WO2021036342A1 - 一种用于抓取靶向药物的微纳机器人 - Google Patents
一种用于抓取靶向药物的微纳机器人 Download PDFInfo
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- WO2021036342A1 WO2021036342A1 PCT/CN2020/089661 CN2020089661W WO2021036342A1 WO 2021036342 A1 WO2021036342 A1 WO 2021036342A1 CN 2020089661 W CN2020089661 W CN 2020089661W WO 2021036342 A1 WO2021036342 A1 WO 2021036342A1
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- groove
- rotating
- fixedly installed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
Definitions
- the invention relates to the technical field of micro-nano robots, in particular to a micro-nano robot for grabbing targeted drugs.
- robots are widely used in modern production and life.
- macro-robots can be seen in industrial production, service industries and military warfare.
- macro-robots are often limited in their applications due to their large size. Therefore, micro-nano robots came into being.
- Such robots can perform tasks on the micro-nano scale and have excellent flexibility and adaptability.
- such robots can also work together in clusters.
- micro-nano robots have developed into a new research field.
- micro-nano robots also play an important role in the military, and their applications in nano-processing, high-end manufacturing, and environmental monitoring cannot be underestimated.
- the existing micro-nano robot cannot control the clamping force according to the size of the object to be clamped, which is likely to cause damage to the object. Therefore, we propose a micro-nano robot for grabbing targeted drugs to solve the above-mentioned problems.
- the purpose of the present invention is to provide a micro-nano robot for grabbing targeted drugs, so as to solve the problem that the micro-nano robot cannot control the clamping force according to the size of the object to be clamped, which is likely to cause damage to the object.
- a micro-nano robot for grabbing targeted drugs including a mounting seat, the bottom of the mounting seat is provided with a mounting groove, and a rotating block is rotatably installed in the mounting groove,
- the bottom of the rotating block is fixedly installed with a mounting plate
- the bottom of the mounting plate is provided with a rotating groove
- a rotating plate is rotatably installed in the rotating groove
- the bottom of the rotating plate is provided with a groove
- two worms are rotatably installed in the groove
- the outer sides of the two worms are fixedly installed with a first clamping arm, one end of the two first clamping arms is fixedly installed with a first splint
- two rotating rods are rotatably installed in the groove
- two rotating rods A worm wheel is fixedly installed on the outer side of one of the rotating rods, and the two worms are respectively meshed with the two worm wheels.
- the threads on the two worms are rotated in opposite directions.
- the outer sides of the two rotating rods are fixedly installed with a first gear and two second A gear is meshed, a second clamping arm is fixedly installed on the outer sides of the two rotating rods, a second clamping plate is fixedly installed on one end of the two second clamping arms, and a column is opened on the inner wall of one side of the groove.
- the outer side of the rotating rod is slidably connected with the side wall of the cylindrical groove, the inner wall of the cylindrical groove is provided with an annular groove, the annular plate is rotatably installed in the annular groove, and the inner side of the annular plate is fixedly installed with a stopper.
- a fixed block is fixedly installed on the outer side of one of the rotating rods, one side of the fixed block is in contact with the stopper, an annular rack is fixedly installed on the outer side of the annular plate, and a second inner wall is fixedly installed on one side of the annular groove.
- One motor is fixedly installed on the outer side of one of the rotating rods, one side of the fixed block is in contact with the stopper, an annular rack is fixedly installed on the outer side of the annular plate, and a second inner wall is fixedly installed on one side of the annular groove.
- a second motor is fixedly installed on one side of the inner wall of the installation slot, and the output shaft of the second motor is welded to one side of the rotating block.
- a first motor slot is opened on one side of the inner wall of the rotating slot
- a third motor is fixedly installed on one side of the inner wall of the first motor slot
- the output shaft of the third motor is welded to one side of the rotating plate.
- a second motor slot is opened on one side of the inner wall of the groove, a fourth motor is fixedly installed on one side of the second motor slot, and the output shaft of the fourth motor is welded to one end of the rotating rod.
- the inner walls of both sides of the annular groove are provided with annular grooves, two arc-shaped sliding blocks are fixedly installed on both sides of the annular plate, and the arc-shaped sliding blocks are slidably connected with the side walls of the annular groove.
- one side of the inner wall of the rotating groove is provided with a cylindrical groove
- a cylindrical block is rotatably installed in the cylindrical groove
- one side of the cylindrical block is welded to the rotating plate.
- a second gear is fixedly installed on the output shaft of the first motor, and the second gear meshes with the ring rack.
- two connecting grooves are provided on the inner walls of both sides of the groove, and connecting blocks are fixedly installed at both ends of the two worms, and the connecting blocks are slidably connected to the side walls of the connecting grooves.
- the specific method of use is:
- the fourth motor drives a rotating rod to rotate, and the rotating rod drives a first gear to rotate. Because the two first gears mesh, it can drive the other rotating rod to rotate. The direction of rotation of the two rotating rods
- the two second clamping arms are driven to rotate by the two rotating rods, and the two second clamping arms drive the two second clamping plates to approach each other;
- the two worm wheels are driven to rotate by the rotating rod, and the two worm wheels are driven to rotate.
- the threads on the two worms rotate in opposite directions, so the rotation directions of the two worms are opposite.
- the two worms drive the two first
- the clamping arm rotates
- the two first clamping arms drive the two first clamping plates to approach each other
- the two second clamping plates are used to clamp and fix the medicine
- the fixed block is driven to rotate through the rotating rod.
- the second gear is driven by the first motor to rotate.
- the rotation of the second gear causes the ring rack to drive the ring plate to rotate, and the ring plate drives the stopper to rotate, thereby adjusting the position of the stopper according to the size of the clamped medicine.
- the second motor drives the rotating block to rotate, so that the left and right angle of the clamping can be adjusted
- the third motor drives the rotating plate to rotate, so that the front and back angle of the clamping can be adjusted;
- the present invention can control the clamping force according to the size of the medicine, avoid damaging the medicine, and can adjust the clamping angle at the same time, with a simple structure and convenient use.
- the two second clamping arms are driven to rotate through the two rotating rods, and the two second clamping arms drive the two second clamping plates to approach each other.
- two worms drive the two first clamping arms to rotate, and the two first clamping arms drive the two first clamping plates to approach each other, and cooperate with the two second clamping plates to clamp and fix the medicine.
- the present invention makes the rotating rod unable to rotate through the stopper, thereby controlling the clamping force and avoiding damage to the medicine.
- the present invention uses the annular plate to drive the stopper to rotate, thereby adjusting the position of the stopper, and adjust the position of the stopper according to the size of the clamped medicine;
- the second motor drives the rotating block to rotate, so that the left and right angles of the clamping can be adjusted
- the third motor drives the rotating plate to rotate, so that the front and rear angles of the clamping can be adjusted
- the invention can control the clamping force according to the size of the medicine, avoid damaging the medicine, and can adjust the clamping angle at the same time, with a simple structure and convenient use.
- Figure 1 is a schematic diagram of the structure of the present invention
- Figure 2 is a schematic diagram of the structure of part A of the present invention.
- Figure 3 is a schematic diagram of the structure of part B of the present invention.
- Figure 4 is a schematic side view of the structure of the connection between the rotating rod, the annular plate, the stopper, the fixed block and the annular rack of the present invention
- Fig. 5 is a schematic diagram of the three-dimensional structure of the connection between the first clamping arm and the first clamping plate of the present invention.
- the present invention provides a micro-nano robot for grabbing targeted drugs.
- the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
- This embodiment provides a micro-nano robot for grabbing targeted drugs, including a mounting base 1.
- a mounting groove 2 is opened at the bottom of the mounting base 1, and a rotating installation is installed in the mounting groove 2
- Block 3 the bottom of the rotating block 3 is fixedly installed with a mounting plate 4, the bottom of the mounting plate 4 is provided with a rotating groove 5, a rotating plate 6 is rotatably installed in the rotating groove 5, and the bottom of the rotating plate 6 is provided with a groove 7.
- Two worms 8 are installed to rotate inside, the outer sides of the two worms 8 are fixedly installed with a first clamping arm 9, and one end of the two first clamping arms 9 is fixedly installed with a first splint 10, in the groove 7
- Two rotating rods 11 are rotatably installed.
- a worm wheel 14 is fixedly installed on the outer side of one of the two rotating rods 11.
- the two worm shafts 8 mesh with the two worm wheels 14 respectively, and the threads on the two worm shafts 8 are rotated to
- the outer sides of the two rotating rods 11 are fixedly installed with a first gear 15, and the two first gears 15 are meshed, and the outer sides of the two rotating rods 11 are fixedly installed with a second clamping arm 12 and two second clamps.
- a second splint 13 is fixedly installed at one end of the arm 12, a cylindrical groove is provided on one inner wall of the groove 7, and the outer side of the rotating rod 11 is slidably connected with the side wall of the cylindrical groove, and the inner wall of the cylindrical groove is provided with a cylindrical groove.
- annular plate 21 is rotatably installed in the annular groove 20
- a stop 22 is fixedly installed on the inner side of the annular plate 21
- a fixed block 23 is fixedly installed on the outer side of one of the two rotating rods 11, and the fixed block 23
- One side of the ring is in contact with the stopper 22, the outer side of the ring plate 21 is fixedly installed with a ring rack 24, and one side of the inner wall of the ring groove 20 is fixedly mounted with a first motor 25.
- the screw threads on the two worms 8 are in opposite directions, so when the two worm wheels 14 rotate, the two worms 8 can be rotated in opposite directions, and the two first gears 15 are meshed, so the two first gears The direction of rotation of 15 is opposite, so that the direction of rotation of the two rotating rods 11 can be opposite.
- the fourth motor 19 drives a rotating rod 11 to rotate, and the rotating rod 11 drives a first gear 15 to rotate. Since the two first gears 15 are meshed, the other rotating rod 11 can be driven to rotate.
- the rotation directions of the two rotating rods 11 are opposite, and the two second clamping arms 12 are driven to rotate by the two rotating rods 11, and the two second clamping arms 12 drive the two second clamping plates 13 to approach each other, which are driven by the rotating rod 11
- the two worm wheels 14 rotate, and the two worm wheels 14 drive the two worms 8 to rotate.
- the threads on the two worms 8 rotate in opposite directions, so the rotation directions of the two worms 8 are opposite.
- the two worms 8 drive the two first clamps.
- the arm 9 rotates, and the two first clamping arms 9 drive the two first splints 10 close to each other, and cooperate with the two second splints 13 to clamp and fix the medicine.
- the rotating rod 11 drives the fixed block 23 to rotate. When the fixed block 23 When in contact with the stop block 22, the fixed block 23 cannot continue to rotate, and the rotating rod 11 cannot rotate at this time, so that the clamping force is controlled to avoid damage to the medicine.
- a second motor is fixedly installed on the inner wall of one side of the mounting slot 2, and the output shaft of the second motor is welded to one side of the rotating block 3.
- a first motor slot 16 is provided on one inner wall of the rotating slot 5
- a third motor 17 is fixedly installed on one inner wall of the first motor slot 16
- the output shaft of the third motor 17 is welded to one side of the rotating plate 6
- a second motor slot 18 is opened on one side of the inner wall of the groove 7
- a fourth motor 19 is fixedly installed on one side of the second motor slot 18, and the output shaft of the fourth motor 19 is welded to one end of the rotating rod 11.
- the annular groove 20 is provided with annular grooves on both sides of the inner wall of the annular groove 20, two arc-shaped sliding blocks are fixedly installed on both sides of the annular plate 21, and the arc-shaped sliding blocks are slidably connected with the side wall of the annular groove, so The plate 21 rotates steadily.
- a cylindrical groove is provided on one side of the inner wall of the rotary groove 5, and a cylindrical block is rotatably installed in the cylindrical groove.
- One side of the cylindrical block is welded to the rotating plate 6, which can make the rotating plate 6 rotate stably.
- a second gear 26 is fixedly installed on the output shaft of a motor 25.
- the second gear 26 is meshed with the ring rack 24.
- Two connecting grooves are provided on both sides of the inner wall of the groove 7.
- the two ends of the two worms 8 A connecting block is fixedly installed, and the connecting block is slidably connected to the side wall of the connecting groove, so that the two worms 8 can rotate stably.
- the second gear 26 is driven to rotate by the first motor 25, and the rotation of the second gear 26 causes the ring rack 24 to drive the ring plate 21 to rotate, and the ring plate 21 drives the stopper 22 to rotate, thereby adjusting the position of the stopper 22. Adjust the position of the stopper 22 according to the size of the clamped drug.
- the second motor drives the rotating block 3 to rotate, so that the left and right angles of the clamp can be adjusted.
- the third motor 17 drives the rotating plate 6 to rotate, thereby The front and rear angle of the clamping can be adjusted.
Abstract
一种用于抓取靶向药物的微纳机器人，包括安装座（1），安装座（1）的底部开设有安装槽（2），安装槽（2）内转动安装有转动块（3），转动块（3）的底部固定安装有安装板（4），安装板（4）的底部开设有转动槽（5），转动槽（5）内转动安装有转动板（6），转动板（6）的底部开设有凹槽（7），凹槽（7）内转动安装有两个蜗杆（8），两个蜗杆（8）的外侧均固定安装有第一夹持臂（9），两个第一夹持臂（9）的一端均固定安装有第一夹板（10），凹槽（7）内转动安装有两个转动杆（11），两个转动杆（11）中的一个转动杆的外侧固定安装有蜗轮（14），两个蜗杆（8）分别与两个蜗轮（）14相啮合，两个蜗杆（8）上的螺纹旋向相反。该微纳机器人能够根据药物的大小对夹持的力度进行控制，避免损坏药物，同时可以对夹持的角度进行调节，结构简单，使用方便。
Description
本发明涉及微纳机器人技术领域，具体为一种用于抓取靶向药物的微纳机器人。
随着机器人科技的飞速发展，机器人广泛应用于现代的生产和生活中。机器人有多种类型，整体尺寸从微观到宏观不等。通常，工业生产、服务行业和军事战争中都能看到宏观机器人的身影。然而，在某些特定情况，例如体内介入诊断和治疗，宏观机器人往往由于尺寸过大而应用受限。因此，微纳机器人应运而生，该类机器人能在微纳尺度上执行任务且具有优异的灵活性、适应性，此外，该类机器人还能以集群的方式协同作业。在过去的几十年，微纳机器人俨然发展成为一个新的研究领域。其在生物医学领域具有最广泛的应用前景，如靶向药物传送与释放、疾病诊断与治疗等。此外，微纳机器人在军事方面也有着举足轻重的地位，其在纳米加工、高端制造和环境监测之中的应用也不容小觑。
现有的微纳机器人不能根据夹取物品的大小来控制夹持力度，容易造成物品的损坏，因此我们提出了一种用于抓取靶向药物的微纳机器人，用来解决上述问题。
本发明的目的在于提供一种用于抓取靶向药物的微纳机器人，以解决上述微纳机器人不能根据夹取物品的大小来控制夹持力度，容易造成物品的损坏的问题。
为实现上述目的，本发明提供如下技术方案：一种用于抓取靶向药物的微纳机器人，包括安装座，所述安装座的底部开设有安装槽，安装槽内转动安装有转动块，所述转动块的底部固定安装有安装板，安装板的底部开设有转动槽，转动槽内转动安装有转动板，所述转动板的底部开设有凹槽，凹槽内转动安装有两个蜗杆，两个蜗杆的外侧均固定安装有第一夹持臂，两个第一夹持臂的一端均固定安装有第一夹板，所述凹槽内转动安装有两个转动杆，两个转动杆中的一个转动杆的外侧固定安装有蜗轮，两个蜗杆分别与两个蜗轮相啮合，两个蜗杆上的螺纹旋向相反，两个转动杆的外侧均固定安装有第一齿轮，两个第一齿轮相啮合，两个转动杆的外侧均固定安装有第二夹持臂，两个第二夹持臂的一端均固定安装有第二夹板，所述凹槽的一侧内壁上开设有柱形槽，转动杆的外侧与柱形槽的侧壁滑动连接，柱形槽的内壁开设有环形槽，所述环形槽内转动安装有环形板，环形板的内侧固定安装有挡块，两个转动杆中的一个转动杆的外侧固定安装有固定块，固定块的一侧与挡块相接触，所述环形板的外侧固定安装有环形齿条，环形槽的一侧内壁上固定安装有第一电机。
优选的，所述安装槽的一侧内壁上固定安装有第二电机，第二电机的输出轴与转动块的一侧相焊接。
优选的，所述转动槽的一侧内壁上开设有第一电机槽，第一电机槽的一侧内壁上固定安装有第三电机，第三电机的输出轴与转动板的一侧相焊接。
优选的，所述凹槽的一侧内壁上开设有第二电机槽，第二电机槽的一侧内壁上固定安装有第四电机，第四电机的输出轴与转动杆的一端相焊接。
优选的，所述环形槽的两侧内壁上均开设有环形凹槽，环形板的两侧均固定安装有两个弧形滑动块，弧形滑动块与环形凹槽的侧壁滑动连接。
优选的，所述转动槽的一侧内壁上开设有圆柱槽，圆柱槽内转动安装有圆柱块，圆柱块的一侧与转动板相焊接。
优选的，所述第一电机的输出轴上固定安装有第二齿轮，第二齿轮与环形齿条相啮合。
优选的，所述凹槽的两侧内壁上均开设有两个连接槽，两个蜗杆的两端均固定安装有连接块，连接块与连接槽的侧壁滑动连接。
优选的，其具体使用方法为：
（A1）、使用时，通过第四电机带动一个转动杆转动，转动杆带动一个第一齿轮转动，由于两个第一齿轮啮合，所以可以带动另一个转动杆转动，两个转动杆的转动方向相反，通过两个转动杆带动两个第二夹持臂转动，两个第二夹持臂带动两个第二夹板相互靠近；
（A2）、通过转动杆带动两个蜗轮转动，两个蜗轮带动两个蜗杆转动，两个蜗杆上的螺纹旋向相反，所以两个蜗杆的转动方向相反，通过两个蜗杆带动两个第一夹持臂转动，两个第一夹持臂带动两个第一夹板相互靠近，配合两个第二夹板对药物进行夹持固定，通过转动杆带动固定块转动，当固定块与挡块接触时，固定块无法继续转动，此时转动杆也无法转动，从而对夹持的力度进行控制，避免损坏药物；
（A3）、通过第一电机带动第二齿轮转动，第二齿轮的转动使环形齿条带动环形板转动，环形板带动挡块转动，从而对挡块的位置进行调节，根据夹持药物的大小来调节挡块的位置，通过第二电机带动转动块转动，从而可以对夹持的左右角度进行调节，通过第三电机带动转动板转动，从而可以对夹持的前后角度进行调节；
（A4）、本发明能够根据药物的大小对夹持的力度进行控制，避免损坏药物，同时可以对夹持的角度进行调节，结构简单，使用方便。
1.本发明使用时，通过两个转动杆带动两个第二夹持臂转动，两个第二夹持臂带动两个第二夹板相互靠近。
2.本发明通过两个蜗杆带动两个第一夹持臂转动，两个第一夹持臂带动两个第一夹板相互靠近，配合两个第二夹板对药物进行夹持固定。
3.本发明通过挡块使转动杆也无法转动，从而对夹持的力度进行控制，避免损坏药物。
4.本发明通过环形板带动挡块转动，从而对挡块的位置进行调节，根据夹持药物的大小来调节挡块的位置；
5.本发明通过第二电机带动转动块转动，从而可以对夹持的左右角度进行调节，通过第三电机带动转动板转动，从而可以对夹持的前后角度进行调节；
6.本发明能够根据药物的大小对夹持的力度进行控制，避免损坏药物，同时可以对夹持的角度进行调节，结构简单，使用方便。
图1为本发明结构示意图；
图2为本发明A部分的结构示意图；
图3为本发明B部分的结构示意图；
图4为本发明转动杆、环形板、挡块、固定块和环形齿条连接的侧视结构示意图；
图5为本发明第一夹持臂与第一夹板连接的立体结构示意图。
图中：1、安装座；2、安装槽；3、转动块；4、安装板；5、转动槽；6、转动板；7、凹槽；8、蜗杆；9、第一夹持臂；10、第一夹板；11、转动杆；12、第二夹持臂；13、第二夹板；14、蜗轮；15、第一齿轮；16、第一电机槽；17、第三电机；18、第二电机槽；19、第四电机；20、环形槽；21、环形板；22、挡块；23、固定块；24、环形齿条；25、第一电机；26、第二齿轮。
为了解决微纳机器人不能根据夹取物品的大小来控制夹持力度，容易造成物品的损坏的问题，本发明提供了一种用于抓取靶向药物的微纳机器人。下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1
请参阅图1-5，本实施例提供了一种用于抓取靶向药物的微纳机器人，包括安装座1，安装座1的底部开设有安装槽2，安装槽2内转动安装有转动块3，转动块3的底部固定安装有安装板4，安装板4的底部开设有转动槽5，转动槽5内转动安装有转动板6，转动板6的底部开设有凹槽7，凹槽7内转动安装有两个蜗杆8，两个蜗杆8的外侧均固定安装有第一夹持臂9，两个第一夹持臂9的一端均固定安装有第一夹板10，凹槽7内转动安装有两个转动杆11，两个转动杆11中的一个转动杆11的外侧固定安装有蜗轮14，两个蜗杆8分别与两个蜗轮14相啮合，两个蜗杆8上的螺纹旋向相反，两个转动杆11的外侧均固定安装有第一齿轮15，两个第一齿轮15相啮合，两个转动杆11的外侧均固定安装有第二夹持臂12，两个第二夹持臂12的一端均固定安装有第二夹板13，凹槽7的一侧内壁上开设有柱形槽，转动杆11的外侧与柱形槽的侧壁滑动连接，柱形槽的内壁开设有环形槽20，环形槽20内转动安装有环形板21，环形板21的内侧固定安装有挡块22，两个转动杆11中的一个转动杆11的外侧固定安装有固定块23，固定块23的一侧与挡块22相接触，环形板21的外侧固定安装有环形齿条24，环形槽20的一侧内壁上固定安装有第一电机25。
其中，两个蜗杆8上的螺纹旋向相反，所以当两个蜗轮14转动时，可以使两个蜗杆8朝着相反的方向转动，两个第一齿轮15相啮合，所以两个第一齿轮15的转动方向相反，由此可以使两个转动杆11的转动方向相反。
本实施例中，使用时，通过第四电机19带动一个转动杆11转动，转动杆11带动一个第一齿轮15转动，由于两个第一齿轮15啮合，所以可以带动另一个转动杆11转动，两个转动杆11的转动方向相反，通过两个转动杆11带动两个第二夹持臂12转动，两个第二夹持臂12带动两个第二夹板13相互靠近，通过转动杆11带动两个蜗轮14转动，两个蜗轮14带动两个蜗杆8转动，两个蜗杆8上的螺纹旋向相反，所以两个蜗杆8的转动方向相反，通过两个蜗杆8带动两个第一夹持臂9转动，两个第一夹持臂9带动两个第一夹板10相互靠近，配合两个第二夹板13对药物进行夹持固定，通过转动杆11带动固定块23转动，当固定块23与挡块22接触时，固定块23无法继续转动，此时转动杆11也无法转动，从而对夹持的力度进行控制，避免损坏药物。
实施例2
请参阅图1-5，在实施例1的基础上做了进一步改进：安装槽2的一侧内壁上固定安装有第二电机，第二电机的输出轴与转动块3的一侧相焊接，转动槽5的一侧内壁上开设有第一电机槽16，第一电机槽16的一侧内壁上固定安装有第三电机17，第三电机17的输出轴与转动板6的一侧相焊接，凹槽7的一侧内壁上开设有第二电机槽18，第二电机槽18的一侧内壁上固定安装有第四电机19，第四电机19的输出轴与转动杆11的一端相焊接，环形槽20的两侧内壁上均开设有环形凹槽，环形板21的两侧均固定安装有两个弧形滑动块，弧形滑动块与环形凹槽的侧壁滑动连接，可以使环形板21稳定的转动，转动槽5的一侧内壁上开设有圆柱槽，圆柱槽内转动安装有圆柱块，圆柱块的一侧与转动板6相焊接，可以使转动板6稳定的转动，第一电机25的输出轴上固定安装有第二齿轮26，第二齿轮26与环形齿条24相啮合，凹槽7的两侧内壁上均开设有两个连接槽，两个蜗杆8的两端均固定安装有连接块，连接块与连接槽的侧壁滑动连接，可以使两个蜗杆8稳定的转动。
本实施例中，通过第一电机25带动第二齿轮26转动，第二齿轮26的转动使环形齿条24带动环形板21转动，环形板21带动挡块22转动，从而对挡块22的位置进行调节，根据夹持药物的大小来调节挡块22的位置，通过第二电机带动转动块3转动，从而可以对夹持的左右角度进行调节，通过第三电机17带动转动板6转动，从而可以对夹持的前后角度进行调节。
本发明的描述中，需要说明的是，术语“竖直”、“上”、“下”、“水平”等指示的方位或者位置关系为基于附图所示的方位或者位置关系，仅是为了便于描述本发明和简化描述，而不是指示或者暗示所指的装置或者元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，“第一”、“第二”仅用于描述目的，而不能理解为指示或者暗示相对重要性。
本发明的描述中，还需要说明的是，除非另有明确的规定和限制，术语“设置”、“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接，可以是机械连接，也可以是电连接，可以是直接连接，也可以是通过中间媒介相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。
Claims (9)
- 一种用于抓取靶向药物的微纳机器人，包括安装座（1），其特征在于：所述安装座（1）的底部开设有安装槽（2），安装槽（2）内转动安装有转动块（3），所述转动块（3）的底部固定安装有安装板（4），安装板（4）的底部开设有转动槽（5），转动槽（5）内转动安装有转动板（6），所述转动板（6）的底部开设有凹槽（7），凹槽（7）内转动安装有两个蜗杆（8），两个蜗杆（8）的外侧均固定安装有第一夹持臂（9），两个第一夹持臂（9）的一端均固定安装有第一夹板（10），所述凹槽（7）内转动安装有两个转动杆（11），两个转动杆（11）中的一个转动杆（11）的外侧固定安装有蜗轮（14），两个蜗杆（8）分别与两个蜗轮（14）相啮合，两个蜗杆（8）上的螺纹旋向相反，两个转动杆（11）的外侧均固定安装有第一齿轮（15），两个第一齿轮（15）相啮合，两个转动杆（11）的外侧均固定安装有第二夹持臂（12），两个第二夹持臂（12）的一端均固定安装有第二夹板（13），所述凹槽（7）的一侧内壁上开设有柱形槽，转动杆（11）的外侧与柱形槽的侧壁滑动连接，柱形槽的内壁开设有环形槽（20），所述环形槽（20）内转动安装有环形板（21），环形板（21）的内侧固定安装有挡块（22），两个转动杆（11）中的一个转动杆（11）的外侧固定安装有固定块（23），固定块（23）的一侧与挡块（22）相接触，所述环形板（21）的外侧固定安装有环形齿条（24），环形槽（20）的一侧内壁上固定安装有第一电机（25）。
- 根据权利要求1所述的一种用于抓取靶向药物的微纳机器人，其特征在于：所述安装槽（2）的一侧内壁上固定安装有第二电机，第二电机的输出轴与转动块（3）的一侧相焊接。
- 根据权利要求1所述的一种用于抓取靶向药物的微纳机器人，其特征在于：所述转动槽（5）的一侧内壁上开设有第一电机槽（16），第一电机槽（16）的一侧内壁上固定安装有第三电机（17），第三电机（17）的输出轴与转动板（6）的一侧相焊接。
- 根据权利要求1所述的一种用于抓取靶向药物的微纳机器人，其特征在于：所述凹槽（7）的一侧内壁上开设有第二电机槽（18），第二电机槽（18）的一侧内壁上固定安装有第四电机（19），第四电机（19）的输出轴与转动杆（11）的一端相焊接。
- 根据权利要求1所述的一种用于抓取靶向药物的微纳机器人，其特征在于：所述环形槽（20）的两侧内壁上均开设有环形凹槽，环形板（21）的两侧均固定安装有两个弧形滑动块，弧形滑动块与环形凹槽的侧壁滑动连接。
- 根据权利要求1所述的一种用于抓取靶向药物的微纳机器人，其特征在于：所述转动槽（5）的一侧内壁上开设有圆柱槽，圆柱槽内转动安装有圆柱块，圆柱块的一侧与转动板（6）相焊接。
- 根据权利要求1所述的一种用于抓取靶向药物的微纳机器人，其特征在于：所述第一电机（25）的输出轴上固定安装有第二齿轮（26），第二齿轮（26）与环形齿条（24）相啮合。
- 根据权利要求1所述的一种用于抓取靶向药物的微纳机器人，其特征在于：所述凹槽（7）的两侧内壁上均开设有两个连接槽，两个蜗杆（8）的两端均固定安装有连接块，连接块与连接槽的侧壁滑动连接。
- 根据权利要求1所述的一种用于抓取靶向药物的微纳机器人，其具体使用方法为：（A1）、使用时，通过第四电机（19）带动一个转动杆（11）转动，转动杆（11）带动一个第一齿轮（15）转动，由于两个第一齿轮（15）啮合，所以可以带动另一个转动杆（11）转动，两个转动杆（11）的转动方向相反，通过两个转动杆（11）带动两个第二夹持臂（12）转动，两个第二夹持臂（12）带动两个第二夹板（13）相互靠近；（A2）、通过转动杆（11）带动两个蜗轮（14）转动，两个蜗轮（14）带动两个蜗杆（8）转动，两个蜗杆（8）上的螺纹旋向相反，所以两个蜗杆（8）的转动方向相反，通过两个蜗杆（8）带动两个第一夹持臂（9）转动，两个第一夹持臂（9）带动两个第一夹板（10）相互靠近，配合两个第二夹板（13）对药物进行夹持固定，通过转动杆（11）带动固定块（23）转动，当固定块（23）与挡块（22）接触时，固定块（23）无法继续转动，此时转动杆（11）也无法转动，从而对夹持的力度进行控制，避免损坏药物；（A3）、通过第一电机（25）带动第二齿轮（26）转动，第二齿轮（26）的转动使环形齿条（24）带动环形板（21）转动，环形板（21）带动挡块（22）转动，从而对挡块（22）的位置进行调节，根据夹持药物的大小来调节挡块（22）的位置，通过第二电机带动转动块（3）转动，从而可以对夹持的左右角度进行调节，通过第三电机（17）带动转动板（6）转动，从而可以对夹持的前后角度进行调节；（A4）、本发明能够根据药物的大小对夹持的力度进行控制，避免损坏药物，同时可以对夹持的角度进行调节，结构简单，使用方便。
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