includes: cover board and main casing, in which: cover board
It is set on main casing, main casing is set to outside rotor arrangement and is set in power device.
6. device according to claim 5, characterized in that the main casing body side surface, which is symmetrically arranged with, to be used for and rotor arrangement
The groove matched.
7. device according to claim 1 or 5, characterized in that the number of recesses is consistent with expansion arm and groove
Size is greater than expansion arm size.
8. the apparatus according to claim 1, characterized in that the power device includes: sequentially connected from top to bottom
Planetary reducer is connected by power sleeve and motor, in which: planetary reducer is connected with rotor arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910324378.XA CN109938681A (en) | 2019-04-22 | 2019-04-22 | Expansion park device for gastrointestinal tract microrobot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910324378.XA CN109938681A (en) | 2019-04-22 | 2019-04-22 | Expansion park device for gastrointestinal tract microrobot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109938681A true CN109938681A (en) | 2019-06-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910324378.XA Pending CN109938681A (en) | 2019-04-22 | 2019-04-22 | Expansion park device for gastrointestinal tract microrobot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584569A (en) * | 2019-09-23 | 2019-12-20 | 中北大学 | Planetary wheel type radial expansion mechanism for intestinal examination |
| CN112914492A (en) * | 2021-03-14 | 2021-06-08 | 中北大学 | Plant growth simulation soft body gas drive propelling mechanism for intestinal tract examination |
| CN112971691A (en) * | 2021-02-22 | 2021-06-18 | 崇州市人民医院 | Gastroenterology nursing device that bleeds |
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| CN108720792A (en) * | 2017-04-24 | 2018-11-02 | 曹炳鑫 | A kind of self-positioning capsule endoscope of wriggling |
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| KR20100001230A (en) * | 2008-06-26 | 2010-01-06 | 주식회사 인트로메딕 | Capsule endoscope and diagnosis system for using the same |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584569A (en) * | 2019-09-23 | 2019-12-20 | 中北大学 | Planetary wheel type radial expansion mechanism for intestinal examination |
| CN110584569B (en) * | 2019-09-23 | 2021-07-09 | 中北大学 | Planetary wheel type radial expansion mechanism for intestinal examination |
| CN112971691A (en) * | 2021-02-22 | 2021-06-18 | 崇州市人民医院 | Gastroenterology nursing device that bleeds |
| CN112971691B (en) * | 2021-02-22 | 2021-08-31 | 崇州市人民医院 | Gastroenterology nursing device that bleeds |
| CN112914492A (en) * | 2021-03-14 | 2021-06-08 | 中北大学 | Plant growth simulation soft body gas drive propelling mechanism for intestinal tract examination |
| CN112914492B (en) * | 2021-03-14 | 2022-07-05 | 中北大学 | Plant growth simulation soft body gas drive propelling mechanism for intestinal tract examination |
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Application publication date: 20190628 |
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