CN114795077A - Inchworm-imitating flexion-extension type micro intestinal tract robot mechanism - Google Patents
Inchworm-imitating flexion-extension type micro intestinal tract robot mechanism Download PDFInfo
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- CN114795077A CN114795077A CN202110125034.3A CN202110125034A CN114795077A CN 114795077 A CN114795077 A CN 114795077A CN 202110125034 A CN202110125034 A CN 202110125034A CN 114795077 A CN114795077 A CN 114795077A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 57
- 210000001035 gastrointestinal tract Anatomy 0.000 title claims abstract description 15
- 239000002775 capsule Substances 0.000 claims abstract description 119
- 210000001503 joint Anatomy 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 241000256247 Spodoptera exigua Species 0.000 claims abstract description 6
- 238000000926 separation method Methods 0.000 claims description 32
- 230000000968 intestinal effect Effects 0.000 claims description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 238000003032 molecular docking Methods 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 4
- 239000011664 nicotinic acid Substances 0.000 abstract 1
- 238000013461 design Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000028774 intestinal disease Diseases 0.000 description 1
- 239000003094 microcapsule Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009182 swimming Effects 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
- A61B1/04—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
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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
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
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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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
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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
- A61B1/273—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
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Abstract
An inchworm-imitating flexion-extension type micro intestinal tract robot mechanism comprises: consecutive and the same first capsule module of structure, second capsule module, third capsule module and fourth capsule module, first capsule module includes: female device, capsule front end device, capsule rotary device, capsule rear end device of butt joint and the sub-device of butt joint that links to each other in proper order, wherein: the capsule front end device is rotationally connected with the capsule rear end device through the capsule rotating device, the butt joint female device is arranged at one end of the capsule front end device, and the butt joint sub device is arranged at one end of the capsule rear end device. The invention is formed by connecting four modularly designed capsule modules with the same structure in series, realizes the bionic action on the inchworm flexion-extension forward movement function, reduces the possibility of damaging the intestinal tract by the mechanism, simplifies the complexity of the mechanism in a single capsule and improves the movement reliability of the system.
Description
Technical Field
The invention relates to the technology in the field of medical instruments, in particular to an inchworm-imitating flexion-extension type micro intestinal tract robot mechanism.
Background
In the diagnosis and treatment of intestinal diseases of human bodies, the traditional endoscope and the capsule endoscope have certain defects and limitations, and in recent years, the micro-capsule robot with the active movement function is expected to replace the traditional diagnosis and treatment means for digestive tract diseases, and becomes a research hotspot. The motion mechanism is a major difficulty in the development of the intestinal robot, and many research institutions successively develop super-elastic legged type, swimming type, crawler type, wormcast type and inchworm type micro-robots, wherein: the inchworm-like mechanism is considered to be the most classical mechanism for intestinal tract examination.
At present, in the research of an inchworm-imitating micro robot, 1 set of radial expansion mechanism is generally arranged at the front end and the rear end of the capsule robot respectively, and 1 set of axial expansion mechanism is arranged in the middle of the capsule robot, and the inchworm-like staying-stretching type movement is realized under the coordination of the axial expansion mechanisms by controlling the spaced expansion-contraction of the front and rear expansion mechanisms. The expansion mechanism of the robot can cause damage to the intestinal tract in the expansion process, and in addition, the problems of difficult processing and assembly, low mechanism motion reliability, small available space in the capsule and the like exist because complex radial and axial motion mechanisms need to be integrated in the capsule, so that the robot is difficult to be put into practical use.
Disclosure of Invention
The invention provides an inchworm-imitating flexion-extension type micro intestinal tract robot mechanism aiming at the defects of insufficient ductility and insufficient exploration on the gastrointestinal tract in the prior art, which is formed by connecting four capsule modules with the same structure in series by simulating the movement mode of the arch back-extension of an inchworm and adopting a modularized design, wherein each capsule module is provided with 1 joint capable of rotating around a radial central shaft, the front end and the rear end of the capsule module are respectively provided with a butt joint sub-mechanism and a female mechanism, and each capsule module is also provided with a butt joint separation mechanism.
The invention is realized by the following technical scheme:
the invention comprises the following steps: consecutive and the same first capsule module of structure, second capsule module, third capsule module and fourth capsule module, first capsule module includes: female device, capsule front end device, capsule rotary device, capsule rear end device of butt joint and the sub-device of butt joint that links to each other in proper order, wherein: the capsule front end device is rotationally connected with the capsule rear end device through the capsule rotating device, the butt joint female device is arranged at one end of the capsule front end device, and the butt joint sub device is arranged at one end of the capsule rear end device.
The capsule front end device comprises: the fixed disc of first front end, first protection overcoat and the fixed disc of first rear end that link to each other in proper order to and butt joint separating mechanism, wherein: the butt-joint separation mechanism is arranged in the first protection outer sleeve, and two ends of the butt-joint separation mechanism are respectively connected with the first front end fixed disc and the first rear end fixed disc.
The butt joint separating mechanism comprises: butt joint separation slider, butt joint separation push rod, slider bracing piece, memory spring and recovery spring, wherein: the slider bracing piece is radial symmetry setting and front and back both ends set up on first front end fixed disc and first rear end fixed disc, butt joint separation slider both ends cover is located on the slider bracing piece, and the memory spring both ends set up respectively on first front end fixed disc and butt joint separation slider, resume the spring cover and locate on the slider bracing piece, and butt joint separation push rod radially sets up on butt joint separation slider center.
The capsule back end device comprises: the fixed disc of second front end, second overcoat and the fixed disc of second rear end that link to each other in proper order to and first rotary driving device and second rotary driving device, wherein: the first rotary driving device and the second rotary driving device are arranged in the second protective outer sleeve.
The first rotary drive device comprises: first motor, first master gear, first from gear, first reduction gear and first output shaft, wherein: the first motor is arranged in the radial direction, one end of the first motor is connected with the second rear end fixed disc, the first main gear is coaxially arranged at one end, close to the second front end fixed disc, of the first motor, one end of the first output shaft is arranged on the second rear end fixed disc, the other end of the first output shaft is coaxially connected with the first speed reducer and is arranged in parallel with the first motor, and the first driven gear is arranged on the first speed reducer.
The end face thickness and the tooth number of the first main gear and the first driven gear are the same and are meshed with each other.
The second rotary drive device comprises: second motor, second master gear, second from gear, second reduction gear and second output shaft, wherein: the second motor is arranged in the radial direction, one end of the second motor is connected with the second front end fixed disc, the second main gear is coaxially arranged at one end, close to the second rear end fixed disc, of the second motor, one end of the second output shaft is arranged on the second front end fixed disc, the other end of the second output shaft is coaxially connected with the second speed reducer and is arranged in parallel with the second motor, and the second driven gear is arranged on the second speed reducer.
The end face thickness and the tooth number of the second main gear and the second driven gear are the same and are meshed with each other.
The capsule rotating device comprises: support column, umbrella-type master gear, umbrella-type are followed gear, connecting plate and dead lever, wherein: the supporting columns are arranged at two ends of the fixed rod and arranged on the second front end fixed disc, the umbrella-shaped driven gear is connected with the connecting plate and arranged on the fixed rod, and the umbrella-shaped main gear is coaxially connected with the second rotary driving device and meshed with the umbrella-shaped driven gear.
The bevel master gear and the bevel slave gear have the same gear number and structure and the meshing angle is 90 degrees.
The female device of butt joint includes: hexagonal heavy flute profile butt plate, first magnet fixed plate, first circular magnet and the circular magnet of second, wherein: the first magnet fixing plate is arranged in the center of the hexagonal sink-shaped butt plate and connected with the first round magnet and the second round magnet.
The docking sub-assembly comprises: third master gear, third are followed gear, center pin, hexagon butt plate, second magnet fixed plate, third circular magnet and fourth circular magnet, wherein: the hexagonal butt-joint plate is arranged on the second rear end fixing disc, two ends of the central shaft are respectively arranged at the central holes of the second rear end fixing disc and the hexagonal butt-joint plate, the third driven gear is arranged on the central shaft, the third main gear is coaxially connected with the first rotary driving device, and the second magnet fixing plate is arranged in the hexagonal butt-joint plate and is connected with the third circular magnet and the fourth circular magnet.
The thickness and the number of teeth of the end face of the third main gear and the third driven gear are the same and are meshed with each other.
Technical effects
The invention integrally solves the problems that the robot integrally has only single unidirectional rotation freedom degree, has a single movement mode and is not easy to pass through a complicated curve in the prior art, and the problem that the top end of the expansion leg of the existing expansion leg type staying mechanism is easy to damage the intestinal wall due to point-surface contact with the intestinal wall in the radial expansion process.
Compared with the prior art, the single capsule module has the movable joint capable of rotating clockwise and anticlockwise in two directions, so that the whole mechanism of the micro intestinal robot has 4 rotational degrees of freedom of two-way movement, and the deformation capability of the robot mechanism in the axial direction is improved; the multi-rotary joint design of the invention expands the motion mode of the micro-intestinal robot and improves the adaptability of the micro-intestinal robot to intestinal tracts with different diameters; the invention realizes the radial expansion of the intestinal wall with viscoelasticity by controlling the miniature intestinal robot body to carry out bow-back type bending deformation, increases the contact area of the miniature intestinal robot body and the intestinal wall in the radial expansion process, and reduces the possibility of damaging the intestinal tract.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a capsule module according to the present invention;
FIG. 3 is a schematic view of the front end device of the capsule of the present invention;
FIG. 4 is a schematic view of the construction of the rear end device of the capsule of the present invention;
FIG. 5 is a schematic view of the capsule rotating apparatus according to the present invention;
FIG. 6 is a schematic structural diagram of a female docking device according to the present invention;
FIG. 7 is a schematic view of the docking sub-assembly of the present invention;
FIG. 8 is a schematic view of the rotation range of the front end of the capsule according to the present invention;
FIG. 9 is a schematic view of the motion control of the micro-intestine robot mechanism according to the present invention;
in the figure: a first capsule module 1, a second capsule module 2, a third capsule module 3, a fourth capsule module 4, a butt joint female device 5, a capsule front end device 6, a capsule rotating device 7, a capsule rear end device 8, a butt joint sub-device 9, a first front end fixed disc 10, a first protective outer sleeve 11, a first rear end fixed disc 12, a butt joint separation mechanism 13, a butt joint separation slide block 14, a memory spring 15, a slide block support rod 16, a butt joint separation push rod 17, a recovery spring 18, a second front end fixed disc 19, a second protective outer sleeve 20, a second rear end fixed disc 21, a first rotation driving device 22, a second rotation driving device 23, a first motor 24, a first master gear 25, a first slave gear 26, a first speed reducer 27, a first output shaft 28, a second output shaft 29, a second speed reducer 30, a second slave gear 31, a second motor 32, a second master gear 33, a first auxiliary gear 26, a second auxiliary gear 19, a second auxiliary gear, a third gear, a second auxiliary, The device comprises a support column 34, an umbrella-shaped master gear 35, an umbrella-shaped slave gear 36, a connecting plate 37, a fixing rod 38, a hexagonal sunken groove-shaped butt plate 39, a first magnet fixing plate 40, a first circular magnet 41, a second circular magnet 42, a third master gear 43, a third slave gear 44, a central shaft 45, a hexagonal butt plate 46, a second magnet fixing plate 47, a third circular magnet 48 and a fourth circular magnet 49.
Detailed Description
As shown in fig. 1, for the inchworm-imitating flexion-extension type micro intestinal robot mechanism related to the present embodiment, the micro intestinal robot is integrally decomposed into four capsule modules with the same functions and structures through the modular design, and the mechanism specifically comprises: consecutive and four capsule modules 1 ~ 4 that the structure is the same, wherein: the first capsule module 1 comprises: female device 5, capsule front end device 6, capsule rotary device 7, capsule rear end device 8 and the sub-device 9 of butt joint that link to each other in proper order, wherein: the capsule front end device 6 and the capsule rear end device 8 are connected in a rotating mode through the capsule rotating device 7, the butt joint female device 5 is arranged at one end of the capsule front end device, the butt joint sub device 9 is arranged at one end of the capsule rear end device 8 and used for achieving butt joint with adjacent capsule modules, and therefore the micro intestinal robot is provided with four rotatable joints in the axial direction.
The capsule front-end device 6 comprises: the fixed disc 10 of first front end, first protection overcoat 11 and the fixed disc 12 of first rear end that link to each other in proper order to and butt joint separating mechanism 13, wherein: the abutting-joint separation mechanism 13 is arranged in the first protective outer sleeve 11 and two ends of the abutting-joint separation mechanism are respectively connected with the first front end fixed disc 10 and the first rear end fixed disc 12.
The docking and undocking mechanism 13 includes: butt joint separation slider 14, butt joint separation push rod 17, a set of slider bracing piece 16, memory spring 15 and recovery spring 18, wherein: the slider supporting rod 16 is radially and symmetrically arranged, the front end and the rear end of the slider supporting rod are arranged on the first front end fixing disc 10 and the first rear end fixing disc 12, the butt joint separation slider 14 is sleeved on the slider supporting rod 16 through the two ends of the round holes at the two ends, the two ends of the memory spring 15 are respectively arranged on the first front end fixing disc 10 and the butt joint separation slider 14 through the lifting ring screws, the recovery spring 18 is sleeved on the slider supporting rod 16, and the butt joint separation push rod 17 is radially arranged on the central hole of the butt joint separation slider 14 through the nut fixing.
The working principle of the butt joint separating mechanism 13 is as follows: when the memory spring 15 is controlled to contract, the butt-joint separation slide block 14 is driven to slide towards the first front end fixing disc 10 along the slide block support rod 16, the butt-joint separation push rod 107 moves along the axial direction, the front end of the butt-joint separation push rod extends out of the central hole of the first front end fixing disc 10, and a capsule module in butt joint with the butt-joint female device 5 is pushed to move, so that the separation of two mutually-butted capsule modules is realized.
The capsule rear end device 8 comprises: a second front end fixed disk 19, a second protective outer sleeve 20 and a second rear end fixed disk 21, and a first rotary driving device 22 and a second rotary driving device 23, which are connected in sequence, wherein: the first rotation driving means 22 and the second rotation driving means 23 are provided inside the second protective outer jacket 20.
The first rotary drive device 22 includes: a first motor 24, a first master gear 25, a first slave gear 26, a first reducer 27 and a first output shaft 28, wherein: the first motor 24 is arranged radially and has one end connected to the second rear end fixed disk 21, the first master gear 25 is coaxially arranged on the output driving shaft of the first motor 24 near the second front end fixed disk 19, one end of the first output shaft 28 is arranged on the second rear end fixed disk 21, the other end is coaxially connected to the first speed reducer 27 and is arranged in parallel with the first motor 24, and the first slave gear 26 is arranged on the first speed reducer 27.
The end face thickness and the number of teeth of the first main gear 25 and the first driven gear 26 are the same and are meshed with each other.
The second rotary drive device 23 includes: a second motor 32, a second master gear 33, a second slave gear 31, a second reducer 30, and a second output shaft 29, wherein: a second motor 32 is arranged radially and has one end connected to the second front end fixed disk 19, a second main gear 33 is coaxially arranged on the output driving shaft of the second motor 32 near the second rear end fixed disk 21, one end of a second output shaft 29 is arranged on the second front end fixed disk 19, the other end is coaxially connected to a second reducer 30 and is arranged in parallel with the second motor 32, and a second driven gear 31 is arranged on the second reducer.
The end face thickness and the number of teeth of the second master gear 33 and the second slave gear 31 are the same and are meshed with each other.
Said capsule rotating means 14 comprise: support column 34, bevel master gear 35, bevel slave gear 36, connecting plate 37 and fixing rod 38, wherein: the support columns 34 are provided at both ends of a fixing rod 38 and on the second front end fixing disk 19, a bevel slave gear 36 is connected to a connecting plate 37 and is provided on the fixing rod 38, and a bevel master gear 35 is coaxially connected to the second output shaft 119 and meshes with the bevel slave gear 36.
The bevel master gear 35 and the bevel slave gear 36 have the same number of teeth and structure and the meshing angle is 90 degrees.
The working principle of the capsule rotating device 7 is as follows: when the capsule rotating device 7 works, the second motor 32 transmits the output torque to the second main gear 33, and the output torque is transmitted to the input end of the second reducer 30 through the meshing transmission of the second main gear 33 and the second secondary gear 31, and the second reducer 30 transmits the output torque to the second output shaft 29, so as to drive the connecting plate 37 to rotate, thereby guiding the capsule front end device 6 to rotate around the fixing rod 38.
The female device 5 of butt joint includes: hexagonal sink shape butt plate 39, first magnet fixed plate 40, first circular magnet 41 and second circular magnet 42, wherein: the first magnet fixing plate 40 is disposed in the central recess of the hexagonal-countersunk butt plate 39 and is connected to the first circular magnet 41 and the second circular magnet 42.
The docking sub-assembly 9 comprises: a third master gear 43, a third slave gear 44, a central shaft 45, a hexagonal docking plate 46, a second magnet fixing plate 47, a third circular magnet 48, and a fourth circular magnet 49, wherein: the hexagonal docking plate 46 is disposed on the second rear end fixing disk 21, two ends of the central shaft 45 are disposed at the central holes of the second rear end fixing disk 21 and the hexagonal docking plate 46, respectively, the third slave gear 44 is disposed on the central shaft 45, the third master gear 44 is coaxially connected with the first output shaft 28, and the second magnet fixing plate 47 is disposed in a groove of the hexagonal docking plate 46 and connected with the third circular magnet 48 and the fourth circular magnet 49.
The third master gear 43 and the third slave gear 44 have the same end face thickness and tooth number and are meshed with each other.
The working principle of the butt joint sub-device 9 is as follows: when the docking sub-device 9 is operated, the first speed reducer 27 transmits the output torque to the first master gear 25 through the docking first output shaft 28, and drives the central shaft 45 to rotate through the meshing transmission of the first master gear 25 and the first slave gear 26, so as to guide the hexagonal docking plate 46 to rotate.
As shown in fig. 8, under the initial condition that the central axes of the front capsule end device 6 and the rear capsule end device 8 are coaxial, the front capsule end device 6 can respectively rotate counterclockwise or clockwise around the fixing rod 38 within (-35 °,35 °), and by respectively controlling the capsule rotating devices 7 in the capsule modules 1,2,3,4, the rotation movement capability of the entire mechanism of the micro-intestine robot with 4 degrees of freedom along the axial direction can be realized, and the arch-back-stretching type movement similar to the inchworm can be completed.
As shown in fig. 9, the present embodiment relates to a method for controlling an inchworm-imitated flexion-extension type movement based on the above apparatus, which specifically includes:
A) the integral mechanism of the micro intestinal robot is in an initial state, namely the central axes of the capsule front end devices 6 and the capsule rear end devices 8 of the first capsule module to the fourth capsule module 1 to 4 are in a collinear state;
B) the control system sends out an instruction to control the first capsule module 1 to rotate clockwise by 35 degrees to a limit position and stop;
C) the control system sends out an instruction to control the second capsule module 2 to rotate counterclockwise by an angle theta 1;
the value of the anticlockwise rotation angle theta 1 is determined according to the diameter of the intestinal tract and the elastic deformation complete range of the intestinal wall;
D) the control system sends out an instruction to control the fourth capsule module 4 to rotate clockwise by an angle theta 2 and simultaneously control the third capsule module 3 to rotate anticlockwise by the same angle theta 2, and when the value of theta 2 is equal to the value of theta 1, the control system sends out a stop instruction to control the third capsule module 3 and the fourth capsule module 4 to stop moving simultaneously;
E) the control system sends out an instruction to control the fourth capsule module 4 to rotate clockwise to an extreme position and stop, at the moment, the inchworm-imitating bow-back motion of the micro-intestinal robot is completed, and the inchworm-imitating stretching motion can be realized according to the opposite control time sequence, so that the inchworm-buckling-stretching forward motion of the complete period is realized.
Compared with the prior art, the invention is characterized in that: (1) the capsule rotating device 7 has a clockwise and anticlockwise bidirectional rotating design, so that the whole mechanism of the micro intestinal robot has 4 bidirectional movable rotating degrees of freedom, and is different from a single unidirectional rotating degree of freedom in the prior art, the design improves the deformability of the robot mechanism in the axial direction, realizes the function bionics of inchworm arch-back stretching type movement to a better degree, and improves the passing capacity of the robot in a complex intestinal environment surrounded by curves and straight lines; (2) compared with the moving space of the single rotating joint in the range of (0,90 degrees) in the prior art, the multi-rotating joint design of the invention enables the whole mechanism of the micro intestinal robot to have the moving range of (-140 degrees and 140 degrees); (3) compared with the prior art that the top end of the expansion leg of the stay mechanism is in point-surface contact with the intestinal wall in the radial expansion process, the stay mechanism has the advantages that the contact area with the intestinal wall in the radial expansion process is increased, the possibility of damage to the intestinal tract is reduced, and the movement safety is improved.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. An inchworm-imitating flexion-extension type micro intestinal tract robot mechanism is characterized by comprising: consecutive and the same first capsule module of structure, second capsule module, third capsule module and fourth capsule module, first capsule module includes: female device, capsule front end device, capsule rotary device, capsule rear end device of butt joint and the sub-device of butt joint that links to each other in proper order, wherein: the capsule front end device is rotationally connected with the capsule rear end device through the capsule rotating device, the butt joint female device is arranged at one end of the capsule front end device, and the butt joint sub device is arranged at one end of the capsule rear end device;
the capsule front end device comprises: the fixed disc of first front end, first protection overcoat and the fixed disc of first rear end that link to each other in proper order to and butt joint separating mechanism, wherein: the butt-joint separation mechanism is arranged in the first protective outer sleeve, and two ends of the butt-joint separation mechanism are respectively connected with the first front end fixed disc and the first rear end fixed disc;
the capsule back end device comprises: the fixed disc of second front end, second overcoat and the fixed disc of second rear end that link to each other in proper order to and first rotary driving device and second rotary driving device, wherein: the first rotary driving device and the second rotary driving device are arranged in the second protective outer sleeve;
the capsule rotating device comprises: support column, umbrella-type master gear, umbrella-type are followed gear, connecting plate and dead lever, wherein: the supporting columns are arranged at two ends of the fixed rod and arranged on the second front end fixed disc, the umbrella-shaped driven gear is connected with the connecting plate and arranged on the fixed rod, and the umbrella-shaped main gear is coaxially connected with the second rotary driving device and meshed with the umbrella-shaped driven gear.
2. The inchworm-imitated buckling-stretching type micro-intestinal robot mechanism as claimed in claim 1, wherein the docking and separating mechanism comprises: butt joint separation slider, butt joint separation push rod, slider bracing piece, memory spring and recovery spring, wherein: the slider bracing piece is radial symmetry setting and front and back both ends set up on first front end fixed disc and first rear end fixed disc, butt joint separation slider both ends cover is located on the slider bracing piece, and the memory spring both ends set up respectively on first front end fixed disc and butt joint separation slider, resume the spring cover and locate on the slider bracing piece, and butt joint separation push rod radially sets up on butt joint separation slider center.
3. The inchworm-imitated buckling type micro-intestinal robot mechanism as claimed in claim 1, wherein the first rotary driving device comprises: first motor, first master gear, first from gear, first reduction gear and first output shaft, wherein: the first motor is arranged in the radial direction, one end of the first motor is connected with the second rear end fixed disc, the first main gear is coaxially arranged at one end, close to the second front end fixed disc, of the first motor, one end of the first output shaft is arranged on the second rear end fixed disc, the other end of the first output shaft is coaxially connected with the first speed reducer and is arranged in parallel with the first motor, and the first driven gear is arranged on the first speed reducer.
4. The inchworm-imitated buckling type micro-intestinal robot mechanism as claimed in claim 3, wherein the thickness and the number of teeth of the end face of the first main gear and the first driven gear are the same and are meshed with each other.
5. The inchworm-imitated buckling type micro-intestinal robot mechanism as claimed in claim 1, wherein the second rotary driving device comprises: second motor, second master gear, second from gear, second reduction gear and second output shaft, wherein: the second motor is arranged in the radial direction, one end of the second motor is connected with the second front end fixed disc, the second main gear is coaxially arranged at one end, close to the second rear end fixed disc, of the second motor, one end of the second output shaft is arranged on the second front end fixed disc, the other end of the second output shaft is coaxially connected with the second speed reducer and is arranged in parallel with the second motor, and the second driven gear is arranged on the second speed reducer.
6. The inchworm-imitated buckling type micro-intestinal robot mechanism as claimed in claim 5, wherein the thickness and the number of teeth of the end surfaces of the second master gear and the second slave gear are the same and are meshed with each other.
7. The inchworm-imitated buckling-stretching type micro-intestinal robot mechanism as claimed in claim 1, wherein the female butt joint device comprises: hexagonal heavy flute profile butt plate, first magnet fixed plate, first circular magnet and the circular magnet of second, wherein: the first magnet fixing plate is arranged in the center of the hexagonal sink-shaped butt plate and connected with the first round magnet and the second round magnet.
8. The inchworm-imitated buckling type micro-intestinal robot mechanism as claimed in claim 1, wherein the docking sub-device comprises: third master gear, third are followed gear, center pin, hexagon butt plate, second magnet fixed plate, third circular magnet and fourth circular magnet, wherein: the hexagonal butt-joint plate is arranged on the second rear end fixing disc, two ends of the central shaft are respectively arranged at the central holes of the second rear end fixing disc and the hexagonal butt-joint plate, the third driven gear is arranged on the central shaft, the third main gear is coaxially connected with the first rotary driving device, and the second magnet fixing plate is arranged in the hexagonal butt-joint plate and is connected with the third circular magnet and the fourth circular magnet.
9. The inchworm-imitated buckling type micro-intestinal robot mechanism as claimed in claim 8, wherein the thickness and the number of teeth of the end surfaces of the third master gear and the third slave gear are the same and are meshed with each other.
10. The inchworm-imitated flexion and extension type motion control method of the inchworm-imitated flexion and extension type micro intestinal robot mechanism based on any one of the claims comprises the following steps:
A) the integral mechanism of the micro intestinal robot is in an initial state, namely the central axes of the capsule front end devices and the capsule rear end devices of the first capsule module, the second capsule module, the third capsule module and the fourth capsule module are in a collinear state;
B) the control system sends out an instruction to control the first capsule module to rotate clockwise by 35 degrees to a limit position and stop;
C) the control system sends out an instruction to control the second capsule module to rotate anticlockwise by an angle theta 1;
D) the control system sends out an instruction to control the fourth capsule module to rotate clockwise by an angle theta 2 and simultaneously control the third capsule module to rotate anticlockwise by the same angle theta 2, and when the value of theta 2 is equal to the value of theta 1, the control system sends out a stop instruction to control the third capsule module and the fourth capsule module to stop moving simultaneously;
E) the control system sends out an instruction to control the fourth capsule module to rotate clockwise to a limit position and stop, at the moment, the inchworm-imitating type bow-back movement of the micro-intestinal robot is completed, and the inchworm-imitating type stretching movement can be realized according to an opposite control time sequence, so that the inchworm buckling and stretching forward movement in a complete period is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110125034.3A CN114795077B (en) | 2021-01-29 | Inchworm-simulated bending and stretching type micro intestinal robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110125034.3A CN114795077B (en) | 2021-01-29 | Inchworm-simulated bending and stretching type micro intestinal robot mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN114795077A true CN114795077A (en) | 2022-07-29 |
| CN114795077B CN114795077B (en) | 2024-09-24 |
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| WO2008122997A1 (en) * | 2007-04-04 | 2008-10-16 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Teleoperated endoscopic capsule |
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| WO2005082248A1 (en) * | 2004-02-17 | 2005-09-09 | Korea Institute Of Science And Technology | Teleoperated endoscopic capsule equipped with active locomotion system |
| CN101188964A (en) * | 2005-05-12 | 2008-05-28 | 韩国科学技术研究院 | Capsule type micro-robot moving system |
| WO2008122997A1 (en) * | 2007-04-04 | 2008-10-16 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Teleoperated endoscopic capsule |
| CN110477845A (en) * | 2019-08-23 | 2019-11-22 | 天津大学 | A kind of the pneumatic actuation microcapsule robot and its movement technique of imitative looper traveling |
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