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Capsule robot and multi-wedge effect drive control method thereof

A capsule robot, circular technology, applied in the direction of surgical robots, applications, manipulators, etc., to achieve the effect of eliminating gaps, increasing thrust, and reducing thickness

Inactive Publication Date: 2010-03-03
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, under the condition of rotating magnetic field, based on the principle of multi-wedge effect, the research on realizing the drive control of capsule robot has not been reported.

Method used

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  • Capsule robot and multi-wedge effect drive control method thereof
  • Capsule robot and multi-wedge effect drive control method thereof
  • Capsule robot and multi-wedge effect drive control method thereof

Examples

Experimental program
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Embodiment Construction

[0034] Specific embodiments of the present invention will be described in detail below in conjunction with technical solutions and accompanying drawings.

[0035] Combined with the micro-elastic hinge elements 5 evenly distributed along the circumferential direction in Figure 2, it is connected with the copper tile 4 with the spiral rib 3 at a certain initial deformation, and several copper tiles 4 are pushed away in the radial direction. When concave, the copper tile 4 on one side can be compressed to increase the flexibility of the robot surface to adapt to the complex internal environment. The initial deformation of the micro-elastic hinge element 5 also makes several copper tiles 4 smaller in diameter. Easier to stretch radially. The axial section along each copper tile 4 presents an oval shape, which is to increase the flexibility of the robot surface to adapt to the complex internal environment; along the vertical axis of the robot and the section of each copper tile 4 p...

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Abstract

This invention belongs to the technical field of automatic engineering, which relates to a capsule robot and a multi-wedge effect drive control method thereof. The invention is characterized in that the outside surface of the robot forms a plurality of bumps with spiral rib brasses so as to form a plurality of wedged angles, and the multi-wedge effect theory of fluid is used for controlling the movement of the capsule robot; the centrifugal force of the bumps with spiral rib brasses of the robot and the rigidity of miniature elastic hinges are used for adjusting the contact degree between therobot and the soft elastic pipe wall of the robot; a ring with two magnetic poles is used for generating a rotating magnetic field so as to adjust and control the moving speed of the capsule robot. The invention has the advantages that the robot has high driving efficiency, favorable reliability and practicability, can vertically move in a soft elastic pipe wall, and has good adaptability to the environment of the soft elastic pipe wall, wide applicable scope of pipe diameter and easy control.

Description

technical field [0001] The invention belongs to the technical field of automation engineering, and relates to a closed pipeline filled with large-viscosity liquid in a variable-section soft-elastic complex environment under the condition of an external rotating magnetic field, using the multi-wedge effect of fluid dynamics to effectively realize the capsule robot and its operation in a flexible environment. Actuation control methods within elastic pipelines. Background technique [0002] The magnetic control cableless drive micro-robot is closer to the natural state, and has the characteristics of high reliability and safety when working in the flexible and elastic pipeline. With the body fluid in the soft and elastic pipeline as the medium, it can reach the deep part of the flexible and elastic pipeline. Therefore, the swimming micro-robot provides an important operation form for intervening in the flexible and elastic pipeline, and has broad application prospects. [000...

Claims

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Application Information

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IPC IPC(8): B25J7/00A61B19/00A61B34/30
Inventor 张永顺岳明杨振强张斯佳王殿龙郭东明
Owner DALIAN UNIV OF TECH
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