CN110584569B - Planetary wheel type radial expansion mechanism for intestinal examination - Google Patents

Planetary wheel type radial expansion mechanism for intestinal examination Download PDF

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CN110584569B
CN110584569B CN201910898413.9A CN201910898413A CN110584569B CN 110584569 B CN110584569 B CN 110584569B CN 201910898413 A CN201910898413 A CN 201910898413A CN 110584569 B CN110584569 B CN 110584569B
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round
cup
circular
shaped shell
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CN110584569A (en
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高晋阳
王瑾
张增磊
段树文
郭文村
石云波
曹慧亮
黄堃
刘俊
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North University of China
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00131Accessories for endoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00156Holding or positioning arrangements using self propulsion
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00147Holding or positioning arrangements
    • A61B1/0016Holding or positioning arrangements using motor drive units
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/04Instruments 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 combined with photographic or television appliances
    • A61B1/041Capsule endoscopes for imaging
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/31Instruments 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

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  • Life Sciences & Earth Sciences (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • General Health & Medical Sciences (AREA)
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Abstract

The invention relates to an intestinal tract examination robot, in particular to a planetary wheel type radial expansion mechanism for intestinal tract examination. The invention solves the problems that the expansion mechanism of the existing intestinal tract examination robot is easy to have mechanical failure and scratch the inner wall of the intestinal tract. A planetary wheel type radial expansion mechanism for intestinal examination comprises a shell part, a speed reducer mechanism and an actuator mechanism; the machine shell part comprises an I round cup-shaped shell, an II round cup-shaped shell, a round sleeve and a round baffle; the speed reducer mechanism comprises a direct current motor, an I-th sun gear, an I-th planet gear, an inner gear ring, an I-th triangular planet carrier, an II-th triangular planet carrier, an I-th wheel shaft, a triangular support frame and a central shaft; the executing sub-mechanism comprises a second sun gear, a second planet gear, a third triangular planet carrier, a fourth triangular planet carrier, a second wheel shaft, an L-shaped connecting rod, a radial push rod and an arc groove-shaped push sheet. The invention is suitable for the intestinal tract examination robot.

Description

Planetary wheel type radial expansion mechanism for intestinal examination
Technical Field
The invention relates to an intestinal tract examination robot, in particular to a planetary wheel type radial expansion mechanism for intestinal tract examination.
Background
The intestinal tract examination robot is a micro-robot capable of actively moving in the intestinal tract, and is considered as the most promising device for non-invasive examination of intestinal tract diseases. As an important component of the intestinal tract examination robot, the expansion mechanism plays a role in stretching the intestinal tract and assisting in staying. Under the condition of the prior art, the expansion mechanisms of the intestinal tract examination robot are mainly divided into two types: the first type of expansion mechanism adopts a circular arc-shaped driving connecting rod and a transmission connecting rod to realize intestinal tract expansion, and has the problem that the mechanism is easy to cause mechanical failure due to intestinal mucus infiltration because the mechanism does not have a sealing function. The second type of dilating means is to use archimedes spiral legs to dilate the intestine, which has the problem that the spiral legs rub against the inner wall of the intestine, and thus the inner wall of the intestine is easily scratched during use. Based on this, a brand new expansion mechanism needs to be invented to solve the problems that the expansion mechanism of the existing intestinal tract examination robot is easy to have mechanical failure and scratch the inner wall of the intestinal tract.
Disclosure of Invention
The invention provides a planetary wheel type radial expansion mechanism for intestinal examination, aiming at solving the problems that the expansion mechanism of the existing intestinal examination robot is easy to have mechanical failure and scratch the inner wall of an intestinal tract.
The invention is realized by adopting the following technical scheme:
a planetary wheel type radial expansion mechanism for intestinal examination comprises a shell part, a speed reducer mechanism and an actuator mechanism;
the machine shell part comprises an I round cup-shaped shell, an II round cup-shaped shell, a round sleeve and a round baffle;
the cup mouth of the I round cup-shaped shell faces forwards; a mounting round hole which is through from front to back is formed in the center of the rear end wall of the I-shaped circular cup-shaped shell, and the mounting round hole is a stepped hole which is thick at the front and thin at the back; the front part of the side wall of the first round cup-shaped shell is provided with three guide round holes which are communicated internally and externally, and the three guide round holes are arranged around the central line of the first round cup-shaped shell at equal intervals; the cup mouth of the II round cup-shaped shell faces backwards; the front part of the side wall of the II round cup-shaped shell is provided with three guide round holes which are communicated internally and externally, and the three guide round holes are arranged around the central line of the II round cup-shaped shell at equal intervals; the II round cup-shaped shell is fixedly sleeved on the outer side surface of the I round cup-shaped shell, and three guide round holes of the II round cup-shaped shell are respectively opposite to the three guide round holes of the I round cup-shaped shell; the front end and the rear end of the round sleeve are provided with openings; the circular sleeve is vertically fixed on the rear outer end face of the I-th circular cup-shaped shell, and the center line of the circular sleeve is superposed with the center line of the I-th circular cup-shaped shell; the circular baffle is covered on the rear end opening of the circular sleeve, and the center line of the circular baffle is superposed with the center line of the circular sleeve; the center of the end surface of the circular baffle is provided with a central circular hole which is communicated with the front and the back;
the speed reducer mechanism comprises a direct current motor, an I-th sun gear, an I-th planet gear, an inner gear ring, an I-th triangular planet carrier, an II-th triangular planet carrier, an I-th wheel shaft, a triangular support frame and a central shaft;
the base of the direct current motor is vertically fixed on the rear end face of the circular baffle, and the output shaft of the direct current motor rotatably penetrates through the central circular hole of the circular baffle; the center of the rear end face of the first sun gear is fixed with the front end face of the output shaft of the direct current motor; the number of the I planetary gears is three; the centers of the end surfaces of the three I-th planet gears are respectively provided with a central circular hole which is communicated with the front and the back; the three I-th planet gears are all meshed with the I-th sun gear, and the three I-th planet gears are arranged around the central line of the I-th sun gear at equal intervals; the inner gear ring is fixedly assembled on the inner side surface of the circular sleeve, and the inner diameter of the inner gear ring is consistent with the pore diameter of the mounting round hole of the I-th circular cup-shaped shell; the inner gear ring is respectively meshed with the three I-th planet gears; a central circular hole which is penetrated through from front to back is formed in the center of the surface of the I-shaped triangular planet carrier, and the I-shaped triangular planet carrier is rotatably assembled on the side surface of an output shaft of the direct current motor through the central circular hole; the outer end surfaces of three radial arms of the third triangular planet carrier are respectively provided with a front-back through assembling round hole; the number of the I-th wheel shafts is three; the three I-shaped wheel shafts respectively penetrate through central circular holes of the three I-shaped planetary gears in a rotating manner; the front end surfaces of the three first wheel shafts are respectively fixed with the rear surfaces of the outer ends of the three radial arms of the second triangular planet carrier; the rear ends of the three I-shaped wheel shafts are respectively and fixedly arranged in three assembling circular holes of the I-shaped triangular planet carrier in a penetrating mode; the center of the surface of the triangular support frame is provided with a central round hole which is through from front to back, and the central round hole is a stepped hole which is thick at the front and thin at the back; three radial arms of the triangular support frame are vertically fixed on the wall of a thick hole of the mounting round hole of the first round cup-shaped shell; the central shaft is vertically fixed in the center of the front surface of the second triangular planet carrier and penetrates through a central circular hole of the triangular support frame in a rotating manner;
the executing sub-mechanism comprises a second sun gear, a second planet gear, a third triangular planet carrier, a fourth triangular planet carrier, a second wheel shaft, an L-shaped connecting rod, a radial push rod and an arc groove-shaped push sheet;
a central circular hole which is through from front to back is formed in the center of the end face of the second sun gear, and the second sun gear is rotatably assembled on the side face of the central shaft through the central circular hole; an annular boss extends from the inner edge of the rear end face of the second sun gear, and the rear end of the annular boss is fixedly arranged in a thick hole of a central round hole of the triangular support frame in a penetrating manner; the number of the second planetary gears is three; the centers of the end surfaces of the three II planetary gears are respectively provided with a central circular hole which is communicated with the front and the back; the three second planet gears are all meshed with the second sun gear, and the three second planet gears are arranged around the central line of the second sun gear at equal intervals; the number of the third planetary gears is three; the centers of the end surfaces of the three third planetary gears are respectively provided with a central circular hole which is communicated with the front and the back; the three third planet gears are respectively meshed with the three second planet gears; a center circular hole which is through from front to back is formed in the center of the surface of the third triangular planet carrier, and the third triangular planet carrier is rotatably assembled on the outer side surface of the circular boss through the center circular hole; the outer end surfaces of three radial arms of the third triangular planet carrier are respectively provided with a main assembly round hole which is communicated from front to back and a secondary assembly round hole which is communicated from front to back; a center circular hole which is through from front to back is formed in the center of the surface of the IV triangular planet carrier, and the IV triangular planet carrier is fixedly assembled on the side surface of the central shaft through the center circular hole; the outer end surfaces of three radial arms of the IV third triangular planet carrier are respectively provided with a main assembly round hole which is communicated from front to back and a secondary assembly round hole which is communicated from front to back; the number of the second wheel shafts is three; the three second wheel shafts respectively penetrate through the central circular holes of the three second planetary gears in a rotating manner; the front ends of the three second wheel shafts are respectively and fixedly arranged in three main assembly round holes of the fourth triangular planet carrier; the rear ends of the three second wheel shafts are respectively and fixedly arranged in three main assembly round holes of the third triangular planet carrier in a penetrating way; the number of the L-shaped connecting rods is three; each L-shaped connecting rod comprises a longitudinal rod section and a radial rod section; the longitudinal rod sections of the three L-shaped connecting rods respectively rotate and penetrate through three slave assembling round holes of the IV triangular planet carrier; the longitudinal rod sections of the three L-shaped connecting rods respectively fixedly penetrate through central circular holes of the three III planetary gears; the rear ends of the longitudinal rod sections of the three L-shaped connecting rods are respectively and rotatably arranged in three secondary assembling circular holes of the third triangular planet carrier in a penetrating way; the number of the radial push rods is three; the inner ends of the three radial push rods are respectively hinged with the outer ends of the radial rod sections of the three L-shaped connecting rods; the three radial push rods respectively penetrate through the three guide round holes of the first round-cup-shaped shell and the three guide round holes of the second round-cup-shaped shell in a sliding manner; the number of the arc groove-shaped push sheets is three; the centers of the inner side surfaces of the three arc-groove-shaped push pieces are respectively fixed with the outer end surfaces of the three radial push rods.
The specific working process is as follows: the direct current motor drives three I-th planet gears to roll along the inner gear ring through the I-th sun gear. The three first planetary gears drive the first triangle planet carrier and the second triangle planet carrier to rotate together through three first wheel shafts. The II third angle planet carrier drives the IV third angle planet carrier to rotate through the central shaft. The third aspect drives the third planetary gear to revolve around the second sun gear through the longitudinal rod sections of the three L-shaped connecting rods. The three II-th planetary gears drive the three III-th planetary gears to rotate. The three third planetary gears drive the longitudinal rod sections of the three L-shaped connecting rods to rotate. Based on the revolution and the rotation of the longitudinal rod sections of the three L-shaped connecting rods, the radial rod sections of the three L-shaped connecting rods swing and drive the three radial push rods to radially extend and retract. The three radial push rods drive the three arc groove-shaped push sheets to radially extend and retract. When the three arc groove-shaped push sheets are completely extended out, the three arc groove-shaped push sheets jointly prop up the intestinal tract. When the three arc groove-shaped push pieces are completely retracted, the inner side surfaces of the three arc groove-shaped push pieces are tightly attached to the outer side surface of the II round cup-shaped shell.
Based on the process, compared with the expansion mechanism of the existing intestinal tract examination robot, the planetary wheel type radial expansion mechanism for intestinal tract examination has the following advantages by adopting a brand new structure: first, the present invention provides a superior sealing function compared to the first stent, thereby effectively preventing mechanical failure due to intestinal mucus infiltration. Secondly, compared with the second expansion mechanism, the arc-groove-shaped push plate adopted by the invention has no relative friction with the inner wall of the intestinal tract, thereby effectively avoiding scratching the inner wall of the intestinal tract in the use process.
The intestinal tract examination robot is reasonable in structure and ingenious in design, effectively solves the problems that an expansion mechanism of an existing intestinal tract examination robot is prone to mechanical failure and scratching the inner wall of an intestinal tract, and is suitable for the intestinal tract examination robot.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is an exploded view of the structure of the housing part of the present invention.
Fig. 3 is an exploded view of the structure of the reduction sub-mechanism and the actuator sub-mechanism in the present invention.
In the figure: 101-the I round cup-shaped shell, 102-the II round cup-shaped shell, 103-the circular sleeve, 104-the circular baffle, 105-the claw-shaped locating rack, 106-the axial bolt, 107-the radial bolt, 201-the direct current motor, 202-the I sun gear, 203-the I planetary gear, 204-the internal gear ring, 205-the I triangle planet carrier, 206-the II triangle planet carrier, 207-the I wheel shaft, 208-the triangle support frame, 209-the central shaft, 301-the II sun gear, 302-the II planetary gear, 303-the III planetary gear, 304-the III triangle planet carrier, 305-the IV triangle planet carrier, 306-the II wheel shaft, 307-the L-shaped connecting rod, 308-the radial push rod and 309-the arc groove-shaped push piece.
Detailed Description
A planetary wheel type radial expansion mechanism for intestinal examination comprises a shell part, a speed reducer mechanism and an actuator mechanism;
the machine shell part comprises an I-th circular cup-shaped shell 101, an II-th circular cup-shaped shell 102, a circular sleeve 103 and a circular baffle plate 104;
the cup opening of the I-shaped round cup-shaped shell 101 faces forwards; a mounting round hole which is through from front to back is formed in the center of the rear end wall of the I-shaped circular cup-shaped shell 101, and the mounting round hole is a stepped hole which is thick at the front and thin at the back; the front part of the side wall of the I-shaped circular cup-shaped shell 101 is provided with three guide round holes which are communicated internally and externally, and the three guide round holes are arranged around the central line of the I-shaped circular cup-shaped shell 101 at equal intervals; the cup mouth of the II round cup-shaped shell 102 faces backwards; the front part of the side wall of the II round cup-shaped shell 102 is provided with three guide round holes which are communicated internally and externally, and the three guide round holes are arranged around the central line of the II round cup-shaped shell 102 at equal intervals; the II round cup-shaped shell 102 is fixedly sleeved on the outer side surface of the I round cup-shaped shell 101, and three guide round holes of the II round cup-shaped shell 102 are respectively opposite to the three guide round holes of the I round cup-shaped shell 101; the front end and the rear end of the round sleeve 103 are provided with openings; the circular sleeve 103 is vertically fixed on the rear outer end face of the I-th circular cup-shaped shell 101, and the central line of the circular sleeve 103 is overlapped with the central line of the I-th circular cup-shaped shell 101; the circular baffle plate 104 is covered on the rear end opening of the circular sleeve 103, and the center line of the circular baffle plate 104 is superposed with the center line of the circular sleeve 103; a central circular hole which is through from front to back is formed in the center of the end face of the circular baffle plate 104;
the speed reducer mechanism comprises a direct current motor 201, an I-th sun gear 202, an I-th planet gear 203, an inner gear ring 204, an I-th triangle planet carrier 205, an II-th triangle planet carrier 206, an I-th wheel shaft 207, a triangle support frame 208 and a central shaft 209;
the base of the direct current motor 201 is vertically fixed on the rear end face of the circular baffle plate 104, and the output shaft of the direct current motor 201 rotatably penetrates through the central circular hole of the circular baffle plate 104; the center of the rear end face of the I-th sun gear 202 is fixed with the front end face of the output shaft of the direct current motor 201; the number of the ith planetary gears 203 is three; the centers of the end surfaces of the three I-th planet gears 203 are respectively provided with a central circular hole which is penetrated back and forth; three I-th planet gears 203 are all meshed with the I-th sun gear 202, and the three I-th planet gears 203 are arranged equidistantly around the center line of the I-th sun gear 202; the inner gear ring 204 is fixedly assembled on the inner side surface of the circular sleeve 103, and the inner diameter of the inner gear ring 204 is consistent with the pore diameter of the mounting round hole of the I-th circular cup-shaped shell 101; the ring gear 204 is respectively meshed with the three I-th planet gears 203; a central circular hole which is penetrated through from front to back is formed in the center of the surface of the I-shaped triangular planet carrier 205, and the I-shaped triangular planet carrier 205 is rotatably assembled on the side surface of the output shaft of the direct current motor 201 through the central circular hole; the outer end surfaces of three radial arms of the third triangular planet carrier 205 are respectively provided with a front-back through assembling round hole; the number of the ith wheel shafts 207 is three; the three I-th wheel shafts 207 respectively penetrate through central circular holes of the three I-th planet gears 203 in a rotating mode; the front end surfaces of the three first wheel shafts 207 are respectively fixed with the rear surfaces of the outer ends of three radial arms of the second triangular planet carrier 206; the rear ends of the three I-shaped wheel shafts 207 are respectively and fixedly arranged in three assembling circular holes of the I-shaped triangular planet carrier 205 in a penetrating manner; a central circular hole which is through from front to back is formed in the center of the surface of the triangular support frame 208, and the central circular hole is a stepped hole which is thick at the front and thin at the back; three radial arms of the triangular support frame 208 are all vertically fixed on the wall of a thick hole of the mounting round hole of the first round cup-shaped shell 101; the central shaft 209 is vertically fixed at the center of the front surface of the second triangular planet carrier 206, and the central shaft 209 rotatably penetrates through the central circular hole of the triangular support frame 208;
the actuator mechanism comprises a II sun gear 301, a II planet gear 302, a III planet gear 303, a III triangle planet carrier 304, an IV triangle planet carrier 305, a II wheel shaft 306, an L-shaped connecting rod 307, a radial push rod 308 and an arc groove-shaped push sheet 309;
a central circular hole which is through from front to back is formed in the center of the end face of the II sun gear 301, and the II sun gear 301 is rotatably assembled on the side face of the central shaft 209 through the central circular hole; an annular boss extends from the inner edge of the rear end face of the second sun gear 301, and the rear end of the annular boss is fixedly arranged in a thick hole of a central circular hole of the triangular support frame 208 in a penetrating manner; the number of the II planetary gears 302 is three; the centers of the end surfaces of the three II planetary gears 302 are respectively provided with a central circular hole which is through from front to back; the three II planet gears 302 are all meshed with the II sun gear 301, and the three II planet gears 302 are arranged around the central line of the II sun gear 301 at equal intervals; the number of the third planetary gears 303 is three; the centers of the end surfaces of the three III planetary gears 303 are respectively provided with a central circular hole which is penetrated in front and back; the three III planetary gears 303 are respectively meshed with the three II planetary gears 302; a front-rear through center circular hole is formed in the center of the surface of the third triangular planet carrier 304, and the third triangular planet carrier 304 is rotatably assembled on the outer side surface of the circular boss through the center circular hole; the outer end surfaces of three radial arms of the third triangular planet carrier 304 are respectively provided with a main assembly round hole which is through from front to back and a secondary assembly round hole which is through from front to back; a front-rear through center circular hole is formed in the center of the surface of the IV-th triangular planet carrier 305, and the IV-th triangular planet carrier 305 is fixedly assembled on the side surface of the central shaft 209 through the center circular hole; the outer end surfaces of three radial arms of the IV-th triangular planet carrier 305 are respectively provided with a main assembly circular hole which is through from front to back and a secondary assembly circular hole which is through from front to back; the number of the II-th wheel axles 306 is three; the three second wheel shafts 306 respectively penetrate through the central circular holes of the three second planetary gears 302 in a rotating manner; the front ends of the three second wheel shafts 306 are respectively and fixedly arranged in three main assembly round holes of the IV triangular planet carrier 305; the rear ends of the three second wheel shafts 306 are respectively and fixedly arranged in three main assembly round holes of the third triangular planet carrier 304 in a penetrating manner; the number of the L-shaped links 307 is three; each L-shaped link 307 comprises a longitudinal rod segment and a radial rod segment; the longitudinal rod segments of the three L-shaped connecting rods 307 respectively rotate to penetrate through three slave assembling circular holes of the IV-th triangular planet carrier 305; the longitudinal rod sections of the three L-shaped connecting rods 307 respectively fixedly penetrate through central circular holes of the three III planetary gears 303; the rear ends of the longitudinal rod sections of the three L-shaped connecting rods 307 are respectively and rotatably arranged in three slave assembling circular holes of the III-th triangular planet carrier 304 in a penetrating manner; the number of the radial push rods 308 is three; the inner ends of the three radial push rods 308 are respectively hinged with the outer ends of the radial rod sections of the three L-shaped connecting rods 307; the three radial push rods 308 respectively penetrate through the three guide round holes of the I round cup-shaped shell 101 and the three guide round holes of the II round cup-shaped shell 102 in a sliding manner; the number of the arc groove-shaped push pieces 309 is three; the centers of the inner side surfaces of the three arc-groove-shaped push plates 309 are respectively fixed with the outer end surfaces of the three radial push rods 308.
Three guide round holes of the I-shaped circular cup-shaped shell 101 are all stepped holes with thick outer parts and thin inner parts; the side surfaces of the three radial push rods 308 are respectively sleeved with an O-shaped sealing ring, and the three O-shaped sealing rings are respectively embedded in thick holes of three guide round holes of the I-th circular cup-shaped shell 101.
The housing part further comprises a claw positioning frame 105; the claw-shaped positioning frame 105 is composed of three step-shaped positioning beams; the three step-shaped positioning beams are respectively tightly attached to a base of a direct current motor 201, a circular baffle 104, a circular sleeve 103 and an I-th circular cup-shaped shell 101, and the outer end surfaces of the three step-shaped positioning beams are respectively provided with a front-back through axial screw hole; the rear end wall of the I-shaped circular cup-shaped shell 101 is provided with three axial screw holes which are communicated from front to back, and the three axial screw holes are arranged at equal intervals around the central line of the I-shaped circular cup-shaped shell 101; the three axial screw holes of the I-th circular cup-shaped housing 101 are respectively aligned with the three axial screw holes of the claw-shaped positioning frame 105, and three axial bolts 106 are commonly inserted into the three axial screw holes of the I-th circular cup-shaped housing 101 and the three axial screw holes of the claw-shaped positioning frame 105.
The side wall of the I-shaped circular cup-shaped shell 101 is provided with three pairs of radial screw holes which are internally and externally communicated, and the three pairs of radial screw holes are equidistantly arranged around the central line of the I-shaped circular cup-shaped shell 101; the side wall of the II round cup-shaped shell 102 is provided with three pairs of radial screw holes which are internally and externally communicated, and the three pairs of radial screw holes are equidistantly arranged around the center line of the II round cup-shaped shell 102; the three pairs of radial screw holes of the second circular cup-shaped shell 102 are respectively opposite to the three pairs of radial screw holes of the first circular cup-shaped shell 101, and three pairs of radial bolts 107 are commonly arranged in the three pairs of radial screw holes of the second circular cup-shaped shell 102 and the three pairs of radial screw holes of the first circular cup-shaped shell 101 in a penetrating manner.
The pitch circle diameter of the second sun gear 301 is 4.8 mm; the reference circle diameters of the three II planetary gears 302 are all 1.6 mm; the reference circle diameters of the three third planetary gears 303 are all 2.4 mm; the center distance between the three III planet gears 303 and the II sun gear 301 is 4 mm; the length of the radial rod sections of the three L-shaped connecting rods 307 is 4 mm; the three radial push rods 308 are all 17mm in length.

Claims (5)

1. The utility model provides a radial expanding mechanism of planet wheel formula for intestinal examination which characterized in that: comprises a shell part, a speed reducer sub-mechanism and an actuator sub-mechanism;
the machine shell part comprises an I-th circular cup-shaped shell (101), an II-th circular cup-shaped shell (102), a circular sleeve (103) and a circular baffle plate (104);
the cup mouth of the I round cup-shaped shell (101) faces forwards; a mounting round hole which is through from front to back is formed in the center of the rear end wall of the I-shaped circular cup-shaped shell (101), and the mounting round hole is a stepped hole which is thick at the front and thin at the back; the front part of the side wall of the I-shaped circular cup-shaped shell (101) is provided with three guide round holes which are communicated internally and externally, and the three guide round holes are arranged around the central line of the I-shaped circular cup-shaped shell (101) at equal intervals; the cup mouth of the II round cup-shaped shell (102) faces backwards; the front part of the side wall of the II round cup-shaped shell (102) is provided with three guide round holes which are communicated internally and externally, and the three guide round holes are arranged around the central line of the II round cup-shaped shell (102) at equal intervals; the II round cup-shaped shell (102) is fixedly sleeved on the outer side surface of the I round cup-shaped shell (101), and three guide round holes of the II round cup-shaped shell (102) are respectively opposite to the three guide round holes of the I round cup-shaped shell (101); the front end and the rear end of the round sleeve (103) are provided with openings; the circular sleeve (103) is vertically fixed on the rear outer end face of the I-th circular cup-shaped shell (101), and the center line of the circular sleeve (103) is superposed with the center line of the I-th circular cup-shaped shell (101); the round baffle (104) is covered on the rear end opening of the round sleeve (103), and the center line of the round baffle (104) is superposed with the center line of the round sleeve (103); the center of the end surface of the circular baffle (104) is provided with a center round hole which is through from front to back;
the speed reducer mechanism comprises a direct current motor (201), an I-th sun gear (202), an I-th planet gear (203), an inner gear ring (204), an I-th triangular planet carrier (205), an II-th triangular planet carrier (206), an I-th wheel shaft (207), a triangular support frame (208) and a central shaft (209);
the base of the direct current motor (201) is vertically fixed on the rear end face of the circular baffle (104), and the output shaft of the direct current motor (201) rotatably penetrates through the central circular hole of the circular baffle (104); the center of the rear end face of the I-th sun gear (202) is fixed with the front end face of the output shaft of the direct current motor (201); the number of the I-th planetary gears (203) is three; the centers of the end surfaces of the three I-shaped planet gears (203) are respectively provided with a central circular hole which is penetrated in front and back; the three I-th planet gears (203) are all meshed with the I-th sun gear (202), and the three I-th planet gears (203) are arranged at equal intervals around the central line of the I-th sun gear (202); the inner gear ring (204) is fixedly assembled on the inner side surface of the circular sleeve (103), and the inner diameter of the inner gear ring (204) is consistent with the pore diameter of the mounting round hole of the I-th circular cup-shaped shell (101); the inner gear ring (204) is respectively meshed with the three I-th planet gears (203); a central circular hole which is penetrated through from front to back is formed in the center of the surface of the I-shaped triangular planet carrier (205), and the I-shaped triangular planet carrier (205) is rotatably assembled on the side surface of an output shaft of the direct current motor (201) through the central circular hole; the outer end surfaces of three radial arms of the I-shaped triangular planet carrier (205) are respectively provided with a front-back through assembling round hole; the number of the I-th wheel shafts (207) is three; the three I-th wheel shafts (207) respectively penetrate through central circular holes of the three I-th planet gears (203) in a rotating manner; the front end surfaces of the three I wheel shafts (207) are respectively fixed with the rear surfaces of the outer ends of three radial arms of the II triangular planet carrier (206); the rear ends of the three I-shaped wheel shafts (207) are respectively and fixedly arranged in three assembling circular holes of the I-shaped triangular planet carrier (205); the center of the surface of the triangular support frame (208) is provided with a center round hole which is through from front to back, and the center round hole is a stepped hole which is thick at the front and thin at the back; three radial arms of the triangular support frame (208) are vertically fixed on the wall of a coarse hole of an installation round hole of the first round cup-shaped shell (101); the central shaft (209) is vertically fixed at the center of the front surface of the II-th triangular planet carrier (206), and the central shaft (209) rotatably penetrates through a central circular hole of the triangular support frame (208);
the actuator mechanism comprises a II sun gear (301), a II planet gear (302), a III planet gear (303), a III triangle planet carrier (304), an IV triangle planet carrier (305), a II wheel shaft (306), an L-shaped connecting rod (307), a radial push rod (308) and an arc groove-shaped push sheet (309);
a central circular hole which is penetrated through from front to back is formed in the center of the end face of the II-th sun gear (301), and the II-th sun gear (301) is rotatably assembled on the side face of the central shaft (209) through the central circular hole; an annular boss extends from the inner edge of the rear end face of the II-th sun gear (301), and the rear end of the annular boss is fixedly arranged in a thick hole of a central circular hole of the triangular support frame (208) in a penetrating mode; the number of the II planetary gears (302) is three; the centers of the end surfaces of the three II planetary gears (302) are respectively provided with a central circular hole which is penetrated back and forth; the three II-th planet gears (302) are all meshed with the II-th sun gear (301), and the three II-th planet gears (302) are arranged around the center line of the II-th sun gear (301) at equal intervals; the number of the third planetary gears (303) is three; the centers of the end surfaces of the three III planetary gears (303) are respectively provided with a central circular hole which is penetrated in front and back; the three third planet gears (303) are respectively meshed with the three II planet gears (302); a center circular hole which is through from front to back is formed in the center of the surface of the third triangular planet carrier (304), and the third triangular planet carrier (304) is rotatably assembled on the outer side surface of the circular boss through the center circular hole; the outer end surfaces of three radial arms of a third triangular planet carrier (304) are respectively provided with a main assembly round hole which is through from front to back and a secondary assembly round hole which is through from front to back; a central circular hole which is penetrated through from front to back is formed in the center of the surface of the IV triangular planet carrier (305), and the IV triangular planet carrier (305) is fixedly assembled on the side surface of the central shaft (209) through the central circular hole; the outer end surfaces of three radial arms of an IV triangular planet carrier (305) are respectively provided with a main assembly round hole which is through from front to back and a secondary assembly round hole which is through from front to back; the number of the II-th wheel shafts (306) is three; the three second wheel shafts (306) respectively penetrate through central circular holes of the three second planetary gears (302) in a rotating manner; the front ends of the three II wheel shafts (306) are respectively and fixedly arranged in three main assembly round holes of the IV triangular planet carrier (305); the rear ends of the three II wheel shafts (306) are respectively and fixedly arranged in three main assembly round holes of the III triangular planet carrier (304) in a penetrating way; the number of the L-shaped connecting rods (307) is three; each L-shaped connecting rod (307) comprises a longitudinal rod section and a radial rod section; the longitudinal rod sections of the three L-shaped connecting rods (307) respectively rotate and penetrate through three slave assembling circular holes of the IV-th triangular planet carrier (305); the longitudinal rod sections of the three L-shaped connecting rods (307) are respectively and fixedly penetrated through central circular holes of the three III planetary gears (303); the rear ends of the longitudinal rod sections of the three L-shaped connecting rods (307) are respectively and rotatably arranged in three slave assembling circular holes of the III-th triangular planet carrier (304); the number of the radial push rods (308) is three; the inner ends of the three radial push rods (308) are respectively hinged with the outer ends of the radial rod sections of the three L-shaped connecting rods (307); three radial push rods (308) respectively penetrate through three guide round holes of the first round-cup-shaped shell (101) and three guide round holes of the second round-cup-shaped shell (102) in a sliding mode; the number of the arc-groove-shaped push sheets (309) is three; the centers of the inner side surfaces of the three arc-groove-shaped push sheets (309) are respectively fixed with the outer end surfaces of the three radial push rods (308).
2. The planetary wheel type radial expansion mechanism for intestinal examination as claimed in claim 1, wherein: three guide round holes of the I round cup-shaped shell (101) are all stepped holes with thick outer parts and thin inner parts; the side surfaces of the three radial push rods (308) are respectively sleeved with an O-shaped sealing ring, and the three O-shaped sealing rings are respectively embedded in thick holes of three guide round holes of the I-th circular cup-shaped shell (101).
3. The planetary wheel type radial expansion mechanism for intestinal examination as claimed in claim 1, wherein: the housing portion further comprises a claw-shaped positioning frame (105); the claw-shaped positioning frame (105) consists of three step-shaped positioning beams; the three step-shaped positioning beams are respectively tightly attached to a base of a direct current motor (201), a circular baffle (104), a circular sleeve (103) and an I-th circular cup-shaped shell (101), and the outer end surfaces of the three step-shaped positioning beams are respectively provided with an axial screw hole which is through from front to back; the rear end wall of the I-shaped circular cup-shaped shell (101) is provided with three axial screw holes which are communicated from front to back, and the three axial screw holes are arranged around the central line of the I-shaped circular cup-shaped shell (101) at equal intervals; three axial screw holes of the I-th circular cup-shaped shell (101) are respectively opposite to three axial screw holes of the claw-shaped positioning frame (105), and three axial bolts (106) are arranged in the three axial screw holes of the I-th circular cup-shaped shell (101) and the three axial screw holes of the claw-shaped positioning frame (105) in a penetrating mode.
4. The planetary wheel type radial expansion mechanism for intestinal examination as claimed in claim 1, wherein: the side wall of the I-shaped circular cup-shaped shell (101) is provided with three pairs of radial screw holes which are internally and externally communicated, and the three pairs of radial screw holes are equidistantly arranged around the central line of the I-shaped circular cup-shaped shell (101); the side wall of the II round cup-shaped shell (102) is provided with three pairs of radial screw holes which are internally and externally communicated, and the three pairs of radial screw holes are equidistantly arranged around the central line of the II round cup-shaped shell (102); three pairs of radial screw holes of the II round cup-shaped shell (102) are respectively opposite to the three pairs of radial screw holes of the I round cup-shaped shell (101), and three pairs of radial bolts (107) are arranged in the three pairs of radial screw holes of the II round cup-shaped shell (102) and the three pairs of radial screw holes of the I round cup-shaped shell (101) in a penetrating mode.
5. The planetary wheel type radial expansion mechanism for intestinal examination as claimed in claim 1, wherein: the pitch circle diameter of the II sun gear (301) is 4.8 mm; the reference circle diameters of the three II planetary gears (302) are all 1.6 mm; the reference circle diameters of the three third planetary gears (303) are all 2.4 mm; the center distance between the three third planet gears (303) and the sun gear (301) of the second planet gear is 4 mm; the length of the radial rod sections of the three L-shaped connecting rods (307) is 4 mm; the length of each radial push rod (308) is 17 mm.
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CN111870799A (en) * 2020-08-04 2020-11-03 上海交通大学 Surface contact type expansion and residence device for gastrointestinal tract micro-robot

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CN109938681A (en) * 2019-04-22 2019-06-28 上海交通大学 Expansion park device for gastrointestinal tract microrobot

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CN107788937A (en) * 2017-10-18 2018-03-13 上海交通大学 Gastrointestinal robot radial dilatation mechanism
CN108283482A (en) * 2018-01-23 2018-07-17 上海交通大学 Radial dilatation device for gastrointestinal tract microrobot
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