CN215017030U - Magnetic coupling control device and magnetic coupling system of capsule robot - Google Patents
Magnetic coupling control device and magnetic coupling system of capsule robot Download PDFInfo
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- CN215017030U CN215017030U CN202120813209.5U CN202120813209U CN215017030U CN 215017030 U CN215017030 U CN 215017030U CN 202120813209 U CN202120813209 U CN 202120813209U CN 215017030 U CN215017030 U CN 215017030U
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Abstract
The utility model relates to an automation engineering technical field, concretely relates to capsule robot's magnetic coupling controlling means and magnetic coupling system, include: the permanent magnet motor comprises a motor, two strip-shaped main permanent magnets and a controller; the two strip-shaped main permanent magnets are arranged on an output shaft of the motor, and the motor is controlled by the controller; the motor drives the two strip-shaped main permanent magnets to rotate and overlap under the control of the controller to form a rotating magnetic field, non-contact magnetic acting force is generated on the inner auxiliary permanent magnets of the capsule robot under the action of the rotating magnetic field, the capsule robot and the outer rotating magnetic field rotate synchronously, and the capsule robot rotates in a pipeline filled with viscous liquid to move forwards and backwards. The capsule robot can be flexibly, simply and conveniently controlled to freely move in the intestinal tract of a human body. The main permanent magnets with different magnetic energy products can be replaced according to actual needs, the control is flexible and convenient, the cost is low, and the device is suitable for the examination work of the gastrointestinal and digestive tracts.
Description
Technical Field
The utility model relates to an automation engineering technical field particularly, relates to a capsule robot's magnetic coupling controlling means and magnetic coupling system.
Background
As a noninvasive and painless diagnosis and treatment tool in the gastrointestinal tract of a human body, the wireless capsule robot can effectively improve the comfort of examination and the tolerance of a patient, and enables the examination in blind areas such as the gastrointestinal tract in the human body to be possible. The passive capsule robot is primarily used for small intestine internal examination, and is gradually applied to the stomach, large intestine and other parts. However, the passive capsule robot is mainly characterized by uncontrollable movement and only depends on gastrointestinal peristalsis, and retention hazards can occur when encountering narrow and wrinkled intestinal tubes. The capsule robot driven by the external magnetic field can completely avoid the problems, has the advantages of simple magnetic field regulation, good continuous motility, simple and convenient control and the like, and is most importantly not restricted by the inner space of the robot, highly miniaturized and convenient for clinical application.
Currently, external magnetic field driving systems can be divided into solenoid driving systems and permanent magnet driving systems. The electromagnetic coil driving system generates magnetic torque by a current input coil and has the characteristic that the magnetic field intensity and the frequency are continuously controllable. However, the clinically applied electromagnetic coil driving system requires a bulky coil to cover the human body, which is expensive in cost, and requires a doctor to master a complicated calculation and control method during operation, which is difficult. The permanent magnet driving system adopts a permanent magnet or an electromagnet arranged at the tail end of the mechanical arm to form a coupling magnetic torque with the embedded permanent magnet of the capsule robot so as to realize the direction, position and rotating speed control of the robot. However, due to the inherent characteristics of the mechanical arm, if the mechanical arm encounters a singular point during the movement process, the mechanical arm may generate a malfunction, which affects the accurate driving control of the capsule robot. Moreover, the use of a robot arm also has the problem of high cost.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problems, an object of the present invention is to provide a magnetic coupling control device and a magnetic coupling system for a capsule robot, which not only can reduce the cost of driving the capsule robot by an external magnetic field, but also can flexibly and simply control the capsule robot to freely move in the intestinal tract of a human body.
The utility model aims at realizing through the following technical scheme:
on the one hand, the utility model provides a capsule robot's magnetic coupling controlling means, include: the permanent magnet motor comprises a motor, two strip-shaped main permanent magnets and a controller; the two strip-shaped main permanent magnets are arranged on an output shaft of the motor, and the motor is controlled by the controller;
the capsule robot and an external rotating magnetic field rotate synchronously and rotate forwards in a pipeline filled with viscous liquid to realize forward and backward movement;
the capsule robot is driven by the speed regulation function of the motor, so that the capsule robot can continuously regulate the speed in a stepping way and carry out more accurate driving control.
Further, the controller comprises a single chip microcomputer, a motor driver, a motor controller, a forward and reverse rotation key, a stop key, a speed adjusting knob and a seven-segment digital tube display circuit, and the controller performs speed regulation control on the motor through a C language program.
Furthermore, the two strip-shaped main permanent magnets are magnetized in the thickness direction, and the sections of the main permanent magnets are square or rectangular.
Further, the motor is a direct current motor or a stepping motor or a servo motor, and an output shaft of the motor is fixed with the coupler through a fastening bolt.
Further, the inner part of the pipeline for advancing the capsule robot is filled with medical dimethyl silicone oil.
Further, controller and motor all install in handheld shell, adopt 3D to print manufacturing, charactron and main permanent magnet and shaft coupling are outside handheld shell.
Further, the motor supplies power for a wired or wireless lithium battery.
On the other hand, the utility model provides a capsule robot's magnetic coupling system, include: the capsule robot comprises a magnetic coupling control device and a capsule robot, wherein the magnetic coupling control device is any one of the magnetic coupling control devices.
Further, the capsule robot is manufactured by 3D printing, the outer part of the capsule robot is a spiral surface, the inner part of the capsule robot is cylindrical or annular from the permanent magnet, and the capsule robot is magnetized in the radial direction from the magnetizing direction of the permanent magnet.
The utility model discloses a magnetic coupling controlling means and magnetic coupling system of capsule robot, the motor is under the control action of controller, the rotatory stack of main permanent magnet that drives two rectangular shapes and form rotating magnetic field, produce non-contact magnetic force to the inside permanent magnet of following of capsule robot under rotating magnetic field's effect, capsule robot and outside rotating magnetic field synchronous revolution, rotate in the pipeline that is full of viscous liquid and go forward, the realization is advanced and is retreated the motion, not only can reduce the cost of outer magnetic field drive capsule robot, can also be nimble, simple and convenient control capsule robot comes freely in human intestinal, can change the main permanent magnet of different magnetic energy products according to actual need, it is nimble convenient to control, therefore, the carrier wave prepaid electric energy meter is low in cost, and is suitable for the work of examining of gastrointestinal digestive tract.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:
fig. 1 is a schematic view of a magnetic coupling system of the capsule robot of the present invention;
fig. 2 is a schematic view of the capsule robot of the present invention;
fig. 3 is a block diagram illustrating the steps of the magnetic coupling control method of the capsule robot according to the present invention;
wherein the reference numerals are: 1-main permanent magnet, 2-coupler, 3-output shaft, 4-motor, 5-control panel, 6-lithium battery, 7-wire, 8-rubber plug, 9-acrylic tube, 10-dimethyl silicone oil, 11-capsule robot, 12-bracket, 13-auxiliary permanent magnet and 14-hand-held shell.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
Example one
As shown in fig. 1-2, the magnetic coupling control device of a capsule robot according to an embodiment of the present invention includes a motor 4, two strip-shaped main permanent magnets 1, and a controller; the two strip-shaped main permanent magnets 1 are arranged on an output shaft 3 of a motor 4, and the motor 4 is controlled by a controller;
the motor 4 drives the two strip-shaped main permanent magnets 1 to rotate and overlap under the control of the controller to form a rotating magnetic field, non-contact magnetic acting force is generated on the interior of the capsule robot 11 from the permanent magnet 13 under the action of the rotating magnetic field, the capsule robot 11 and the external rotating magnetic field rotate synchronously, and the capsule robot rotates in a pipeline filled with viscous liquid to move forwards and backwards;
the capsule robot 11 is driven by the speed regulation function of the motor 4, so that the capsule robot 11 can continuously regulate the speed in a stepping way and perform more accurate driving control.
The utility model discloses a magnetic coupling controlling means of capsule robot, motor 4 is under the control action of controller, drive the rotatory stack of main permanent magnet 1 of two rectangular shapes and form rotating magnetic field, 11 inside from permanent magnet 13 production non-contact magnetic force to capsule robot under rotating magnetic field's effect, capsule robot 11 and outside rotating magnetic field synchronous revolution, it advances to rotate in the pipeline that is full of viscous liquid, the realization advances and retreats the motion, not only can reduce the cost of outer magnetic field drive capsule robot 11, can also be nimble, simple and convenient control capsule robot 11 comes freely in human intestinal, can change the main permanent magnet 1 of different magnetic energy products according to actual need, control is nimble convenient, therefore, the carrier wave prepaid electric energy meter is low in cost, and is suitable for the work of examining of gastrointestinal digestive tract.
The controller comprises a single chip microcomputer, a motor driver, a motor controller, a forward and reverse rotation key, a stop key, a speed adjusting knob and a seven-segment digital tube display circuit, and the controller performs speed regulation control on the motor 4 through a C language program.
Wherein, two rectangular shape main permanent magnet 1 are for thickness direction magnetization, and the cross-section of main permanent magnet 1 is square or rectangle.
Wherein, motor 4 is DC motor 4 or step motor 4 or servo motor 4, and output shaft 3 of motor 4 passes through fastening bolt with shaft coupling 2 and fixes.
As shown in fig. 1, the inside of a pipeline where a capsule robot 11 moves forward is filled with medical dimethyl silicone oil 10, the pipeline is a pipeline simulating the intestinal tract of a human body and is an acrylic pipe 9, two ends of the acrylic pipe 9 are plugged by rubber plugs 8, and the acrylic pipe 9 is supported by a support 12 at the lower end.
Wherein, controller and motor 4 all install in handheld shell 14, adopt 3D to print the manufacturing, and charactron and main permanent magnet 1 and shaft coupling 2 are outside handheld shell 14, are convenient for observe the rotational speed situation of change and change the main permanent magnet 1 of different magnetic energy products.
Wherein, motor 4 is the power supply of wired or wireless lithium cell 6, can use wired or wireless mode drive capsule robot 11 as required, and lithium cell 6 charges through wire 7.
Example two
As shown in fig. 1-2, the utility model discloses a magnetic coupling system of capsule robot of embodiment includes: a magnetic coupling control device and a capsule robot 11, wherein the magnetic coupling control device is any one of the above magnetic coupling control devices.
The utility model discloses a magnetic coupling system of capsule robot, motor 4 is under the control action of controller, drive the rotatory stack of main permanent magnet 1 of two rectangular shapes and form rotating magnetic field, 11 inside from permanent magnet 13 production non-contact magnetic force to capsule robot under rotating magnetic field's effect, capsule robot 11 and outside rotating magnetic field synchronous revolution, it advances to rotate in the pipeline that is full of viscous liquid, the realization advances and retreats the motion, not only can reduce the cost of outer magnetic field drive capsule robot 11, can also be nimble, simple and convenient control capsule robot 11 comes freely in human intestinal, can change the main permanent magnet 1 of different magnetic energy products according to actual need, it is nimble convenient to control, therefore, the carrier wave generator is low in cost, and is suitable for the work of examining of gastrointestinal digestive tract.
The capsule robot 11 is manufactured by 3D printing, the outer part of the capsule robot is a spiral surface, the inner part of the capsule robot is cylindrical or annular from the permanent magnet 13, and the magnetizing direction of the permanent magnet 13 is radial.
EXAMPLE III
As shown in fig. 3, a magnetic coupling control method for a capsule robot according to an embodiment of the present invention includes the following steps:
step S1: the forward rotation button is pressed in the controller through the control panel 5, and the motor 4 starts to rotate. At this time, the capsule robot 11 in the duct also rotates in accordance with the rotating magnetic field generated by the motor 4. At this time, the nixie tube displays that the motor 4 rotates forwards and rotates at a certain speed. At this time, the controller can be held by hand to guide the capsule robot 11 to move forward towards the target direction of the pipeline, and the speed of the controller and the speed of the capsule robot 11 are kept relatively consistent and should be kept at a certain distance.
Step S2: when a stop key is pressed on the control panel 5, the motor 4 stops moving, the capsule robot 11 in the pipeline also stops moving, and the nixie tube keeps the previous data state and does not change.
Step S3: when positive direction rotational speed adjust knob, motor 4 speed can increase, and capsule robot 11 in the pipeline also can accelerate the rotation thereupon simultaneously, and the charactron registration at this moment also can increase along with the rotational speed, reaches the maximum protection and restricts the rotational speed value after, and motor 4's rotational speed no longer increases.
Step S4: when the speed adjusting knob is rotated in the opposite direction, the speed of the motor 4 is reduced, meanwhile, the capsule robot 11 in the pipeline also decelerates and rotates, the numerical value displayed by the nixie tube is gradually reduced, the nixie tube continuously rotates along with the speed adjusting knob, and after the numerical value reaches 0 position, the speed of the motor 4 is not changed.
Step S5: when the reverse rotation button is pressed on the control panel 5, the rotation direction of the motor 4 is opposite to the forward rotation direction, the capsule robot 11 in the pipeline also rotates in the reverse direction along with the rotation direction, and the rotation speed value displayed by the nixie tube is the reverse rotation speed. Similar to the previous operation, the controller can be held by hand to guide the capsule robot 11 to advance to the opposite target direction of the pipeline, and the speed of the controller and the speed of the capsule robot 11 are kept relatively consistent and should be kept at a certain distance.
Step S6: when the forward rotation key on the control panel 5 is pressed again, the motor 4 is reversed again; the capsule robot 11 in the pipe continues to change the rotation direction, and at the same time, the nixie tube displays the forward rotation speed value.
The technical scheme of the utility model is simple, convenient to use, can follow different angles and carry out drive control to capsule robot 11, overcome robotic arm's singular point, avoided huge electromagnetic drive coil high magnetic field radiation and a large amount of power consumption, effectively practiced thrift medical resource, need not professional training and can use swiftly, establish the basis for the full alimentary canal is accurate, diagnose fast and provide more effective medical service.
The technical scheme of the utility model through the rotatory dynamic rotating magnetic field that produces of outside main permanent magnet 1, drive internally mounted and rotate jointly from permanent magnet 13's capsule robot 11, through the rotation rate that changes outside main permanent magnet 1, can indirectly change capsule robot 11's rotation rate, and then change capsule robot 11's the speed of advancing, control capsule robot 11 that can be convenient starts and stops, utilizes the rotating magnetic field guide capsule robot 11 that main permanent magnet 1 produced to go straight, retreat and turn the drive, the technical scheme easy operation of the utility model can produce the continuous rotating magnetic field of developments. The technical scheme of the utility model practicality is good, can avoid the singularity of five degrees of freedom or six degrees of freedom arms and solenoid drive huge and complexity scheduling problem, through artifical handheld controller to capsule robot 11 guide control, can change the main permanent magnet 1 of different magnetic energy products according to actual need in addition, and it is nimble convenient to control, and low cost is applicable to the work of examining of intestines and stomach alimentary canal.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A magnetic coupling control device of a capsule robot, comprising: the permanent magnet motor comprises a motor, two strip-shaped main permanent magnets and a controller; the two strip-shaped main permanent magnets are arranged on an output shaft of the motor, and the motor is controlled by the controller;
the motor drives the two strip-shaped main permanent magnets to rotate and overlap under the control of the controller to form a rotating magnetic field, non-contact magnetic acting force is generated on the auxiliary permanent magnets inside the capsule robot under the action of the rotating magnetic field, the capsule robot and an external rotating magnetic field rotate synchronously and advance in a pipeline filled with viscous liquid in a rotating mode, and advancing and retreating movement is achieved;
the capsule robot is driven by the speed regulation function of the motor, so that the capsule robot can continuously regulate the speed in a stepping mode and carry out more accurate driving control.
2. A magnetic coupling control device for a capsule robot as claimed in claim 1, wherein the controller comprises a single chip microcomputer, a motor driver, a motor controller, a forward and reverse rotation key, a stop key, a speed adjusting knob, and a seven-segment nixie tube display circuit, and the controller controls the speed of the motor by a C language program.
3. A magnetic coupling control device for a capsule robot according to claim 1, wherein two elongated main permanent magnets are magnetized in a thickness direction, and the cross section of the main permanent magnets is square or rectangular.
4. A magnetic coupling control device of a capsule robot according to claim 1, wherein the motor is a dc motor or a stepping motor or a servo motor, and an output shaft of the motor and a coupling are fixed by a fastening bolt.
5. A magnetic coupling control device for a capsule robot according to claim 1, wherein the inside of a tube through which the capsule robot advances is filled with medical dimethicone.
6. A magnetic coupling control device of a capsule robot according to claim 1, wherein the controller and the motor are both mounted in a hand held housing, manufactured by 3D printing, with a nixie tube and the main permanent magnet and coupling outside the hand held housing.
7. A magnetic coupling control device of a capsule robot according to claim 1, wherein the motor is powered by a wired or wireless lithium battery.
8. A magnetic coupling system of a capsule robot, comprising a magnetic coupling control device according to any one of claims 1 to 7 and the capsule robot.
9. A magnetic coupling system for a capsule robot according to claim 8, wherein the capsule robot is manufactured by 3D printing, the outer portion is a spiral surface, the inner portion is cylindrical or annular, and the magnetizing direction of the slave permanent magnet is radial.
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| CN202120813209.5U CN215017030U (en) | 2021-04-20 | 2021-04-20 | Magnetic coupling control device and magnetic coupling system of capsule robot |
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| CN202120813209.5U CN215017030U (en) | 2021-04-20 | 2021-04-20 | Magnetic coupling control device and magnetic coupling system of capsule robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113116278A (en) * | 2021-04-20 | 2021-07-16 | 河南工学院 | Magnetic coupling control device, system and method of capsule robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113116278A (en) * | 2021-04-20 | 2021-07-16 | 河南工学院 | Magnetic coupling control device, system and method of capsule robot |
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