CN111616670B - Self-assembly micro modular robot for intestinal examination - Google Patents
Self-assembly micro modular robot for intestinal examination Download PDFInfo
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- CN111616670B CN111616670B CN202010510376.2A CN202010510376A CN111616670B CN 111616670 B CN111616670 B CN 111616670B CN 202010510376 A CN202010510376 A CN 202010510376A CN 111616670 B CN111616670 B CN 111616670B
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- 230000000968 intestinal effect Effects 0.000 title claims abstract description 19
- 238000001338 self-assembly Methods 0.000 title claims abstract description 9
- 210000001503 joint Anatomy 0.000 claims abstract description 43
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 33
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 238000000926 separation method Methods 0.000 abstract description 10
- 210000001035 gastrointestinal tract Anatomy 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 7
- 238000007689 inspection Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000936 intestine Anatomy 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M3/00—Medical syringes, e.g. enemata; Irrigators
- A61M3/02—Enemata; Irrigators
- A61M3/0279—Cannula; Nozzles; Tips; their connection means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/10—Trunk
- A61M2210/1042—Alimentary tract
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- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
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- Optics & Photonics (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Physics & Mathematics (AREA)
- Radiology & Medical Imaging (AREA)
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- Anesthesiology (AREA)
- Hematology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-assembly micro modular robot for intestinal examination, which comprises a tail device, a middle device and a head device, wherein the tail device is an installation platform of the middle device, the middle device is an installation platform of the head device, the tail device, the middle device and the head device can be automatically separated and combined, each device is provided with a plurality of groups of cameras, the inner wall of an intestinal tract can be detected in multiple directions, and a plurality of groups of moving belts are arranged and can independently move on the inner wall of the intestinal tract, the head device is provided with a plurality of groups of water guns and can wash the inner wall of the intestinal tract, when the three devices are combined for use, multi-degree-of-freedom steering can be realized through the middle device, the butt joint among the devices can be automatically realized, the lock after the butt joint is realized, and the non-automatic separation.
Description
Technical Field
The invention relates to the technical field of automotive medical robots, in particular to a self-assembly micro modular robot for intestinal examination.
Background
When patient carries out the intestinal inspection, need observe the intestinal inner wall, generally adopt the mode of artifical intestines mirror to inspect, the inspection is incomplete and have certain injury to patient, in order to liberate the manpower, and improve the factor of safety of inspection, reduce patient's misery, a design is at present towards the miniature modular robot of self-assembly of intestinal inspection, for example, patent application No. CN111113392A discloses a miniature modular robot of self-assembly towards the intestinal inspection, but the device can't realize autonomous movement and be difficult for the operation.
Disclosure of Invention
In view of the above problems, the present invention provides a self-assembly micro modular robot for intestinal examination, which includes a tail device, a middle device, and a head device.
The tail device is an installation platform of the middle device, and the middle device is an installation platform of the head device.
The tail device comprises: the tail pipe, a tail cover, a tail seat, a tail camera, a tail rotary seat, a tail rotary disc, a tail moving belt, a tail moving motor, a tail motor wheel, a tail driving wheel, a tail driven wheel, a tail rotating motor, a spring cover, a compression spring, a spring seat and steel balls, wherein the tail cover is fixedly arranged at the end part of the tail pipe, the tail seat is fixedly arranged on the tail cover, the tail camera is fixedly arranged on the tail seat, the tail rotating motor is fixedly arranged at the inner side of the tail cover, the tail rotary disc is fixedly arranged on a motor shaft of the tail rotating motor, the tail rotary seat is fixedly arranged at the side surface of the tail rotary disc, the tail rotary camera is fixedly arranged on the tail rotary seat, the tail moving motor is fixedly arranged on the tail pipe, the tail driving wheel and the tail driven wheel are rotatably arranged on the tail pipe, the tail motor wheel is fixedly arranged on the motor shaft of the tail moving motor, the tail moving, the bullet lid fixed mounting is on the bullet seat, and compression spring bottom fixed mounting is on the bullet lid, and top fixed mounting has the steel ball.
The middle device comprises: the middle joint, a limiting ring, a soft sleeve, a rear pipe, a middle camera, a steel ball seat, an ejection electric cylinder, an ejection sleeve, a middle cover, an outer gear ring, a driving block, a ball electric cylinder, a driving gear, a driving motor, a ball head, a fixed block, a middle driving wheel, a middle driven wheel, a middle moving motor, a middle rotating motor, a rotating disc, an abutting joint, a groove and a middle moving belt, wherein the limiting ring is fixedly arranged on the middle joint, the soft sleeve is fixedly arranged on the outer sides of the rotating disc and the middle joint, the rear pipe is rotatably arranged with the rotating disc, the middle camera is fixedly arranged on the rotating disc, the middle cover is fixedly arranged at the end part of the rear pipe, the steel ball seat is fixedly arranged on the middle cover, the ejection electric cylinder is fixedly arranged on the middle cover, the ball head is fixedly arranged at the bottom of the middle joint, the middle joint is rotatably arranged on the rotating disc through the ball head, the, driving motor fixed mounting is on the initiative piece, driving gear fixed mounting is on the motor shaft of driving motor, the driving gear meshes with outer ring gear, fixed block fixed mounting is in middle part joint bottom, bulb electricity jar bottom rotates the installation with the initiative piece, the top rotates the installation with the fixed block, well transfer motor fixed mounting is inside well lid, the rolling disc fixed mounting rotates on the motor shaft of motor in, well removal motor fixed mounting is on the back pipe, well action wheel fixed mounting is on the motor shaft of well removal motor, well from the driving wheel rotation installation on the back pipe, well removal area winding is in the well action wheel and well from the driving wheel outside, middle part joint top is provided with the butt joint, recess fixed mounting connects the top at the middle part.
The head device comprises: the device comprises a top cover, a top seat, a top camera, a rotating water gun, a fixed water gun, a top pipe, an abutting block, a transmission arc, a sliding head, an arc guide rail, an arc electric cylinder, a limiting block, a rotating gun motor, a motor bevel gear, a secondary gear, a left bevel gear, a water gun gear, a left shaft, a right bevel gear, a front moving belt, a front driven wheel, a front motor wheel, a front moving motor, a front driving wheel, a driving belt, a top disc and a top rotating motor, wherein the top seat is fixedly arranged on the top cover, the top camera is fixedly arranged on the top seat, the top cover is fixedly arranged on the top disc, the fixed water gun is fixedly arranged on the top disc, the rotating water gun gear is fixedly arranged on the rotating water gun, the rotating gun motor is fixedly arranged on the top disc, the motor bevel gear is fixedly arranged on a motor shaft of the rotating gun motor, the left shaft is rotatably arranged on the top disc, the left bevel gear, left bevel gear and squirt gear engagement, pinion and motor bevel gear engagement, right bevel gear and squirt gear engagement, stopper fixed mounting is in the push pipe bottom, arc electricity jar fixed mounting is in the push pipe bottom, arc guide rail fixed mounting is at the push pipe top, slider fixed mounting is at arc electricity jar top, slidable mounting is on the arc guide rail, transmission arc fixed mounting is at the slider top, butt joint piece fixed mounting is at transmission arc top, top rotation motor fixed mounting is inboard in the push pipe, the top dish rotates and installs on the push pipe, the drive belt winding is in the motor shaft outside of top dish and top rotation motor, preceding mobile motor fixed mounting is on the push pipe, preceding motor wheel fixed mounting is on the motor shaft of preceding mobile motor, preceding action wheel rotates with preceding driven wheel and installs on the push pipe, preceding action belt winding is in the preceding action wheel, preceding driven wheel and the preceding motor wheel outside.
Further, the tail device and the middle device form a separable fixed fit, and the head device and the middle device form a separable fixed fit.
Furthermore, the tail turntable and the tail pipe form a running fit, the tail driving wheel and the tail driven wheel form a running fit with the tail pipe, and the steel balls and the spring seat form a sliding fit extruded by a spring.
Furthermore, the driving block and the rotating disc form sliding fit driven by a gear ring, the middle joint and the rotating disc form spherical rotating fit, the rotating disc and the rear pipe form rotating fit, and the middle driven wheel and the middle driving wheel form rotating fit with the rear pipe.
Furthermore, the sliding head and the arc guide rail form sliding fit, the rotating water gun and the jacking disc form rotating fit, the jacking disc and the jacking pipe form rotating fit, and the front driven wheel and the front driving wheel form rotating fit with the jacking pipe.
Furthermore, a plurality of groups of cameras are arranged on the tail device, the middle device and the head device.
Furthermore, the head device is provided with a fixed water gun and a rotary water gun.
Furthermore, a plurality of groups of tracks are arranged on the tail device, the middle device and the head device.
Due to the adoption of the technical scheme, the invention has the following advantages:
(1) the invention can realize that three sections of devices are separated and independently move and can realize automatic butt joint;
(2) the three parts of the invention are provided with a plurality of cameras and a plurality of moving belts, thus realizing the moving and examination on the inner wall of the intestinal tract.
(3) The butt joint and the separation of the tail device and the middle device are realized by telescopic steel balls.
(4) The butt joint of the head device arranged in the middle of the invention is realized by carrying out relative rotation locking after the butt joint block and the butt joint are in butt joint.
(5) The head device is provided with a plurality of groups of water guns, so that the inner wall of the intestinal tract can be roughly cleaned.
Drawings
FIG. 1 is an overall schematic view of the present invention.
Fig. 2, fig. 3 and fig. 4 are schematic structural views of the tail device of the present invention.
Fig. 5, 6, 7, 8 and 9 are schematic structural views of the internal device of the present invention.
Fig. 10, fig. 11, fig. 12 and fig. 13 are schematic views of the head device structure of the present invention.
Reference numerals: 1-tail device; 2-a middle device; 3-a head device; 101-a tail pipe; 102-tail cap; 103-tailstock; 104-tail camera; 105-a tail-spinning camera; 106-tail spin base; 107-tail turntable; 108-tail moving belt; 109-tail moving motor; 110-tail motor wheel; 111-tail drive wheel; 112-tail driven wheel; 113-tail rotating motor; 114-a flip cover; 115-a compression spring; 116-a cartridge holder; 117-steel ball; 201-middle joint; 202-a spacing ring; 203-soft sleeve; 204-rear tube; 205-middle camera; 206-steel ball seat; 207-ejection of electric cylinder; 208-top sleeve; 209-middle cover; 210-an outer gear ring; 211-active block; 212-bulb electric cylinder; 213-a drive gear; 214-an active motor; 215-ball head; 216-fixed block; 217-central driving wheel; 218-a middle driven wheel; 219-middle moving motor; 220-middle rotating motor; 221-a rotating disc; 222-a butt joint; 223-grooves; 224-middle moving belt; 301-a top cover; 302-a top seat; 303-top camera; 304-a rotating water gun; 305-a fixed water gun; 306-jacking pipe; 307-butting blocks; 308-drive arc; 309-sliding head; 310-arc guide rails; 311-arc cylinder; 312-a stop block; 313-gun motor rotation; 314-motor bevel gear; 315-pinion; 316-left bevel gear; 317-water gun gear; 318-left axis; 319-right bevel gear; 320-forward moving the belt; 321-a front driven wheel; 322-front motor wheel; 323-front moving motor; 324-front drive wheel; 325-transmission belt; 326-top disk; 327-top rotating motor.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
Example (b): a self-assembly micro-modular robot for intestinal examination, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12 and fig. 13. The tail unit 1 is a mounting platform for the middle unit 2, and the middle unit 2 is a mounting platform for the head unit 3.
The specific structure of the tail device 1 is shown in fig. 2, 3 and 4, wherein a tail cover 102 is fixedly installed at the end of a tail pipe 101, a tail base 103 is fixedly installed on the tail cover 102, a tail camera 104 is fixedly installed on the tail base 103, a tail rotation motor 109 is fixedly installed inside the tail cover 102, a tail turntable 107 is fixedly installed on a motor shaft of a tail rotation motor 113, a tail rotation seat 106 is fixedly installed at the side of the tail turntable 107, a tail camera 105 is fixedly installed on the tail rotation seat 106, a tail moving motor 109 is fixedly installed on the tail pipe 101, a tail driving wheel 111 and a tail driven wheel 112 are rotatably installed on the tail pipe 101, a tail motor wheel 110 is fixedly installed on the motor shaft of the tail moving motor 109, a tail moving belt 108 is wound outside the tail driving wheel 111, the tail driven wheel 112 and the tail motor wheel 110, a spring seat 116 is fixedly installed at the top of the tail pipe 101, a spring cover 114 is fixedly installed on the spring seat 116, the top is fixedly provided with a steel ball 117. The tail rotating motor 113 controls the tail turntable 107 to rotate, so that the tail rotary camera 105 can realize all-dimensional observation on the inner wall of the intestinal tract, the tail moving motor 109 controls the tail moving belt 108 to rotate in a rotating mode, the tail device 1 moves on the inner wall of the intestinal tract, and when the tail device 1 is in butt joint with the middle device 2, four steel balls 117 enter the steel ball seat 206 to complete the butt joint.
Specifically, as shown in fig. 5, 6, 7, 8, 9, a specific structural diagram of the middle device 2 is shown, wherein a limit ring 202 is fixedly installed on a middle joint 201, a soft sleeve 203 is fixedly installed outside a rotating disc 221 and the middle joint 201, a rear tube 204 is rotatably installed with the rotating disc 221, a middle camera 205 is fixedly installed on the rotating disc 221, a middle cover 209 is fixedly installed at the end of the rear tube 204, a steel ball seat 206 is fixedly installed on the middle cover 209, an ejecting electric cylinder 207 is fixedly installed on the middle cover 209, an ejecting sleeve 208 is fixedly installed at the top of the ejecting electric cylinder 207, a ball head 215 is fixedly installed at the bottom of the middle joint 201, the middle joint 201 is rotatably installed on the rotating disc 221 through the ball head 215, an outer ring gear 210 is fixedly installed on the rotating disc 221, a driving block 211 is slidably installed on the rotating disc 221, a driving motor 214 is fixedly installed on the driving block 211, a driving gear 213 is fixedly installed on a motor shaft, the driving gear 213 is engaged with the outer gear ring 210, the fixed block 216 is fixedly installed at the bottom of the middle joint 201, the bottom of the ball head electric cylinder 212 is rotatably installed with the driving block 211, the top is rotatably installed with the fixed block 216, the middle rotating motor 220 is fixedly installed inside the middle cover 209, the rotating disc 221 is fixedly installed on the motor shaft of the middle rotating motor 220, the middle moving motor 219 is fixedly installed on the rear pipe 204, the middle driving wheel 217 is fixedly installed on the motor shaft of the middle moving motor 219, the middle driven wheel 218 is rotatably installed on the rear pipe 204, the middle moving belt 224 is wound on the outer sides of the middle driving wheel 217 and the middle driven wheel 218, the top of the middle joint 201 is provided with an abutting joint 222, and the. When the middle device 2 is required to be separated from the tail device 1, the ejection electric cylinder 207 extends, the ejection sleeve 208 ejects the steel ball 117 to realize separation, the driving motor 214 rotates to control the driving block 211 to press the groove on the rotating disc 221 to slide, and the multi-degree-of-freedom rotation of the middle joint 201 and the rotating disc 221 is realized by matching with the extension of the ball head electric cylinder 212, the rotation of the middle transfer motor 220 can realize the rotation of the rotating disc 221 relative to the rear tube 204, and the rotation of the middle moving belt 224 is controlled by the rotation of the middle moving motor 219 to realize the movement of the middle device 2 in the intestinal tract.
Specifically, as shown in fig. 10, 11, 12, 13, a specific structural schematic diagram of the head device 3 is shown, wherein the top base 302 is fixedly installed on the top cover 301, the top camera 303 is fixedly installed on the top base 302, the top cover 301 is fixedly installed on the top plate 326, the fixed water gun 305 is fixedly installed on the top plate 326, the rotating water gun 304 is rotatably installed on the top plate 326, the water gun gear 317 is fixedly installed on the rotating water gun 304, the rotating gun motor 313 is fixedly installed on the top plate 326, the motor bevel gear 314 is fixedly installed on the motor shaft of the rotating gun motor 313, the left shaft 318 is rotatably installed on the top plate 326, the left bevel gear 316, the secondary gear 315, and the right bevel gear 319 are fixedly installed on the left shaft 318, the left bevel gear 316 is engaged with the motor bevel gear 317, the secondary gear 315 is engaged with the motor bevel gear 314, the right bevel gear 319 is engaged with the water gun gear 317, the limit block 312 is fixedly installed at the bottom of, the arc guide rail 310 is fixedly installed at the top of the top pipe 306, the sliding head 309 is fixedly installed at the top of the arc electric cylinder 311, the sliding guide rail 310 is installed in a sliding mode, the transmission arc 308 is fixedly installed at the top of the sliding head 309, the butt joint block 307 is fixedly installed at the top of the transmission arc 308, the top rotating motor 327 is fixedly installed on the inner side of the top pipe 326, the top plate 326 is rotatably installed on the top pipe 306, the transmission belt 325 is wound on the outer side of a motor shaft of the top plate 326 and the top rotating motor 327, the front moving motor 323 is fixedly installed on the top pipe 306, the front motor wheel 322 is fixedly installed on a motor shaft of the front moving motor 323, the front driving wheel 324 and the front driven wheel 321 are rotatably installed on the top pipe, and the front moving belt 320 is wound. When head unit 3 and middle part device 2 separation are realized to needs, arc jar 311 extends for transmission arc 308 takes butt joint piece 307 to reach the top, stopper 312 aims at the rectangular groove on the recess 223 this moment, preceding moving motor 323 rotation control preceding drive belt 320 rotates, realize that head unit 1 removes, realize the separation, top rotation motor 327 rotates and can realize that top dish 326 rotates for footstock 302, rifle commentaries on classics motor 313 rotates and can realize rotating squirt 304 and rotate for footstock 326, it can wash the intestinal inner wall to rotate squirt 304 and fixed squirt 305.
When the multifunctional cleaning device is used, during integral use, the tail moving motor 109 of the tail device 1 rotates to control the tail moving belt 108 to rotate, the middle moving motor 219 of the middle device 2 rotates to control the middle moving belt 224 to rotate, the front moving motor 323 of the head device 3 rotates to control the front moving belt 320 to rotate, movement of the device is achieved, the driving motor 214 rotates to control the driving block 211 to press the groove on the rotating disc 221 to slide, the middle connector 201 and the rotating disc 221 rotate in a multi-degree-of-freedom mode by matching with the extension and retraction of the ball head electric cylinder 212, cameras on each device observe the inner wall of an intestinal tract, the top rotating motor 327 rotates to achieve rotation of the top disc 326 relative to the top seat 302, the water gun rotating motor 313 rotates to achieve rotation of the rotating cylinder 304 relative to the top disc 326, and the rotating water gun 304 and the fixed; when the separation of each part needs to be realized, when the separation of the middle device 2 and the tail device 1 is realized, the ejection electric cylinder 207 extends, the steel ball 117 is ejected out by the ejection sleeve 208, the separation is realized, when the separation of the head device 3 and the middle device 2 is realized, the arc electric cylinder 311 extends, so that the transmission arc 308 drives the butt-joint block 307 to reach the top, at the moment, the limit block 312 aligns at the rectangular groove on the groove 223, the front moving motor 323 rotates to control the front moving belt 320 to rotate, the movement of the head device 1 is realized, and the separation is realized.
Claims (8)
1. A self-assembly micro modular robot for intestinal examination comprises a tail device (1), a middle device (2) and a head device (3);
afterbody device (1) be the mounting platform of middle part device (2), middle part device (2) are the mounting platform of head device (3), its characterized in that:
the tail device (1) comprises: a tail pipe (101), a tail cover (102), a tail seat (103), a tail camera (104), a tail rotary camera (105), a tail rotary seat (106), a tail rotary table (107), a tail moving belt (108), a tail moving motor (109), a tail motor wheel (110), a tail driving wheel (111), a tail driven wheel (112), a tail rotary motor (113), a spring cover (114), a compression spring (115), a spring seat (116) and steel balls (117), wherein the tail cover (102) is fixedly arranged at the end part of the tail pipe (101), the tail seat (103) is fixedly arranged on the tail cover (102), the tail camera (104) is fixedly arranged on the tail seat (103), the tail rotary motor (113) is fixedly arranged at the inner side of the tail cover (102), the tail rotary table (107) is fixedly arranged on a motor shaft of the tail rotary motor (113), the tail rotary seat (106) is fixedly arranged at the side surface of the tail rotary table (107), and the tail rotary camera (105) is fixedly arranged on the tail rotary seat (106), a tail moving motor (109) is fixedly arranged on a tail pipe (101), a tail driving wheel (111) and a tail driven wheel (112) are rotatably arranged on the tail pipe (101), a tail motor wheel (110) is fixedly arranged on a motor shaft of the tail moving motor (109), a tail moving belt (108) is wound on the outer sides of the tail driving wheel (111), the tail driven wheel (112) and the tail motor wheel (110), an elastic seat (116) is fixedly arranged on the top of the tail pipe (101), an elastic cover (114) is fixedly arranged on the elastic seat (116), the bottom of a compression spring (115) is fixedly arranged on the elastic cover (114), and a steel ball (117) is fixedly arranged on the top;
the middle device (2) comprises: the middle camera shooting device comprises a middle joint (201), a limiting ring (202), a soft sleeve (203), a rear tube (204), a middle camera shooting head (205), a steel ball seat (206), an ejection electric cylinder (207), an ejection sleeve (208), a middle cover (209), an outer gear ring (210), a driving block (211), a ball head electric cylinder (212), a driving gear (213), a driving motor (214), a ball head (215), a fixed block (216), a middle driving wheel (217), a middle driven wheel (218), a middle moving motor (219), a middle moving motor (220), a rotating disc (221), a butt joint (222), a groove (223) and a middle moving belt (224), wherein the limiting ring (202) is fixedly arranged on the middle joint (201), the soft sleeve (203) is fixedly arranged on the outer sides of the rotating disc (221) and the middle joint (201), the rear tube (204) is rotatably arranged with the rotating disc (221), the middle camera shooting head (205) is fixedly arranged on the rotating disc (221), the middle cover (209) is fixedly arranged at the end part of the rear pipe (204), the steel ball seat (206) is fixedly arranged on the middle cover (209), the ejection electric cylinder (207) is fixedly arranged on the middle cover (209), the ejection sleeve (208) is fixedly arranged at the top part of the ejection electric cylinder (207), the ball head (215) is fixedly arranged at the bottom part of the middle joint (201), the middle joint (201) is rotatably arranged on a rotating disc (221) through the ball head (215), an outer gear ring (210) is fixedly arranged on the rotating disc (221), the driving block (211) is slidably arranged on the rotating disc (221), the driving motor (214) is fixedly arranged on the driving block (211), the driving gear (213) is fixedly arranged on a motor shaft of the driving motor (214), the driving gear (213) is meshed with the outer gear ring (210), the fixing block (216) is fixedly arranged at the bottom part of the middle joint (201), and the bottom part of the ball head (212) is rotatably arranged with the driving block (211), the top of the middle joint (201) is rotatably mounted with a fixed block (216), a middle rotating motor (220) is fixedly mounted inside a middle cover (209), a rotating disc (221) is fixedly mounted on a motor shaft of the middle rotating motor (220), a middle moving motor (219) is fixedly mounted on a rear pipe (204), a middle driving wheel (217) is fixedly mounted on the motor shaft of the middle moving motor (219), a middle driven wheel (218) is rotatably mounted on the rear pipe (204), a middle moving belt (224) is wound on the outer sides of the middle driving wheel (217) and the middle driven wheel (218), a butt joint (222) is arranged at the top of the middle joint (201), and a groove (223) is fixedly mounted at the top of the middle joint (201);
the head device (3) comprises: a top cover (301), a top seat (302), a top camera head (303), a rotary water gun (304), a fixed water gun (305), a top pipe (306), a butt joint block (307), a transmission arc (308), a sliding head (309), an arc guide rail (310), an arc electric cylinder (311), a limiting block (312), a gun rotating motor (313), a motor bevel gear (314), an auxiliary gear (315), a left bevel gear (316), a water gun gear (317), a left shaft (318), a right bevel gear (319), a front driving belt (320), a front driven wheel (321), a front motor wheel (322), a front moving motor (323), a front driving wheel (324), a transmission belt (325), a top disc (326) and a top rotating motor (327), wherein the top seat (302) is fixedly installed on the top cover (301), the top camera head (303) is fixedly installed on the top seat (302), the top cover (301) is fixedly installed on the top disc (326), a fixed water gun (305) is fixedly arranged on a top disc (326), a rotating water gun (304) is rotatably arranged on the top disc (326), a water gun gear (317) is fixedly arranged on the rotating water gun (304), a rotating gun motor (313) is fixedly arranged on the top disc (326), a motor bevel gear (314) is fixedly arranged on a motor shaft of the rotating gun motor (313), a left shaft (318) is rotatably arranged on the top disc (326), a left bevel gear (316), a secondary gear (315) and a right bevel gear (319) are fixedly arranged on the left shaft (318), the left bevel gear (316) is meshed with the water gun gear (317), the secondary gear (315) is meshed with the motor bevel gear (314), the right bevel gear (319) is meshed with the water gun gear (317), a limiting block (312) is fixedly arranged at the bottom of the top disc (306), an arc electric cylinder (311) is fixedly arranged at the bottom of the top disc (306), and a top arc guide rail (310) is fixedly arranged at the top disc (326, the sliding head (309) is fixedly installed at the top of the arc electric cylinder (311), the sliding head is installed on the arc guide rail (310), the transmission arc (308) is fixedly installed at the top of the sliding head (309), the butt joint block (307) is fixedly installed at the top of the transmission arc (308), the top rotating motor (327) is fixedly installed on the inner side of the top pipe (306), the top disc (326) is rotatably installed on the top pipe (306), the transmission belt (325) is wound on the outer side of a motor shaft of the top disc (326) and the top rotating motor (327), the front moving motor (323) is fixedly installed on the top pipe (306), the front motor wheel (322) is fixedly installed on the motor shaft of the front moving motor (323), the front driving wheel (324) and the front driven wheel (321) are rotatably installed on the top pipe, and the front moving belt (320) is wound on the outer sides of the front driving wheel (324), the front driven wheel (321) and.
2. The self-assembled micro modular robot for intestinal examination as claimed in claim 1, wherein: the tail device (1) and the middle device (2) form separable fixed fit, and the head device (3) and the middle device (2) form separable fixed fit.
3. The self-assembled micro modular robot for intestinal examination as claimed in claim 1, wherein: the tail turntable (107) and the tail pipe (101) form a rotating fit, the tail driving wheel (111) and the tail driven wheel (112) and the tail pipe (101) form a rotating fit, and the steel balls (117) and the elastic seat (116) form a sliding fit extruded by a spring.
4. The self-assembled micro modular robot for intestinal examination as claimed in claim 1, wherein: the driving block (211) and the rotating disc (221) form sliding fit driven by a gear ring, the middle joint (201) and the rotating disc (221) form ball rotating fit, the rotating disc (221) and the rear pipe (204) form rotating fit, and the middle driven wheel (218) and the middle driving wheel (217) and the rear pipe (204) form rotating fit.
5. The self-assembled micro modular robot for intestinal examination as claimed in claim 1, wherein: the sliding head (309) and the arc guide rail (310) form sliding fit, the rotating water gun (304) and the jacking disk (326) form rotating fit, the jacking disk (326) and the jacking pipe (306) form rotating fit, and the front driven wheel (321) and the front driving wheel (324) and the jacking pipe (306) form rotating fit.
6. The self-assembled micro modular robot for intestinal examination as claimed in claim 1, wherein: the tail device (1), the middle device (2) and the head device (3) are all provided with a plurality of groups of cameras.
7. The self-assembled micro modular robot for intestinal examination as claimed in claim 1, wherein: the head device (3) is provided with a fixed water gun (305) and a rotary water gun (304).
8. The self-assembled micro modular robot for intestinal examination as claimed in claim 1, wherein: the tail device (1), the middle device (2) and the head device (3) are all provided with a plurality of groups of tracks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010510376.2A CN111616670B (en) | 2020-06-08 | 2020-06-08 | Self-assembly micro modular robot for intestinal examination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010510376.2A CN111616670B (en) | 2020-06-08 | 2020-06-08 | Self-assembly micro modular robot for intestinal examination |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111616670A CN111616670A (en) | 2020-09-04 |
| CN111616670B true CN111616670B (en) | 2021-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010510376.2A Expired - Fee Related CN111616670B (en) | 2020-06-08 | 2020-06-08 | Self-assembly micro modular robot for intestinal examination |
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| Country | Link |
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| CN (1) | CN111616670B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102871632B (en) * | 2012-07-20 | 2015-04-15 | 中国科学院深圳先进技术研究院 | Self-assembling modular robot system, and connector thereof |
| US20140221741A1 (en) * | 2013-02-07 | 2014-08-07 | Capso Vision, Inc. | Self Assembly of In-Vivo Capsule System |
| CN204723092U (en) * | 2015-05-29 | 2015-10-28 | 中国人民解放军沈阳军区总医院 | A kind of small-sized non-catheter type multifunctional modular disease of intestine indagation endoscope and image processing device |
| CN104942790B (en) * | 2015-06-16 | 2016-10-05 | 天津理工大学 | A kind of miniature software module reconstruction robot unit module |
| CN106313028B (en) * | 2016-09-23 | 2018-09-25 | 天津理工大学 | Software module robot cell's module |
| KR101905589B1 (en) * | 2017-02-17 | 2018-10-10 | 조선대학교산학협력단 | Loop antenna module for capsule-type endoscope and capsule-type endoscope comprising thereof |
| CN209018667U (en) * | 2018-05-11 | 2019-06-25 | 南京工程学院 | Intracavitary restructural medical capsule robot system |
| CN111113392B (en) * | 2019-12-30 | 2022-08-19 | 上海交通大学 | Self-assembly micro modular robot for intestinal examination |
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2020
- 2020-06-08 CN CN202010510376.2A patent/CN111616670B/en not_active Expired - Fee Related
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| CN111616670A (en) | 2020-09-04 |
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Effective date of registration: 20201230 Address after: Room 302, unit 1, building 31, 196 Chunqiu West Road, Qufu City, Jining City, Shandong Province Applicant after: Bian Zhiyuan Address before: 655009 No.1 Yuanyuan Road, Qilin District, Qujing City, Yunnan Province Applicant before: Xu Min |
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