CN217310238U - Magnetic control device - Google Patents
Magnetic control device Download PDFInfo
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- CN217310238U CN217310238U CN202123274220.8U CN202123274220U CN217310238U CN 217310238 U CN217310238 U CN 217310238U CN 202123274220 U CN202123274220 U CN 202123274220U CN 217310238 U CN217310238 U CN 217310238U
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Abstract
The invention provides a magnetic control device, which comprises a driving part, a first rotating part, a second rotating part and a magnetic head part, wherein the driving part is arranged above the first rotating part and used for providing driving force for rotating the first rotating part and the second rotating part, the second rotating part is rotatably connected to the first rotating part by taking an axis vertical to a horizontal plane as a first rotating axis, the magnetic head part is rotatably connected to the second rotating part by taking an axis parallel to the horizontal plane as a second rotating axis, and the driving part controls the magnetic head part to rotate around the first rotating axis and the second rotating axis arbitrarily. According to the magnetic control device provided by the invention, the motor is fixedly arranged independently of the revolving part, and the magnetic head part is controlled to rotate around the two mutually vertical rotating shafts randomly through a special control method, so that the revolving radius is smaller, the structure is simple, the cost is low, and the reliability is high.
Description
Technical Field
The utility model relates to the technical field of medical treatment, especially, relate to a magnetic control device.
Background
At present, the use of capsule endoscopes for examining the digestive tract of the human body is gradually becoming a new trend. Compare in traditional intubation type electron scope, capsule type endoscope is more convenient, comfortable, and the person being examined only need swallow the electron camera device of capsule pellet size, can carry out all-round inspection to whole alimentary canal, can not cause the discomfort in the person being examined physically, reduces cross infection's risk simultaneously.
When using magnetic control capsule type gastroscope system to inspect human stomach, after swallowing the capsule endoscope, need to use magnetic control equipment in human outer cooperation, utilize the effort of magnetic field to the inside little magnet of capsule endoscope, control the gesture and the position of capsule endoscope, so that carry out no dead angle inspection to whole stomach intracavity inner wall, to magnetic control device and big magnet in the magnetic control equipment, need to satisfy and to control big magnet along the arbitrary pivoted requirement of two mutually perpendicular rotation axes, and simultaneously, when the examinee lies and carries out the gastroscope inspection on the sick bed, magnetic control device will be at human top reciprocating motion, the operation, if magnetic control device appearance volume is great, will produce oppression sense and uncomfortable sense in the vision of examinee and the psychology.
Chinese patent publication No. CN111643039A discloses a magnetic control device and a capsule endoscope control system, and CN111657826A discloses a magnetic control device and a magnetic control capsule endoscope system, the technical solutions of the two patents adopt the traditional design idea, i.e. two motors are respectively mounted at a fixed position and a revolving part, respectively control the magnet to rotate around two mutually perpendicular rotating shafts, when the revolving part rotates, one of the motors rotates together with the revolving part, so the revolving radius is larger; meanwhile, in order to prevent the motor cable and the return-to-zero photoelectric sensor cable from being wound and broken during rotation, an electric slip ring is required to be arranged for rotating conduction and signal transmission, the electric slip ring is complex in structure, high in cost, high in process requirement and short in service life, sensitive signals are transmitted, and the magnetic control device is poor in reliability due to the fact that the electric slip ring is prone to interference.
In view of the above-mentioned defects in the prior art, it is desirable to develop a magnetic control device with small turning radius, simple structure, low cost and high reliability.
SUMMERY OF THE UTILITY MODEL
The invention provides a magnetic control device, which adopts the technical scheme that:
the invention provides a magnetic control device, which comprises a driving part, a first rotating part, a second rotating part and a magnetic head part, wherein the driving part is arranged above the first rotating part and used for providing driving force for enabling the first rotating part and the second rotating part to rotate, the second rotating part is rotatably connected to the first rotating part by taking an axis perpendicular to a horizontal plane as a first rotating shaft, the magnetic head part is rotatably connected to the second rotating part by taking an axis parallel to the horizontal plane as a second rotating shaft, and the driving part controls the magnetic head part to rotate around the first rotating shaft and the second rotating shaft randomly.
Further, the driving part further comprises a first motor, a second motor, a first speed reducer, a second speed reducer, a first motor base, a second motor base, a supporting column and a coupling, wherein:
the first motor and the first speed reducer are fixedly arranged on the first motor base, and the first motor controls the magnetic head to rotate around the first rotating shaft;
the second motor and the second speed reducer are fixedly arranged on the second motor base, and the second motor controls the magnetic head part to rotate around the second rotating shaft;
the second rotating shaft is perpendicular to the first rotating shaft, and the orientation of the second rotating shaft is changed along with the rotation of the first rotating shaft in an interlocking manner;
the strut is used for fixedly mounting the first motor base and the second motor base;
and the coupling is fixedly arranged on the output shaft of the second speed reducer and is used for transmitting the rotary driving force provided by the second motor. Further, first rotating part further includes base, first action wheel, first follow driving wheel, first synchronous belt, first bearing frame, connection axle sleeve and first tension pulley, wherein:
a base for supporting a magnetic control device;
the first bearing consists of an outer ring and an inner ring, the outer ring of the first bearing is fixedly connected between the base and the first bearing seat, the inner ring of the first bearing is fixedly connected between the first driven wheel and the connecting shaft sleeve, and the inner ring can rotate around the axial direction of the inner ring relative to the outer ring at will;
the first driving wheel is fixedly connected to an output shaft of the first speed reducer, and the first driving wheel, the first driven wheel, the first synchronous belt and the first tensioning wheel jointly form a first synchronous belt transmission mechanism.
Further, the second rotating part further includes connecting plate, second bearing frame, first transmission shaft, second transmission shaft, fastening nut, first bevel gear, second bevel gear, first support, second support, third bearing frame, second action wheel, second from driving wheel, second hold-in range and second take-up pulley, wherein:
the connecting plate is fixedly connected with the connecting shaft sleeve and used for supporting the second rotating part;
two ends of the first transmission shaft are respectively connected with the coupler and the first bevel gear and used for transmitting the rotating power of the second motor;
the second bearing consists of an outer ring and an inner ring, the outer ring of the second bearing is fixedly connected between the connecting plate and the second bearing seat, the inner ring of the second bearing is fixedly connected between the first transmission shaft and the fastening nut, and the inner ring can rotate freely around the axial direction of the inner ring relative to the outer ring;
the first bracket and the second bracket are respectively fixedly connected with two ends of the connecting plate and used for supporting the magnetic head part;
the third bearing consists of an outer ring and an inner ring, the outer ring of the third bearing is fixedly connected between the first bracket and the third bearing seat, the inner ring of the third bearing is fixedly connected between the second transmission shaft and the fastening nut, and the inner ring can rotate freely around the axial direction of the inner ring relative to the outer ring;
two ends of the second transmission shaft are respectively fixedly connected with a second bevel gear and a second driving wheel;
and the second driving wheel, the second driven wheel, the second synchronous belt and the second tensioning wheel form a second synchronous belt transmission mechanism.
Further, the magnetic head comprises an end cover, a middle barrel, a large magnet, a driving shaft, a supporting shaft and a fourth bearing, wherein:
the end covers are respectively and fixedly connected with two end surfaces of the middle barrel;
the large magnet is accommodated in a cavity formed by the middle barrel and the end cover;
two side surfaces of the middle barrel are respectively fixedly connected with a driving shaft and a supporting shaft, one end of the driving shaft is rotatably connected to the first support through a fourth bearing, the other end of the driving shaft is fixedly connected with a second driven wheel, and the supporting shaft is rotatably connected to the second support through the fourth bearing.
Further, the first motor and the second motor are any one of a servo motor and a closed-loop stepping motor.
Further, the first motor has a rotating speed of n 1 The first reduction gear reduction ratio is i 1 The second motor has a rotation speed of n 2 The second speed reducer has a reduction ratio of i 2 The first synchronous belt transmission mechanism has a transmission ratio of j 1 The transmission ratio of the second synchronous belt transmission mechanism is j 2 The transmission ratio of the first bevel gear and the second bevel gear is k, and the rotating speed m of the magnetic head around the first rotating shaft 1 Is composed of
Rotation speed m of magnetic head around the second rotation axis 2 Is composed of
Furthermore, one end of the second transmission shaft, which is provided with the second bevel gear, extends to the second bracket and is rotatably connected with the second bracket through a third bearing.
The magnetic control device disclosed by the invention is different from the scheme that the motor is directly arranged on the rotary part in the traditional magnetic control device, but the motor is fixedly arranged on the top, so that the rotary radius of the rotary part is reduced to the maximum extent, and meanwhile, as the positioning scheme of an absolute encoder is adopted, an optoelectronic return-to-zero mechanism in the traditional scheme is cancelled, and an expensive electric slip ring device is further cancelled, therefore, compared with the traditional scheme, the magnetic control device disclosed by the invention has the advantages of simpler structure, lower cost, high reliability and small volume and rotary radius.
Drawings
FIG. 1: the overall structure of the magnetic control device in the first embodiment of the invention is schematically shown.
FIG. 2 is a schematic diagram: FIG. 1 is a schematic sectional view of a magnetron device.
FIG. 3: FIG. 1 is a partially exploded view of a magnetron device.
FIG. 4 is a schematic view of: the second embodiment of the present invention is a schematic diagram of a magnetic control apparatus with a partial cross-sectional structure.
Each serial number and corresponding name are respectively:
Detailed Description
Referring to fig. 1, an overall structural diagram of a magnetic control device according to a first embodiment of the present invention and an overall cross-sectional structural diagram of the magnetic control device shown in fig. 2, the present invention provides a magnetic control device, which includes a driving portion 10, a first rotating portion 20, a second rotating portion 30 and a magnetic head portion 40, wherein the driving portion 10 is disposed above the first rotating portion 20 for providing a driving force for rotating the first rotating portion 20 and the second rotating portion 30, the second rotating portion 30 is rotatably connected to the first rotating portion 20 by taking an axis perpendicular to a horizontal plane as a first rotating axis, the magnetic head portion 40 is rotatably connected to the second rotating portion 30 by taking an axis parallel to the horizontal plane as a second rotating axis, and the driving portion 10 controls the magnetic head portion 40 to rotate freely around the first rotating axis and the second rotating axis.
Further, the driving portion 10 includes a first motor 101, a second motor 102, a first speed reducer 103, a second speed reducer 104, a first motor base 105, a second motor base 106, a support 107, and a coupling 108, wherein:
the whole body formed by the first motor 101 and the first speed reducer 103 is fixedly arranged on the first motor base 105, and the first motor 101 controls the magnetic head part 40 to rotate around the first rotating shaft;
the second motor 102 and the second reducer 104 are integrally and fixedly mounted on the second motor base 106, and the second motor 102 controls the magnetic head 40 to rotate around the second rotating shaft;
the second rotating shaft is perpendicular to the first rotating shaft, and the orientation of the second rotating shaft is changed in an interlocking manner along with the rotation of the first rotating shaft;
a support 107 for fixedly mounting the first motor base 105 and the second motor base 106;
further, the pillars 107 may be hexagonal pillars, cylindrical pillars, or support plates;
and a coupling 108 fixedly attached to an output shaft of the second speed reducer 104 for transmitting the rotational driving force provided by the second motor 102.
The first rotating part 20 includes a base 201, a first driving pulley 202, a first driven pulley 203, a first timing belt 204, a first bearing 205, a first bearing housing 206, a connecting bushing 207, and a first tension pulley 208, wherein:
the base 201 is used for supporting the whole magnetic control device, and one end of the base 201 is fixedly connected with a moving mechanism in the magnetic control equipment;
the first bearing 205 consists of an outer ring and an inner ring, the outer ring of the first bearing 205 is fixedly connected between the base 201 and the first bearing seat 206, the inner ring of the first bearing 205 is fixedly connected between the first driven wheel 203 and the connecting shaft sleeve 207, and the inner ring can freely rotate around the axial direction of the inner ring relative to the outer ring;
the first driving wheel 202 is fixedly connected to an output shaft of the first speed reducer 103, and the first driving wheel 202, the first driven wheel 203, the first synchronous belt 204 and the first tension wheel 208 jointly form a first synchronous belt transmission mechanism;
when the first motor 101 rotates, the first driving pulley 202 rotates along with the output shaft of the first speed reducer 103, and further drives the first driven pulley 203 and the connecting shaft sleeve 207 to rotate through the first synchronous belt 204.
With further reference to fig. 3, which is a schematic partially exploded view of the magnetic control apparatus of the first embodiment, the second rotating portion 30 includes a connecting plate 301, a second bearing 302, a second bearing housing 303, a first transmission shaft 304, a second transmission shaft 305, a fastening nut 306, a first bevel gear 307, a second bevel gear 308, a first bracket 309, a second bracket 310, a third bearing 311, a third bearing housing 312, a second driving pulley 313, a second driven pulley 314, a second timing belt 315, and a second tensioning pulley 316, wherein:
an attachment plate 301 fixedly coupled to the attachment boss 207 for supporting the second rotating part 30;
a first transmission shaft 304 having both ends connected to the coupling 108 and the first bevel gear 307, respectively, for transmitting the rotational power of the second motor 102;
the second bearing 302 consists of an outer ring and an inner ring, the outer ring of the second bearing 302 is fixedly connected between the connecting plate 301 and the second bearing seat 303, the inner ring of the second bearing 302 is fixedly connected between the first transmission shaft 304 and the fastening nut 306, and the inner ring can freely rotate around the axial direction of the inner ring relative to the outer ring;
the first bracket 309 and the second bracket 310 are fixedly connected to two ends of the connecting plate 301 respectively and used for supporting the magnetic head part 40;
the third bearing 311 is composed of an outer ring and an inner ring, the outer ring of the third bearing 311 is fixedly connected between the first bracket 309 and the third bearing seat 312, the inner ring of the third bearing 311 is fixedly connected between the second transmission shaft 305 and the fastening nut 306, and the inner ring can freely rotate around the axial direction thereof relative to the outer ring;
two ends of the second transmission shaft 305 are respectively fixedly connected with a second bevel gear 308 and a second driving wheel 313;
a second driving wheel 313, a second driven wheel 314, a second synchronous belt 315 and a second tension wheel 316 form a second synchronous belt transmission mechanism;
the magnetic head 40 includes an end cap 401, a middle barrel 402, a large magnet 403, a drive shaft 404, a support shaft 405, and a fourth bearing 406, wherein:
the two end covers 401 are respectively and fixedly connected to two end faces of the middle barrel 402;
the large magnet 403 is accommodated in a cavity formed by the middle barrel 402 and the two end covers 401, and the relative positions of the large magnet 403, the middle barrel 402 and the end covers 401 are fixed;
two side surfaces of the middle barrel 402 are fixedly connected with a driving shaft 404 and a supporting shaft 405 respectively, one end of the driving shaft 404 is rotatably connected to the first bracket 309 through a fourth bearing 406, the other end of the driving shaft 404 is fixedly connected to the second driven wheel 314, and the supporting shaft 405 is rotatably connected to the second bracket 310 through the fourth bearing 406.
When the magnetic control device works, a first motor 101 provides a rotary driving force, and a connecting shaft sleeve 207 drives a second rotary part 30 and a magnetic head part 40 to rotate around a first rotary shaft through the first synchronous belt transmission mechanism; the rotational driving force provided by the second motor 102 is transmitted from the first transmission shaft 304 to the second transmission shaft 305 through the first bevel gear 307 and the second bevel gear 308, and drives the magnetic head 40 to rotate around the second rotation axis through the second synchronous belt transmission mechanism.
The invention also provides a control method applying the magnetic control device, wherein the first motor 101 and the second motor 102 adopt any one of a servo motor, a closed-loop stepping motor or other position-controllable motors with encoders;
further, absolute encoders are arranged at the tops of the first motor 101 and the second motor 102;
the first motor 101 and the second motor 102 only need to be subjected to position debugging and zero position setting when being powered on for the first time, and do not need to perform zero return action after being powered on every time when being used normally, and the control system automatically memorizes the current positions.
Referring to fig. 2, when the first motor 101 stops and the second motor 102 rotates, the output shaft of the second speed reducer 104 drives the first transmission shaft 304 to rotate through the coupling 108, the first transmission shaft 304 is rotated through the first bevel gear 307 and the second bevel gear 308, so as to rotate the second transmission shaft 305 perpendicular thereto, and further drive the magnetic head 40 to rotate around the second rotation shaft through the second synchronous belt transmission mechanism;
when the first motor 101 rotates and the second motor 102 stops, the output shaft of the first speed reducer 103 drives the connecting sleeve 207 and the second rotating part 30 to rotate around the first rotating shaft through the first synchronous belt transmission mechanism, and simultaneously, due to the meshing fit relationship between the first bevel gear 307 and the second bevel gear 308, the second bevel gear 308 synchronously rotates around the first bevel gear 307 during revolution, so that the magnetic head part 40 simultaneously rotates around the first rotating shaft and the second rotating shaft;
when the magnetic control device is used, if only the magnetic head part 40 needs to rotate around the second rotating shaft, only the second motor 102 is controlled to rotate, and the first motor 101 keeps stopping; if the magnetic head 40 only needs to rotate around the first rotation axis, the first motor 101 needs to be controlled to rotate at the same time when the first motor 101 is controlled to rotate, so that when the second bevel gear 308 revolves around the first bevel gear 307, the two bevel gears are kept relatively static without meshing transmission, and the second bevel gear 308 does not rotate.
The rotation speed of the magnetic head 40 about the first and second rotation axes is related to the motor rotation speed as follows:
let the first motor 101 rotate at n 1 The first reduction gear 103 has a reduction ratio of i 1 The second motor 102 has a rotation speed n 2 The second reduction gear 104 has a reduction ratio of i 2 The first synchronous belt transmission mechanism has a transmission ratio of j 1 The transmission ratio of the second synchronous belt transmission mechanism is j 2 And the transmission ratio of the first bevel gear 307 and the second bevel gear 308 is k, then:
rotation speed m of magnetic head 40 around said first rotation axis 1 Is composed of
Rotation speed m of magnetic head 40 around said second rotation axis 2 Is composed of
Referring to fig. 4, a schematic partial sectional view of a magnetic control apparatus in a second embodiment of the present invention, a third bearing seat 312 can be simplified for the second rotating portion 30, one end of the second transmission shaft 305, which is mounted with the second bevel gear 308, extends to the second bracket 310 and is rotatably connected with the second bracket 310 through a third bearing 311, and connection relationships of the remaining components are the same as those in the first embodiment, and are not repeated herein.
According to the magnetic control device provided by the invention, the motor is fixedly arranged independently of the revolving part, and the magnetic head part is controlled to rotate around the two mutually vertical rotating shafts randomly through a special control method, so that the revolving radius is smaller, the structure is simple, the cost is low, and the reliability is high.
Although the spirit and scope of the present invention have been described in terms of preferred embodiments, those skilled in the art will recognize that the invention can be practiced with modification within the spirit and scope of the claims.
Claims (8)
1. The magnetic control device is characterized by comprising a driving part, a first rotating part, a second rotating part and a magnetic head part, wherein the driving part is arranged above the first rotating part and used for providing driving force for enabling the first rotating part and the second rotating part to rotate, the second rotating part is rotatably connected with the first rotating part by taking an axis perpendicular to a horizontal plane as a first rotating axis, the magnetic head part is rotatably connected with the second rotating part by taking an axis parallel to the horizontal plane as a second rotating axis, and the driving part controls the magnetic head part to rotate around the first rotating axis and the second rotating axis randomly.
2. The magnetic control device of claim 1, wherein the driving portion further comprises a first motor, a second motor, a first reducer, a second reducer, a first motor mount, a second motor mount, a strut, a coupling, wherein:
the first motor and the first speed reducer are fixedly arranged on the first motor base, and the first motor controls the magnetic head to rotate around the first rotating shaft;
the second motor and the second speed reducer are fixedly arranged on the second motor base, and the second motor controls the magnetic head to rotate around the second rotating shaft;
the second rotating shaft is perpendicular to the first rotating shaft, and the orientation of the second rotating shaft is changed along with the rotation of the first rotating shaft in an interlocking manner;
the strut is used for fixedly mounting the first motor base and the second motor base;
and the coupling is fixedly arranged on the output shaft of the second speed reducer and is used for transmitting the rotary driving force provided by the second motor.
3. The magnetic control apparatus of claim 2, wherein the first rotating portion further comprises a base, a first driving pulley, a first driven pulley, a first timing belt, a first bearing housing, a connecting bushing, and a first tension pulley, wherein:
a base for supporting a magnetic control device;
the first bearing consists of an outer ring and an inner ring, the outer ring of the first bearing is fixedly connected between the base and the first bearing seat, the inner ring of the first bearing is fixedly connected between the first driven wheel and the connecting shaft sleeve, and the inner ring can rotate freely around the axial direction of the inner ring relative to the outer ring;
the first driving wheel is fixedly connected to an output shaft of the first speed reducer, and the first driving wheel, the first driven wheel, the first synchronous belt and the first tensioning wheel jointly form a first synchronous belt transmission mechanism.
4. The magnetic control apparatus of claim 3, wherein the second rotating portion further comprises a connecting plate, a second bearing housing, a first transmission shaft, a second transmission shaft, a fastening nut, a first bevel gear, a second bevel gear, a first bracket, a second bracket, a third bearing housing, a second drive pulley, a second driven pulley, a second timing belt, and a second tension pulley, wherein:
the connecting plate is fixedly connected with the connecting shaft sleeve and is used for supporting the second rotating part;
two ends of the first transmission shaft are respectively connected with the coupler and the first bevel gear and are used for transmitting the rotating power of the second motor;
the second bearing consists of an outer ring and an inner ring, the outer ring of the second bearing is fixedly connected between the connecting plate and the second bearing seat, the inner ring of the second bearing is fixedly connected between the first transmission shaft and the fastening nut, and the inner ring can rotate freely around the axial direction of the inner ring relative to the outer ring;
the first bracket and the second bracket are respectively fixedly connected with two ends of the connecting plate and used for supporting the magnetic head part;
the third bearing consists of an outer ring and an inner ring, the outer ring of the third bearing is fixedly connected between the first bracket and the third bearing seat, the inner ring of the third bearing is fixedly connected between the second transmission shaft and the fastening nut, and the inner ring can rotate freely around the axial direction of the inner ring relative to the outer ring;
two ends of the second transmission shaft are respectively fixedly connected with a second bevel gear and a second driving wheel;
and the second driving wheel, the second driven wheel, the second synchronous belt and the second tensioning wheel form a second synchronous belt transmission mechanism.
5. The magnetic control apparatus of claim 4, wherein the magnetic head comprises an end cap, a middle barrel, a large magnet, a driving shaft, a supporting shaft, and a fourth bearing, wherein:
the end covers are respectively and fixedly connected with two end surfaces of the middle barrel;
the large magnet is accommodated in a cavity formed by the middle barrel and the end cover;
two side surfaces of the middle barrel are respectively fixedly connected with a driving shaft and a supporting shaft, one end of the driving shaft is rotatably connected to the first support through a fourth bearing, the other end of the driving shaft is fixedly connected with a second driven wheel, and the supporting shaft is rotatably connected to the second support through the fourth bearing.
6. The magnetic control apparatus of claim 2, wherein the first motor and the second motor are any one of a servo motor and a closed loop stepping motor.
7. The magnetic control apparatus of claim 4, wherein the first motor speed is n 1 The first reduction gear reduction ratio is i 1 The second motor has a rotation speed n 2 The second speed reducer has a reduction ratio of i 2 The first synchronous belt transmission mechanism has a transmission ratio of j 1 The transmission ratio of the second synchronous belt transmission mechanism is j 2 The transmission ratio of the first bevel gear and the second bevel gear is k, and the rotating speed m of the magnetic head around the first rotating shaft 1 Is composed of
Rotation speed m of magnetic head around the second rotation axis 2 Is composed of
8. The magnetic control device as claimed in claim 4, wherein the second transmission shaft has one end thereof mounted with the second bevel gear extending to the second bracket and rotatably connected to the second bracket through a third bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123274220.8U CN217310238U (en) | 2021-12-24 | 2021-12-24 | Magnetic control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123274220.8U CN217310238U (en) | 2021-12-24 | 2021-12-24 | Magnetic control device |
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| Publication Number | Publication Date |
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| CN217310238U true CN217310238U (en) | 2022-08-30 |
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| CN202123274220.8U Active CN217310238U (en) | 2021-12-24 | 2021-12-24 | Magnetic control device |
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| CN (1) | CN217310238U (en) |
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2021
- 2021-12-24 CN CN202123274220.8U patent/CN217310238U/en active Active
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