CN113400317B - Decoupling type control mechanism for magnetic field strong point and magnetic line direction - Google Patents

Decoupling type control mechanism for magnetic field strong point and magnetic line direction Download PDF

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CN113400317B
CN113400317B CN202110790002.5A CN202110790002A CN113400317B CN 113400317 B CN113400317 B CN 113400317B CN 202110790002 A CN202110790002 A CN 202110790002A CN 113400317 B CN113400317 B CN 113400317B
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speed reducer
pitching
magnet
rotary joint
hollow shaft
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CN113400317A (en
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王坤东
朱心平
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Shanghai Jiaotong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • 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
    • A61B1/041—Capsule endoscopes for imaging
    • 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
    • A61B1/273—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 upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • A61B1/2736—Gastroscopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • Robotics (AREA)
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Abstract

The invention provides a decoupling control mechanism of a magnetic field strong point and a magnetic line direction, which comprises: the robot comprises a control electronic box, a robot base, an upper linear module, a lower linear module, a first rotary joint, a second rotary joint, a pitching rolling mechanism, a front end linear moving pair and a magnet; the robot base is provided with a control electronic box and an upper linear module and a lower linear module, one side of the upper linear module and one side of the lower linear module are provided with one end of a first rotary joint, and the first rotary joint moves linearly relative to the robot base through the upper linear module and the lower linear module; the other end of the first rotary joint is connected with one end of a second rotary joint, one end of a pitching rolling mechanism is installed at the other end of the second rotary joint, and a magnet is installed at the other end of the pitching rolling mechanism. Through the design of the double-parallelogram mechanism, the magnet can pitch, roll and translate around the virtual rotation center, and the field intensity of the magnetic field at the telecentric motionless point is unchanged, so that the decoupling of the field intensity of the control magnetic field and the direction of the magnetic line of force is realized.

Description

Decoupling type control mechanism for magnetic field strong point and magnetic line direction
Technical Field
The invention relates to a capsule endoscope guiding robot, in particular to a control mechanism with the decoupling type of the strong point of a magnetic field and the direction of magnetic lines of force.
Background
Painless gastroscope is taken as a novel stomach detection technology, because the painless gastroscope has the function of wirelessly transmitting images, the comfort of a patient during physical examination can be greatly improved, the painless capsule endoscopy is pushed by the peristalsis of the stomach in the intestinal tract, the detection pertinence is not strong, in recent years, magnetic control guided intelligent robot equipment is developed, the detection pertinence of the capsule endoscopy is strengthened and accurate, the battery endurance time is reduced, the size of a gastroscope capsule is reduced, a magnetic field is taken as a controllable medium, the space attenuation is fast, in practice, clinically, a small magnet is arranged in a capsule endoscopy detection instrument, a larger magnet is arranged on a guiding device, and students at home and abroad generally find that the capsule generally stays at a space point existing in an extremely strong field of an external magnetic field, and when the gradient of the external magnetic field is changed, controllable force is generated on the capsule, thereby creating a force on its position transition.
The spherical magnet controlling means of cartesian coordinate formula is designed and manufactured to chinese ann han's photoelectric technology (wuhan) limited, and applied for patent (patent number 201310136094.0), the device is through controlling the permanent magnet of controlling, make the magnetic force ability to capsule scope production balance the gravity of capsule scope, the viscous force of gastric juice etc., thereby can drive capsule scope and remove and attitude control in vivo, but this equipment is huge, loaded down with trivial details and control the inflexibility, in-service use, need rely on the doctor to carry out skillful control to it, the learning curve is precipitous.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a control mechanism with a strong magnetic field point and a decoupling magnetic force line direction.
The invention provides a decoupling type control mechanism of a magnetic field strong point and a magnetic line direction, which comprises: the robot comprises a control electronic box, a robot base, an upper linear module, a lower linear module, a first rotary joint, a second rotary joint, a pitching and rolling mechanism and a magnet;
the robot base is provided with the control electronic box and the upper and lower linear modules, one end of the first rotary joint is arranged on one side of the upper and lower linear modules, and the first rotary joint moves linearly relative to the robot base through the upper and lower linear modules;
the other end of the first rotary joint is connected with one end of the second rotary joint, one end of the pitching rolling mechanism is installed at the other end of the second rotary joint, and the magnet is installed at the other end of the pitching rolling mechanism.
Preferably, the pitch roll mechanism includes: the device comprises a roll driving motor, a roll speed reducer seat, a pitching driving motor, a pitching speed reducer seat, a double-parallelogram mechanism and a front-end linear moving pair;
one end of the roll driving motor is installed on one side of the roll speed reducer base, the other side of the roll speed reducer base is connected with one end of the pitching speed reducer base, and the pitching driving motor is installed at the position where the pitching speed reducer base is connected with the roll speed reducer base;
the other end of the pitching speed reducer base is rotatably connected with one end of the double-parallelogram mechanism, the other end of the double-parallelogram mechanism is connected with the front end linear moving pair, and the magnet is installed on the front end linear moving pair.
Preferably, the double parallelogram mechanism comprises: the pitching swing arm, the first connecting rod, the swing arm and the second connecting rod;
one end of the pitching oscillating arm is rotatably connected with the pitching speed reducer base, and the other end of the pitching oscillating arm is rotatably connected with one end of the oscillating arm;
the pitching oscillating arm is connected with the pitching speed reducer base and is coaxially and rotatably provided with a first short rod, and the pitching oscillating arm is connected with the oscillating arm and is coaxially and rotatably provided with a second short rod;
the first short rod and the second short rod rotate relative to the pitching swinging arm;
one end of the first connecting rod is rotatably connected with the first short rod, and the other end of the first connecting rod is rotatably arranged in the middle of the swing arm;
the second short rod is rotatably connected with one end of the second connecting rod, and the other end of the second connecting rod and the other end of the swing arm are connected with the front end linear moving pair.
Preferably, the front end linear motion pair includes: the magnet fixing bracket and the magnet control linear module;
the side face of the magnet control linear module is connected with the second connecting rod and the swing arm, and the magnet fixing support is installed on the end face of the magnet control linear module;
the magnet fixing support controls the linear module to linearly move relative to the double-parallelogram mechanism through the magnet;
the magnet fixing bracket is provided with the magnet.
Preferably, a servo motor is installed at the position where the pitching swing arm is rotatably connected with the swing arm, and the servo motor is connected with an RV reducer;
and a load separating mechanism is arranged at the position where the pitching swinging arm is rotatably connected with the pitching speed reducer base.
Preferably, the load separating mechanism includes: the device comprises a tensioning block, a driving synchronous belt pulley, a reducer side synchronous belt pulley, a reducer seat, a bearing cover, a bearing, a crossed roller bearing, a power output shaft, a hollow shaft sleeve, an inner ring gland, a harmonic reducer, a hollow shaft, a bearing inner spacer ring, a bearing outer spacer ring and a gland;
the tensioning block is arranged on the side surface of the driving synchronous pulley, the driving synchronous pulley is in transmission connection with the side synchronous pulley of the speed reducer through a conveying belt, and the side synchronous pulley of the speed reducer is arranged in the speed reducer seat;
the harmonic speed reducer is installed in the speed reducer seat, one side of the harmonic speed reducer is connected with a side synchronous belt pulley of the speed reducer, and the other side of the harmonic speed reducer is connected with the power output shaft;
the outer side of the power output shaft is coaxially sleeved with the hollow shaft, one side of the hollow shaft is fixedly connected with the speed reducer seat, the other side of the hollow shaft is provided with the inner ring gland, the bearing is arranged between the hollow shaft and the power output shaft, and the bearing cover is arranged on the outer side of the bearing;
the hollow shaft sleeve is coaxially sleeved on the outer side of the hollow shaft, a plurality of crossed roller bearings are arranged between the hollow shaft sleeve and the hollow shaft, a plurality of bearing inner spacing rings and bearing outer spacing rings are arranged between the crossed roller bearings, and the gland is arranged on the end face of each bearing of each crossed roller.
Preferably, the first rotary joint and the second rotary joint are provided with the load split mechanism.
Preferably, the double-parallelogram mechanism comprises a parallelogram ABCD and a parallelogram BEFG, the double-parallelogram mechanism sets a virtual rotation center point O, the virtual rotation center point O is a telecentric fixed point, and the double-parallelogram mechanism satisfies the following relationship:
GH/GO＝sinθ；
the magnet axis passes through the virtual rotation center point O.
Preferably, the magnet is moved along the axial lead of the magnet through the front end linear moving pair;
the influence relation of the virtual rotation center point O by the magnetic field intensity meets the following formula:
Figure BDA0003160504600000031
wherein, B z Is the field strength of the magnetic field along the magnet axis at the coordinate z, z being the distance from the magnet to the virtual center point of rotation O, mu 0 Is the vacuum permeability, M is the magnetization,
Figure BDA0003160504600000032
h is the height value of the permanent magnet, and R is the radius of the permanent magnet;
b is z Is influenced by the front end linear motion pair and satisfies the following formula:
Figure BDA0003160504600000033
wherein the content of the first and second substances,
Figure BDA0003160504600000041
for the front end linear motion pair drive rate,
Figure BDA0003160504600000042
and
Figure BDA0003160504600000043
constants well known in the art.
Preferably, when the swing arm rotates, the magnet rotates around the virtual rotation center point O, and when the magnet tilts, the magnitude of the magnetic field at the virtual rotation center point O is not changed, and decoupling of the magnitude of the magnetic field at the virtual rotation center point O and the direction of the magnetic force line is realized.
Preferably, the hollow shaft transmits bending moments to the speed reducer seat.
Compared with the prior art, the invention has the following beneficial effects:
1. through the design of the double-parallelogram mechanism, the magnet can perform pitching, rolling and translation around the virtual rotation center, and the field intensity of the magnetic field at the telecentric motionless point is unchanged, so that the decoupling of the field intensity of the control magnetic field and the direction of the magnetic line of force is realized;
2. the distance between the magnet and the VCM central point (the virtual central point of the magnet rotation) can be changed, so that the field intensity of the magnetic field of the virtual central point and the field intensity gradient are controlled, and the capsule is acted by a moving force through linear control of the field intensity gradient, so that the capsule can be moved to an appointed position for detection and corresponding accurate medical operation;
3. the invention is designed with a plurality of degrees of freedom, can actively control the position of the VCM, and can conveniently drag the capsule to a specified shooting inspection position;
4. each joint of the robot is provided with a load separating mechanism, so that the robot joint is smaller and more compact, and the design of the medical robot manual industry can be better met.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic perspective view of a control mechanism;
FIG. 2 is a schematic view of the operating principle of the control mechanism;
FIG. 3 is a schematic structural view of a pitching and rolling mechanism;
FIG. 4 is a cross-sectional view of the load release mechanism;
shown in the figure:
Figure BDA0003160504600000044
Figure BDA0003160504600000051
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
As shown in fig. 1, a decoupling type control mechanism for the direction of a magnetic field strong point and a magnetic force line comprises: the robot comprises a control electronic box 1, a robot base 2, an upper linear module and a lower linear module 3, a first rotary joint 4, a second rotary joint 5, a pitching and rolling mechanism 6 and a magnet 7; the robot base 2 is provided with a control electronic box 1 and an upper and lower linear module 3, one side of the upper and lower linear module 3 is provided with one end of a first rotary joint 4, and the first rotary joint 4 moves linearly relative to the robot base 2 through the upper and lower linear module 3; the other end of the first rotary joint 4 is connected with one end of a second rotary joint 5, one end of a pitching rolling mechanism 6 is arranged at the other end of the second rotary joint 5, and a magnet 7 is arranged at the other end of the pitching rolling mechanism 6.
As shown in fig. 2, the double parallelogram mechanism includes: a pitching swing arm 12, a first link 13, a swing arm 14 and a second link 15; one end of a pitching swing arm 12 is rotatably connected with a pitching speed reducer base 11, the other end of the pitching swing arm 12 is rotatably connected with one end of a swing arm 14, the pitching swing arm 12 is connected with the pitching speed reducer base 11 and coaxially rotatably provided with a first short rod, the pitching swing arm 12 is connected with the swing arm 14 and coaxially rotatably provided with a second short rod, the first short rod and the second short rod rotate relative to the pitching swing arm 12, one end of a first connecting rod 13 is rotatably connected with the first short rod, the other end of the first connecting rod 13 is rotatably arranged in the middle of the swing arm 14, the second short rod is rotatably connected with one end of a second connecting rod 15, and the other end of the second connecting rod 15 and the other end of the swing arm 14 are connected with a front end linear moving pair. The front end linear motion pair comprises: a magnet fixing bracket 16 and a magnet control linear module 17; the side surface of the magnet control linear module 17 is connected with the second connecting rod 15 and the swing arm 14, a magnet fixing support 16 is arranged on the end surface of the magnet control linear module 17, the magnet fixing support 16 moves linearly relative to the double-parallelogram mechanism through the magnet control linear module 17, and the magnet 7 is arranged on the magnet fixing support 16. The double-parallelogram mechanism comprises a parallelogram ABCD and a parallelogram BEFG, the double-parallelogram mechanism is provided with a virtual rotation central point O, the virtual rotation central point O is a telecentric motionless point, and the double-parallelogram mechanism meets the following relations:
GH/GO＝sinθ；
the axis of the magnet 7 passes through the virtual rotation center point O.
The magnet 7 moves along the axial lead of the magnet 7 through a front end linear moving pair, and the relation of the virtual rotation central point O influenced by the field intensity of the magnet 7 meets the following formula:
Figure BDA0003160504600000061
wherein, B z Is the field strength of the magnetic field along the magnet axis at the coordinate z, z being the distance of the magnet 7 from the virtual center point of rotation O, mu 0 For the vacuum permeability, M is the magnetization,
Figure BDA0003160504600000062
h is the height value of the permanent magnet, and R is the radius of the permanent magnet;
B z the velocity of (a) is influenced by the front end linear motion pair and satisfies the following formula:
Figure BDA0003160504600000063
wherein the content of the first and second substances,
Figure BDA0003160504600000064
the front end linear moving pair driving speed is obtained.
When the swing arm 14 rotates, the magnet 7 rotates around the virtual rotation center point O, and when the magnet 7 pitches, the magnetic field at the virtual rotation center point O is not changed in size and the decoupling of the magnetic field at the virtual rotation center point O and the direction of the magnetic force lines is realized.
As shown in fig. 3, the pitch/roll mechanism 6 includes: the device comprises a roll driving motor 8, a roll speed reducer base 9, a pitching driving motor 10, a pitching speed reducer base 11, a double-parallelogram mechanism and a front end linear moving pair; one end of a rolling driving motor 8 is provided with one side of a rolling speed reducer base 9, the other side of the rolling speed reducer base 9 is connected with one end of a pitching speed reducer base 11, the pitching speed reducer base 11 is connected with the rolling speed reducer base 9 and provided with a pitching driving motor 10, the other end of the pitching speed reducer base 11 is rotatably connected with one end of a double-parallelogram mechanism, the other end of the double-parallelogram mechanism is connected with a front end linear moving pair, and a magnet 7 is arranged on the front end linear moving pair.
As shown in fig. 4, a servo motor is installed at the position where the pitching oscillating arm 12 is rotatably connected with the oscillating arm 14, the servo motor is connected with an RV reducer, and a load separating mechanism is arranged at the position where the pitching oscillating arm 12 is rotatably connected with the pitching reducer base 11. The load separating mechanism includes: the device comprises a tensioning block 18, a driving synchronous pulley 19, a speed reducer side synchronous pulley 20, a speed reducer seat 21, a bearing cover 22, a bearing 23, a crossed roller bearing 24, a power output shaft 25, a hollow shaft sleeve 26, an inner ring gland 27, a harmonic speed reducer 28, a hollow shaft 29, a bearing inner ring spacer 30, a bearing outer spacer 31 and a gland 32, wherein the tensioning block 18 is installed on the side surface of the driving synchronous pulley 19, the driving synchronous pulley 19 is connected with the speed reducer side synchronous pulley 20 through a conveyor belt in a transmission way, the speed reducer side synchronous pulley 20 is installed in the speed reducer seat 21, the harmonic speed reducer 28 is installed in the speed reducer seat 21, one side of the harmonic speed reducer 28 is connected with the speed reducer side synchronous pulley 20, the other side of the harmonic speed reducer 28 is connected with the power output shaft 25, the hollow shaft 29 is coaxially sleeved on the outer side of the power output shaft 25, one side of the hollow shaft 29 is fixedly connected with the speed reducer seat 21, the inner ring gland 27 is installed on the other side of the hollow shaft 29, a bearing 23 is arranged between a hollow shaft 29 and a power output shaft 25, a bearing cover 22 is arranged outside the bearing 23, a hollow shaft sleeve 26 is coaxially sleeved outside the hollow shaft 29, a plurality of crossed roller bearings 24 are arranged between the hollow shaft sleeve 26 and the hollow shaft 29, a bearing inner spacer 30 and a bearing outer spacer 31 are arranged between the crossed roller bearings 24, a gland 32 is arranged on the end face of the crossed roller bearing 24, and a load separating mechanism is arranged on the first rotary joint 4 and the second rotary joint 5.
Example 2
Example 2 is a preferred example of the embodiment.
The invention discloses a decoupling control mechanism of a magnetic field strong point and a magnetic line direction, which is characterized in that: the first three degrees of freedom of the robot mechanism are coordinates for controlling telecentric motionless pointsThe fourth and fifth degrees of freedom are the control magnet pitch and roll degrees of freedom, the sixth degree of freedom is the translation degree of freedom, the first degree of freedom of the first three degrees of freedom is the upper and lower straight line module 3, connect the ball screw through the servomotor and form the linear motion pair, the mechanism can adjust the distance of magnet and patient according to different patient's physique, the second degree of freedom is the joint of the swing arm 14, the joint is to connect RV speed reducer through the servomotor, in order to improve the compact type of the robot joint, the third joint adopts the mechanism of load separation, the joint is to connect the harmonic speed reducer through the servomotor, control the pitch swing arm 12 to rotate, transfer the bending moment of the front end to the reducer seat 21 through the quill shaft 29 at the same time. The first, second and third degrees of freedom are degrees of freedom for controlling the position of the end magnet, the fourth degree of freedom is a roll driving motor 8 and controlling the roll degree of freedom of the front end magnet, the joint also adopts a load separating mechanism, the fifth degree of freedom is a pitching oscillating arm 12, a posture control mechanism for controlling the end magnet to pitch around a VCM central point is formed by combining a servo motor and a harmonic reducer, and the magnet can perform posture adjustment around the VCM central point through a double parallelogram mechanism, so that the direction of magnetic force lines of the virtual rotation central point O is controlled under the condition of not changing the magnetic field size of the virtual rotation central point O, the sixth degree of freedom is a front end linear moving pair, a linear moving control is formed at the position of the magnet through the scheme of the servo motor and a synchronous belt, and the distance between the magnet and a telecentric fixed point can be changed through the control of the degrees of freedom, therefore, the size and gradient of the magnetic field at the telecentric motionless point can be well changed, the magnetic field intensity on the axis of the magnet 7 is only related to the distance from the point to the center of the magnet 7, and the speed of the z value is changed through the sixth degree of freedom, so that the pair B is realized z The linear control of the control system and the control of the driving force of the controllable capsule endoscope are realized.
Figure BDA0003160504600000081
Wherein, B z Is a field at a coordinate z along the magnet axisStrong, z is the distance, μ, from the magnet 7 to the virtual center point of rotation O 0 For the vacuum permeability, M is the magnetization,
Figure BDA0003160504600000082
h is the height value of the permanent magnet, and R is the radius of the permanent magnet;
since the field strength of the magnetic field on the axis of the magnet 7 is only a function of the distance z, the velocity control of the sixth degree of freedom enables control of B, as shown z Because:
Figure BDA0003160504600000083
wherein
Figure BDA0003160504600000084
The sixth free drive rate.
The invention discloses a decoupling control mechanism of a magnetic field strong point and a magnetic line direction, which is characterized in that as shown in figure 2: the double-parallelogram mechanism composed of the parallelogram ABCD and the parallelogram BEFG enables the O point to be the virtual rotation central point, and simultaneously satisfies the geometrical relationship: GH/GO (equal to sin theta), an actually manufactured machine plans an angle theta according to the requirement of a working space to enable the axis of the magnet 7 to pass through a virtual rotation central point O, so that a space extremely strong point is controlled at a telecentric motionless point of the mechanism through the mechanism, when the swing arm 14 is driven by the servo motor to rotate, the magnet 7 rotates around the spatial motionless point, therefore, when the magnet 7 is controlled to pitch, the size of the magnetic field of the telecentric motionless point is unchanged, the size of the magnetic field at the telecentric motionless point and the direction decoupling of the magnetic force line are realized, namely, when the direction of the magnetic force line at the telecentric motionless point is controlled, the distance of the distant point and the central distance of the magnet 7 are kept unchanged, and the field intensity of the magnetic field of the magnet 7 at the telecentric motionless point is unchanged.
As shown in fig. 3, the pitching oscillating arm 12, the first connecting rod 13, the oscillating arm 14, the second connecting rod 15 and the front end linear moving pair thereof are connected through a hinge to form a double-parallelogram telecentric mechanism, the front end linear moving pair controls the distance between the magnet 7 and the telecentric position so as to control the magnetic field size and the field intensity gradient thereof at the telecentric motionless point, and the rolling driving motor 8 drives the control magnet 7 to roll through the load separating mechanism so as to control the camera angle of the capsule endoscope.
As shown in FIG. 1, the position coordinates of the telecentric fixed point are controlled by the upper and lower linear modules 3 and the first and second rotary joints 4 and 5 thereof, and the magnet 7 is mounted on the pitch and roll mechanism 6 having the telecentric fixed point by the front end linear motion pair mechanism
As shown in fig. 4, in the joint load separating mechanism used in the present invention, the hollow shaft 29 is directly connected to the reducer seat 21, and the swing arm to be driven is mounted on the hollow shaft 29 through the cross roller bearing 24, so that a large bending moment at the front end is directly transmitted to the reducer seat 21 through the cross roller bearing 24 and the hollow shaft 29, and the large bending moment is transmitted to the reducer seat 21 through the hollow shaft 29, and the joint type harmonic reducer only needs to bear the torque required for driving the joint, so that only the corresponding harmonic reducer needs to be selected according to the driving torque, thereby greatly reducing the size of the driving joint and improving the service life of the reducer.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (4)

1. A magnetic field extremely strong point and magnetic force line direction decoupling type control mechanism is characterized by comprising: the robot comprises a control electronic box (1), a robot base (2), an upper linear module and a lower linear module (3), a first rotary joint (4), a second rotary joint (5), a pitching and rolling mechanism (6) and a magnet (7);
the robot base (2) is provided with the control electronic box (1) and the upper and lower linear modules (3), one end of the first rotary joint (4) is arranged on one side of the upper and lower linear modules (3), and the first rotary joint (4) moves linearly relative to the robot base (2) through the upper and lower linear modules (3);
the other end of the first rotating joint (4) is connected with one end of the second rotating joint (5), one end of the pitching and rolling mechanism (6) is installed at the other end of the second rotating joint (5), and the magnet (7) is installed at the other end of the pitching and rolling mechanism (6);
the pitch roll mechanism (6) comprises: the device comprises a roll driving motor (8), a roll speed reducer base (9), a pitching driving motor (10), a pitching speed reducer base (11), a double-parallelogram mechanism and a front-end linear moving pair;
one end of the roll driving motor (8) is installed on one side of the roll speed reducer seat (9), the other side of the roll speed reducer seat (9) is connected with one end of the pitch speed reducer base (11), and the pitch driving motor (10) is installed at the position where the pitch speed reducer base (11) is connected with the roll speed reducer seat (9);
the other end of the pitching speed reducer base (11) is rotatably connected with one end of the double-parallelogram mechanism, the other end of the double-parallelogram mechanism is connected with the front end linear moving pair, and the magnet (7) is installed on the front end linear moving pair;
the double parallelogram mechanism comprises: a pitching swing arm (12), a first connecting rod (13), a swing arm (14) and a second connecting rod (15);
one end of the pitching oscillating arm (12) is rotatably connected with the pitching speed reducer base (11), and the other end of the pitching oscillating arm (12) is rotatably connected with one end of the oscillating arm (14);
a first short rod is coaxially and rotatably installed at the position where the pitching oscillating arm (12) is connected with the pitching speed reducer base (11), and a second short rod is coaxially and rotatably installed at the position where the pitching oscillating arm (12) is connected with the oscillating arm (14);
the first short rod and the second short rod rotate relative to the pitching oscillating arm (12);
one end of the first connecting rod (13) is rotatably connected with the first short rod, and the other end of the first connecting rod (13) is rotatably arranged in the middle of the swing arm (14);
the second short rod is rotatably connected with one end of the second connecting rod (15), and the other end of the second connecting rod (15) and the other end of the swing arm (14) are connected with the front end linear moving pair;
the front end linear moving pair comprises: a magnet fixing bracket (16) and a magnet control linear module (17);
the side surface of the magnet control linear module (17) is connected with the second connecting rod (15) and the swing arm (14), and the magnet fixing support (16) is installed on the end surface of the magnet control linear module (17);
the magnet fixing support (16) controls the linear module (17) to move linearly relative to the double-parallelogram mechanism through the magnet;
the magnet fixing bracket (16) is used for mounting the magnet (7);
the double-parallelogram mechanism comprises a parallelogram ABCD and a parallelogram BEFG, the double-parallelogram mechanism is provided with a virtual rotation center point O, the virtual rotation center point O is a telecentric fixed point, and the double-parallelogram mechanism meets the following relations:
GH/GO＝sinθ；
the axis of the magnet (7) passes through the virtual rotation center point O.
2. The decoupling type control mechanism of the magnetic field strong point and the magnetic force line direction according to claim 1 is characterized in that: a servo motor is arranged at the position where the pitching swing arm (12) is rotatably connected with the swing arm (14), and the servo motor is connected with an RV reducer;
and a load separating mechanism is arranged at the position where the pitching oscillating arm (12) is rotatably connected with the pitching speed reducer base (11).
3. The decoupling type control mechanism of the extremely strong point of the magnetic field and the direction of the magnetic force lines as claimed in claim 2, wherein the load separating mechanism comprises: the device comprises a tensioning block (18), a driving synchronous pulley (19), a speed reducer side synchronous pulley (20), a speed reducer seat (21), a bearing cover (22), a bearing (23), a crossed roller bearing (24), a power output shaft (25), a hollow shaft sleeve (26), an inner ring gland (27), a harmonic speed reducer (28), a hollow shaft (29), a bearing inner spacer ring (30), a bearing outer spacer ring (31) and a gland (32);
the tensioning block (18) is arranged on the side surface of the driving synchronous pulley (19), the driving synchronous pulley (19) is in transmission connection with the speed reducer-side synchronous pulley (20) through a conveying belt, and the speed reducer-side synchronous pulley (20) is arranged in the speed reducer base (21);
the harmonic speed reducer (28) is installed in the speed reducer seat (21), one side of the harmonic speed reducer (28) is connected with the side synchronous pulley (20) of the speed reducer, and the other side of the harmonic speed reducer (28) is connected with the power output shaft (25);
the hollow shaft (29) is coaxially sleeved on the outer side of the power output shaft (25), one side of the hollow shaft (29) is fixedly connected with the speed reducer seat (21), the inner ring gland (27) is installed on the other side of the hollow shaft (29), the bearing (23) is arranged between the hollow shaft (29) and the power output shaft (25), and the bearing cover (22) is installed on the outer side of the bearing (23);
the hollow shaft sleeve (26) is coaxially sleeved on the outer side of the hollow shaft (29), the hollow shaft sleeve (26) and the hollow shaft (29) are installed in a plurality of crossed roller bearings (24), a bearing inner spacer (30) and a bearing outer spacer (31) are arranged between the crossed roller bearings (24), and the gland (32) is installed on the end face of the crossed roller bearing (24).
4. The decoupling type control mechanism of the magnetic field strong point and the magnetic force line direction according to claim 3 is characterized in that: the first rotary joint (4) and the second rotary joint (5) are provided with the load separating mechanism.
CN202110790002.5A 2021-07-13 2021-07-13 Decoupling type control mechanism for magnetic field strong point and magnetic line direction Active CN113400317B (en)

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