A magnetic control device and capsule endoscope control system

Abstract

The present application discloses a magnetic control device and a capsule endoscope control system. The magnetic control device includes: a first bracket, a second bracket, a magnetic component, a first drive mechanism, and a second drive mechanism. The magnetic component includes a shell and a shaft connected to the shell. The shell is provided with a magnet and a drive fitting portion. The shaft is rotatably connected to the second bracket. The first drive mechanism is provided on the first bracket and drives the connection to the second bracket. The second drive mechanism is provided on the second bracket and drives the connection to the magnetic component. The first drive mechanism drives the second bracket to drive the magnetic component to rotate around the first axis. The second drive mechanism drives the magnetic component to rotate around the second axis. The first axis intersects the second axis. In the present application, the drive fitting portion is provided on the shell, rather than on the shaft, so that the magnetic component serves as part of the transmission chain, thereby reducing the volume of the magnetic control device and saving space.

Description

Technical Field

[0001] The present application relates to the technical field of capsule endoscope equipment, and in particular to a magnetic control device and a capsule endoscope control system. Background Art

[0002] Currently, routine examinations of the human digestive tract using capsule endoscopy are a relatively advanced diagnostic method on the market. Compared to inserting a traditional electronic endoscope, swallowing a capsule endoscope does not cause physical or psychological discomfort to the examinee and also reduces the possibility of cross-infection.

[0003] A magnetically controlled capsule endoscope is a device that can actively control the inspection field of view through an operating terminal. Currently, the most common control method is to place a magnet outside the human body. By changing the magnet's orientation and posture, the magnetic field around the magnet changes in an orderly manner. The magnet inside the magnetically controlled capsule endoscope is influenced by the changing external magnetic field, driving the capsule endoscope's movement and thus changing the inspection field of view.

[0004] In the prior art, the design of the transmission chain of the magnetic control device is complex, resulting in a large size of the magnetic control device, especially a large circumferential dimension, which requires a large amount of space. Summary of the Invention

[0005] The purpose of this application is to provide a magnetic control device and a capsule endoscope control system to simplify the design structure of the transmission chain, reduce the volume of the magnetic control device, and save space.

[0006] The above-mentioned and other objects are achieved by the features of the independent claims. Further implementations are given in the dependent claims, the description and the drawings.

[0007] In a first aspect, the present application provides a magnetron device, comprising:

[0008] A bracket assembly comprising a first bracket and a second bracket;

[0009] The magnetic component comprises a shell and a shaft connected to the shell; the shell is provided with a magnet and a driving engagement portion; the shaft is rotatably connected to the second bracket;

[0010] a first driving mechanism, disposed on the first bracket and drivingly connected to the second bracket to drive the magnetic component to rotate around the first axis;

[0011] a second driving mechanism, disposed on the second bracket and drivingly connected to the driving engagement portion to drive the magnetic component to rotate around a second axis;

[0012] The first axis intersects the second axis.

[0013] In this solution, the drive engagement portion is located on the housing rather than the shaft, making the magnetic component part of the transmission chain. This reduces the size of the magnetic control device and saves space. Furthermore, the first and second drive mechanisms of the magnetic control device are separately arranged, with the first drive mechanism mounted on the first bracket and the second drive mechanism mounted on the rotatable second bracket. This simplifies the design of the transmission chain, reduces the size of the magnetic control device, and saves space.

[0014] In a possible embodiment, the driving engagement portion is arranged around the shell portion with the second axis as the center line;

[0015] The second driving mechanism drives the driving engagement portion to rotate, thereby driving the shell portion to rotate around the second axis.

[0016] In this embodiment, the drive fitting portion is arranged in a ring shape along the shell portion, and the second drive mechanism drives the drive fitting portion to rotate, thereby driving the shell portion to rotate integrally.

[0017] In a possible embodiment, the second driving mechanism includes a second driving component and a second transmission assembly, the input end of the second transmission assembly is connected to the second driving component, the output end of the second transmission assembly is connected to the driving mating part of the shell, and the second driving component drives the second transmission assembly so that the second transmission assembly drives the driving mating part and the shell to rotate.

[0018] In a possible embodiment, the driving engagement portion includes a first gear, and the first gear is sleeved on the housing portion; the second driving mechanism includes at least a second gear; the second gear is meshed with the first gear;

[0019] Alternatively, the drive fitting portion includes a first pulley, which is sleeved on the shell portion; the second drive mechanism includes a second pulley and a belt; and the belt is sleeved on the first pulley and the second pulley.

[0020] In the above solution, power is transmitted through a gear mechanism or a belt transmission mechanism, and the power transmission is smooth and reliable and does not take up space.

[0021] In a possible embodiment, the second bracket includes a connecting plate and side plates provided on opposite sides of the connecting plate;

[0022] A first driving mechanism drives and connects the connecting plate;

[0023] The shell portion is accommodated between the side plates, and the shaft portion is rotatably connected to the side plates;

[0024] The second driving mechanism is connected to the connecting plate and / or the side plate.

[0025] In the above solution, the shell is accommodated between the side plates, the shaft is rotatably connected to the side plates, and the second drive mechanism is directly connected to the shell, making the overall structure of the magnetic control device compact and reducing the size of the magnetic control device.

[0026] In a possible embodiment, the second driving mechanism includes a second driving component, a rotating body and a permanent magnet;

[0027] The second driving component is drivingly connected to the rotating body, and the permanent magnet is installed on the rotating body;

[0028] The second driving component drives the rotating body, so that the rotating body drives the permanent magnet to rotate, thereby driving the magnetic component to rotate.

[0029] In the above solution, the permanent magnet drives the magnetic component to move, eliminating the need for transmission components, simplifying the internal transmission chain design, and facilitating reduction in the size of the magnetic control device.

[0030] In a possible embodiment, the rotating body includes a first semi-axle body and a second semi-axle body connected to each other;

[0031] The first semi-axial body has a first groove, and the second semi-axial body has a second groove;

[0032] When the first semi-axial body and the second semi-axial body are connected, the first groove and the second groove are connected to form an accommodating cavity, and the permanent magnet is fixedly installed in the accommodating cavity.

[0033] In the above solution, the rotating body includes two half-axles, which are connected to form a receiving cavity in the middle to accommodate the permanent magnet. In this way, the permanent magnet can be located in the middle of the rotating body, which is conducive to driving the magnetic component.

[0034] Preferably, the rotating body further includes a third gear;

[0035] The third gear is sleeved on the first half-shaft body or the second half-shaft body;

[0036] The second driving mechanism includes a fourth gear. The second driving component is drivingly connected to the fourth gear. The fourth gear is meshed with the third gear.

[0037] In the above solution, the second driving component and the rotating body are driven by a gear mechanism, the power transmission is smooth, and the rotation position of the magnetic component can be accurately adjusted.

[0038] In a possible implementation, the magnetron device further includes an electric slip ring;

[0039] The electric slip ring comprises a first ring body and a second ring body which are rotatable relative to each other;

[0040] The first ring body is connected to the first bracket and is connected to the power supply unit of the magnetic control device through a first cable;

[0041] The second ring body is connected to the second bracket and is connected to the second driving mechanism through a second cable.

[0042] The electric slip ring may include a PCB plate slip ring, which can solve the entanglement problem of the power supply cable when the first bracket and the second bracket rotate relative to each other.

[0043] In a possible embodiment, the first ring body and the second ring body are both annular sheet-shaped bodies;

[0044] The electric slip ring comprises a PCB plate slip ring, and the sum of the thickness of the first ring body and the second ring body is less than or equal to 8.5 mm.

[0045] In the above solution, the electric slip ring has a small thickness, which makes the structure of the magnetron device compact and helps to reduce the volume of the magnetron device.

[0046] During power-up and initialization, the magnetron requires an initial "zero" position. At this zero position, the magnet's north pole faces upward and its south pole faces downward. Alternatively, you can choose another zero position, such as with the magnet's south pole facing upward and its north pole facing downward, as long as it facilitates capsule endoscope control.

[0047] In a possible embodiment, the magnetic control device includes a first zero adjustment mechanism and a second zero adjustment mechanism. The first zero adjustment mechanism includes a first code disk and a first photoelectric switch;

[0048] The first code disk is connected to the first bracket, and the first photoelectric switch is connected to the second bracket;

[0049] The first photoelectric switch includes a first transmitting portion and a first receiving portion respectively provided on both sides of a first code disk, and a first transparent portion is provided on the first code disk;

[0050] When the second bracket rotates until the first receiving part can receive the signal sent by the first transmitting part, the magnetic component is located in an initial working position in the first direction.

[0051] The second zero adjustment mechanism includes a second code disk and a second photoelectric switch;

[0052] The second code disk is connected to the shaft, and the second photoelectric switch is connected to the second bracket;

[0053] The second photoelectric switch includes a second transmitting portion and a second receiving portion respectively provided on both sides of the second code disk, and the second code disk is provided with a second transparent portion;

[0054] When the shell rotates until the second receiving portion can receive the signal sent by the second transmitting portion, the magnetic component is located at an initial working position in the second direction.

[0055] In the above solution, by providing the first zero adjustment mechanism and the second zero adjustment mechanism, it is ensured that when the magnetron device is powered on and initialized, the magnetic component is quickly adjusted to the initial "zero point" position to facilitate subsequent operations.

[0056] In a second aspect, the present application provides a capsule endoscope control system, comprising a three-axis displacement base and the above-mentioned magnetic control device, wherein the magnetic control device is connected to the three-axis displacement base.

[0057] The technical solution provided by this application can achieve the following beneficial effects:

[0058] The magnetic control device in the present application includes: a first bracket, a second bracket, a magnetic component, a first drive mechanism, and a second drive mechanism. The magnetic component includes a shell and a shaft connected to the shell, the shell is provided with a magnet and a drive fitting portion, and the shaft is rotatably connected to the second bracket. The first drive mechanism is provided on the first bracket and drives the connection to the second bracket, the second drive mechanism is provided on the second bracket and drives the connection to the magnetic component, the first drive mechanism drives the second bracket to drive the magnetic component to rotate around the first axis, and the second drive mechanism drives the magnetic component to rotate around the second axis. In the present application, the drive fitting portion is provided on the shell, rather than on the shaft, thereby facilitating the reduction in size of the magnetic control device and saving space. In the present application, the first drive mechanism and the second drive mechanism are provided separately, the first drive mechanism is provided on the first bracket, and the second drive mechanism is provided on the rotatable second bracket, thereby simplifying the design structure of the transmission chain, facilitating the reduction in size of the magnetic control device and saving space.

[0059] It should be understood that the foregoing general description and the following detailed description are merely illustrative and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of a first three-dimensional structure of a magnetic control device provided in an embodiment of the present application;

[0061] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0062] Figure 3 for Figure 1 sectional view of

[0063] Figure 4 A schematic diagram of a second three-dimensional structure of the magnetic control device provided in an embodiment of the present application;

[0064] Figure 5 A schematic diagram of a third three-dimensional structure of the magnetic control device provided in an embodiment of the present application;

[0065] Figure 6 A schematic diagram of a fourth three-dimensional structure of the magnetic control device provided in an embodiment of the present application;

[0066] Figure 7 for Figure 6 partial cross-sectional view;

[0067] Figure 8 This is a schematic diagram of the structural decomposition of the rotating body of the magnetic control device provided in an embodiment of the present application.

[0068] Reference numerals:

[0069] 1- first bracket;

[0070] 11-suspension shaft;

[0071] 12-Suspension plate;

[0072] 13- upper panel;

[0073] 14-motor fixing parts;

[0074] 15-first bearing;

[0075] 16-Installation space;

[0076] 2- second bracket;

[0077] 21-connecting plate;

[0078] 22-side panel;

[0079] 23-mounting seat;

[0080] 24-bearing seat;

[0081] 25- second bearing;

[0082] 3- Magnetic components;

[0083] 31-magnet;

[0084] 32-housing;

[0085] 321-shell;

[0086] 322- shaft;

[0087] 323-driving mating portion;

[0088] 4-first driving mechanism;

[0089] 41-first driving component;

[0090] 42-first transmission assembly;

[0091] 421-coupling;

[0092] 422-transmission block;

[0093] 423-drive shaft;

[0094] 5- second driving mechanism;

[0095] 51- second driving component;

[0096] 52-second transmission assembly;

[0097] 521-coupling;

[0098] 522-Second gear

[0099] 523-second pulley;

[0100] 524-belt;

[0101] 53-rotating body;

[0102] 531-first semi-axle body;

[0103] 5311-first groove;

[0104] 532-second semi-axle body;

[0105] 5321-second groove;

[0106] 533-third gear;

[0107] 534-left bearing;

[0108] 535-right bearing;

[0109] 536-key;

[0110] 537-limit nut;

[0111] 54-Permanent magnet;

[0112] 55-fourth gear;

[0113] 6-Electric slip ring;

[0114] 61-first ring body;

[0115] 62-second ring body;

[0116] 7-first zero adjustment mechanism;

[0117] 71-first code disk;

[0118] 711-first transparent part;

[0119] 72-first photoelectric switch;

[0120] 721-First Launch Unit;

[0121] 722-first receiving unit;

[0122] 8- Second zero adjustment mechanism;

[0123] 81-second code disk;

[0124] 811- second transparent part;

[0125] 82- second photoelectric switch;

[0126] 822-Second launch unit;

[0127] 823-second receiving unit;

[0128] L1-first axis;

[0129] L2 - second axis.

[0130] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. Specific implementation plan

[0131] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0132] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0133] It should be noted that the directional words such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described based on the angles shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it should be understood that when it is mentioned that an element is connected to another element "on" or "under", it can not only be directly connected to the other element "on" or "under", but also be indirectly connected to the other element "on" or "under" through an intermediate element.

[0134] A magnetically controlled capsule endoscope is a device that can actively control the inspection field of view through an operating terminal. Currently, the most common control method is to place a magnet outside the human body. By changing the magnet's orientation and posture, the magnetic field around the magnet changes in an orderly manner. The magnet within the magnetically controlled capsule endoscope is influenced by the changing external magnetic field, driving the capsule endoscope, thereby changing the inspection field of the capsule endoscope.

[0135] In the prior art, the transmission chain of the magnetic control device of the capsule endoscope control system is complex in design and large in size, especially in circumferential dimension, which occupies a large amount of space.

[0136] In view of this, the embodiments of the present application provide a magnetic control device and a capsule endoscope control system that can solve the above technical problems.

[0137] join Figure 1 and Figure 3 As shown, a magnetic control device provided in an embodiment of the present application includes: a bracket assembly, a magnetic component 3, a first drive mechanism 4, and a second drive mechanism 5. The bracket assembly includes a first bracket 1 and a second bracket 2. The magnetic component 3 includes a housing 32 and a magnet 31. The housing 32 includes a shell portion 321 and a shaft portion 322 connected to the shell portion 321. The magnet 31 is disposed within the shell portion 321, which is also provided with a drive engagement portion 323. The shaft portion 322 is rotatably connected to the second bracket 2. The first drive mechanism 4 is disposed on the first bracket 1 and is drivingly connected to the second bracket 2. The second drive mechanism 5 is disposed on the second bracket 2 and is drivingly connected to the drive engagement portion 323. The first drive mechanism 4 drives the second bracket 2 to rotate the magnetic component 3 about a first axis L1, and the second drive mechanism 5 drives the magnetic component 3 to rotate about a second axis L2. The first axis L1 and the second axis L2 intersect. Preferably, the first axis L1 and the second axis L2 can be perpendicular.

[0138] In the prior art, the second drive mechanism 5 needs to act on the shaft portion 322 of the magnetic component 3 through a long transmission chain, resulting in a large extension length of the magnetron device along the axis of the magnetic component 3, which is not conducive to a compact design. However, the present application differs from the prior art by providing a drive engagement portion 323 on the shell portion 321. The second drive mechanism 5 directly drives the drive engagement portion 323 to drive the shell portion 321 to rotate, reducing the extension length of the magnetron device along the axis of the magnetic component 3 and saving space.

[0139] In addition, in the present application, the first drive mechanism 4 and the second drive mechanism 5 of the magnetic control device are separately arranged, the first drive mechanism 4 is arranged on the first bracket 1, and the second drive mechanism 5 is arranged on the rotatable second bracket 2, thereby simplifying the design structure of the transmission chain.

[0140] It should be noted that the term "A drives and connects B" in this application can be understood as "A is the active component, B is the driven component, A can drive B and drive B to move, such as driving B to rotate, move, etc."

[0141] See also Figure 1 and Figure 3 As shown, in a possible embodiment, the driving fitting portion 323 is arranged around the annular shell portion 321 with the second axis L2 as the center line, and the second driving mechanism 5 drives the driving fitting portion 323 to rotate, thereby driving the shell portion 321 to rotate around the second axis L2.

[0142] In this embodiment, the drive fitting portion 323 is arranged in a ring shape along the shell 321 . The second drive mechanism 5 drives the drive fitting portion 323 to rotate, thereby driving the shell 321 to rotate around the second axis L2 , thereby adjusting the rotation angle of the magnet 31 .

[0143] See also Figure 1 and Figure 2 As shown, in a possible embodiment, the drive fitting portion 323 includes a first gear, which is sleeved on the shell portion 321; the second drive mechanism 5 includes at least a second gear 522; and the second gear 522 is meshed with the first gear. In this embodiment, power is transmitted through the gear mechanism, and the power transmission is smooth and reliable, and does not take up space. In addition, in other embodiments of the present application, the second drive mechanism 4 may include a transmission gear set (not shown in the figure), and the transmission gear set is ultimately meshed with the first gear on the shell portion 321, thereby achieving control of the magnetic component 3.

[0144] Optional, see Figure 4 As shown, in another possible embodiment, the drive engagement portion 323 may include a first pulley, which is sleeved on the housing portion 321 . The second drive mechanism 5 includes a second pulley 523 and a belt 524 ; the belt 524 is sleeved on the first and second pulleys 523 .

[0145] In this embodiment, compared with the gear transmission, the present embodiment adopts the belt transmission scheme, which has the advantages of stable transmission, simple structure, low cost and more convenient use and maintenance.

[0146] Also, see Figure 1 and Figure 4 As shown, the driving engagement portion 323 can be arranged around the middle of the shell portion 321. Figure 5 As shown, it can also be set away from the middle of the shell 321, so that more space can be reserved for the second drive mechanism 5 to select a reducer with a larger reduction ratio, which is beneficial to reducing the demand for the output force of the second drive mechanism 5.

[0147] In a possible embodiment, the shell 321 can be an integrally formed spherical structure, the magnet 31 is accommodated in the shell 321, and the drive fitting 323 is fixedly mounted on the shell 321. Alternatively, the shell 321 can also include a first shell and a second shell, the first shell and the second shell are interlocked, and an installation cavity is formed between the first shell and the second shell, the magnet 31 is accommodated in the installation cavity, and the drive fitting 323 is fixedly mounted on the first shell and / or the second shell. The shell 321 also includes a fixing member (not shown), and the fixing member is arranged in the installation cavity to fix the magnet 31 and prevent the magnet 31 from rotating relative to the installation cavity.

[0148] See also Figure 1 and Figure 3 As shown, in a possible embodiment, the first bracket 1 includes a suspension shaft 11, a suspension plate 12, and an upper enclosure 13. The suspension shaft 11 is connected to the three-axis displacement base of the capsule endoscope control system, the suspension plate 12 is connected to the suspension shaft 11, and the upper enclosure 13 is connected to the suspension plate 12. An installation space 16 is formed in the upper enclosure 13. The first drive mechanism 4 includes a first drive component 41 and a first transmission assembly 42. The first drive component 41 is accommodated in the installation space 16. The input end of the first transmission assembly 42 is connected to the first drive component 41, and the output end of the first transmission assembly 42 is connected to the second bracket 2. Among them, the three-axis displacement base is usually fixed to the ground and is usually installed on the ground. It can drive the magnetic control device to move forward and backward, up and down, and left and right to facilitate detection.

[0149] In this embodiment, the first driving component 41 is accommodated in the installation space 16, and the first bracket 1 protects the first driving component 41. The first driving component 41 is accommodated in the installation space 16, which makes the structure compact and helps to reduce the volume of the magnetron device.

[0150] See also Figure 3As shown, in one possible embodiment, the first bracket 1 further includes a motor mount 14, a bearing seat, and a first bearing 15 disposed within the bearing seat. The first transmission assembly 42 includes a coupling 421, a transmission block 422, and a transmission shaft 423. The first drive component 41 can be a motor, which is connected to the motor mount 14. The coupling 421 is connected to the motor's rotating shaft. The transmission block 422 is connected to the coupling 421. The transmission shaft 423 is connected to the transmission block 422. The transmission shaft 423 is disposed through the first bearing 15 and its end is connected to the second bracket 2, such as the connecting plate 21 connected to the second bracket 2. The magnetic control device also includes an electric slip ring 6. The electric slip ring 6 includes a first ring body 61 and a second ring body 62 that are rotatable relative to each other. The first ring body 61 and the second ring body 62 are both sleeved on the transmission shaft 423. The first ring body 61 is connected to the first bracket 1 and is connected to the power supply unit of the magnetic control device via a first cable. The second ring body 62 is connected to the second bracket 2 and is connected to the second drive mechanism 5 via a second cable. It should be noted that the above-mentioned power supply unit can be the power supply of the magnetron device itself in this application (including the power supply provided on the magnetron device), or it can be an external power supply on the equipment used to assemble the magnetron device, and the magnetron device can also be connected to the mains, etc., which will not be described in detail here.

[0151] In this embodiment, power is supplied to the second drive mechanism 5 via an electric slip ring 6. When the magnetic control device operates, the first drive component 41 rotates, driving the transmission block 422 to rotate. The rotation of the transmission block 422 drives the transmission shaft 423 to rotate. The rotation of the transmission shaft 423 drives the second bracket 2 to rotate, thereby driving the magnetic component 3 to rotate about the first axis L1.

[0152] In addition, in the present application, the first ring body 61 is connected to the first bracket 1, and the second ring body 62 is connected to the second bracket 2. During operation of the magnetic control device, when the second bracket 2 rotates relative to the first bracket 1, the second ring body 62 rotates integrally with the second bracket 2, while the first ring body 61 is connected to the first bracket 1 and thus remains stationary. During the rotation of the second ring body 62 relative to the first ring body 61, the first cable connected to the first ring body 61 and the second cable connected to the second ring body 62 remain electrically connected. The second cable, the second ring body 62, and the second bracket 2 rotate synchronously, so the second cable will not be entangled with the second bracket 2. The first cable is connected to the first ring body 61, and the first bracket 1, the first ring body 61, and the first cable are all in a stationary state without relative motion, so the first cable will not be entangled with the first bracket 1. In this embodiment, the design of the electric slip ring 6 solves the problem of cable entanglement.

[0153] In one possible embodiment, the electric slip ring 6 may comprise a PCB (Printed Circuit Board) slip ring, with the first ring body 61 and the second ring body 62 both being annular sheets. The combined thickness of the first ring body 61 and the second ring body 62 is less than or equal to 8.5 mm. In this embodiment, the relatively low thickness of the electric slip ring makes the magnetron device compact and saves space.

[0154] The connecting plate 21 of the second bracket 2 is provided with a mounting hole. During assembly of the magnetic control device, one end of the transmission shaft 423 can be first passed through the mounting hole. The other end of the transmission shaft 423 is positioned in the mounting hole and fixedly connected to the connecting plate 21 via fasteners. The electric slip ring 6 can then be sleeved onto the transmission shaft 423. The end of the transmission shaft 423 away from the second bracket 2 is then connected to the first bracket 1. The second ring body 62 of the electric slip ring 6 is fixedly connected to the connecting plate 21, and the first ring body 61 of the electric slip ring 6 is fixedly connected to the first bracket 1.

[0155] See also Figure 1 and Figure 3 As shown, in a possible embodiment, the second bracket 2 includes a connecting plate 21 and side plates 22 arranged on opposite sides of the connecting plate 21, the first driving mechanism 4 drives the connecting plate 21, the shell 321 is accommodated between the side plates 22, the shaft 322 is rotatably connected to the side plates 22, and the second driving mechanism 5 is connected to the connecting plate 21 and / or the side plates 22.

[0156] Specifically, the second drive mechanism 5 includes a second drive component 51 and a second transmission assembly 52. ​​The input end of the second transmission assembly 52 is connected to the second drive component 51, and the output end of the second transmission assembly 52 is connected to the drive matching portion 323 of the shell 321. The second drive component 51 drives the second transmission assembly 52, so that the second transmission assembly 52 drives the drive matching portion 323 and the shell 321 to rotate.

[0157] See also Figure 3 and Figure 4 As shown, in a possible embodiment, the second bracket 2 also includes a mounting seat 23, a bearing seat 24 and a second bearing 25, and the mounting seat 23 is connected to the connecting plate 21; the second driving component 51 includes a motor, the motor is connected to the mounting seat 23, the bearing seat 24 is connected to the mounting seat 23, the second bearing 25 is sleeved on the bearing seat 24, the second gear 522 or the second pulley 523 is connected to the second bearing 25, the motor is connected to a coupling 521, and the coupling 521 is connected to the second gear 522 or the second pulley 523.

[0158] Among them, the second bearing 25 is preferably a deep groove ball bearing, the bearing seat 24 includes a cylindrical portion and a connecting portion, the connecting portion is connected to the mounting seat 23, the cylindrical portion is connected to the connecting portion, the second bearing 25 is sleeved on the cylindrical portion, and the second gear 522 or the second pulley 523 is connected to the second bearing 25.

[0159] See also Figure 6 and Figure 7 As shown, in a possible embodiment, the second driving mechanism 5 includes a second driving component 51, a rotating body 53, and a permanent magnet 54. The second driving component 51 is connected to the rotating body 53, and the permanent magnet 54 is mounted on the rotating body 53. The second driving component 51 drives the rotating body 53, so that the rotating body 53 drives the permanent magnet 54 to rotate, thereby driving the magnetic component 3 to rotate.

[0160] In the above solution, the permanent magnet 54 is used to drive the magnetic component 3 to move, eliminating the need for a transmission component, simplifying the design of the internal transmission chain, and facilitating a reduction in the size of the magnetic control device.

[0161] See also Figures 6 to 8 As shown, in a possible embodiment, the rotating body 53 includes a first semi-axle body 531 and a second semi-axle body 532 connected to each other. The first semi-axle body 531 and the second semi-axle body 532 are respectively rotatably connected to the side plate 22. The first semi-axle body 531 has a first groove 5311, and the second semi-axle body 532 has a second groove 5321. When the first semi-axle body 531 and the second semi-axle body 532 are connected, the first groove 5311 and the second groove 5321 are connected to form a accommodating cavity, and the permanent magnet 54 is fixedly installed in the accommodating cavity.

[0162] In this solution, the rotating body 53 includes two half-axles, which are connected to form a receiving cavity in the middle, into which the permanent magnet 54 can be installed. In this way, the permanent magnet 54 can be located in the middle of the rotating body 53, which is conducive to driving the magnetic component 3.

[0163] See also Figure 6 、 Figure 7 and Figure 8 As shown, the rotating body 53 further includes a third gear 533, which is sleeved on the second semi-axle body 532. The second driving component 51 is driven to connect to the fourth gear 55, which meshes with the third gear 533. In this solution, the second driving component 51 and the rotating body 53 are driven by a gear transmission, which ensures smooth power transmission and allows precise adjustment of the rotational position of the magnetic component 3.

[0164] Specifically, the third gear 533 is sleeved on the second semi-axle 532. A limit nut 537 is installed on the second semi-axle 532 to limit the axial movement of the third gear 533. The second semi-axle 532 is provided with a keyway, and the third gear 533 is also provided with a corresponding tooth groove. A key 536 is installed between the two, which can limit the rotation of the third gear 533 along the second semi-axle 532. The first semi-axle 531 is connected to the side plate 22 via a left bearing 534, and the second semi-axle 532 is connected to the side plate 22 via a right bearing 535.

[0165] When the magnetron device is powered on and initialized, it needs an initial "zero point" position. At the "zero point" position, the N pole of the magnet 31 faces upward and the S pole faces downward. Figure 2 and Figure 3 As shown, in this embodiment, a first zero adjustment mechanism 7 and a second zero adjustment mechanism 8 are designed to adjust the position of the magnet 31 in two directions respectively.

[0166] It should be noted that any zeroing mechanism capable of adjusting the magnetic control device to the zero position is within the scope of protection of this application. Exemplarily, the first zeroing mechanism 7 may include a first code disk 71 and a first photoelectric switch 72, wherein the first code disk 71 is connected to the first bracket 1, and the first photoelectric switch 72 is mounted on the second bracket 2. The first photoelectric switch 72 includes a first transmitting portion 721 and a first receiving portion 722 respectively arranged on both sides of the first code disk 71. The first code disk 71 is provided with a first transparent portion 711. When the second bracket 2 rotates to the point where the first receiving portion 722 can receive the signal sent by the first transmitting portion 721, the magnetic component 3 is located in the initial working position in the first direction. The first direction can be understood as the direction in which the magnetic component 3 rotates around the first axis L1.

[0167] See also Figure 3 As shown, the second zero adjustment mechanism 8 includes a second code disk 81 and a second photoelectric switch 82. The second code disk 81 is connected to the shaft 322, and the second photoelectric switch 82 is connected to the second bracket 2. The second photoelectric switch 82 includes a second transmitting portion 822 and a second receiving portion 823, which are respectively provided on either side of the second code disk 81. The second code disk 81 is provided with a second transparent portion 811. When the shell 321 rotates so that the second receiving portion 823 can receive the signal sent by the second transmitting portion 822, the magnetic component 3 is in the initial working position in the second direction. The second direction can be understood as the direction of rotation of the magnetic component 3 about the second axis L2.

[0168] In other embodiments, the first zero adjustment mechanism 7 and / or the second zero adjustment mechanism 8 may also be other structures capable of adjusting the magnetic control device to a zero position. In the above embodiment, by providing the first zero adjustment mechanism 7 and the second zero adjustment mechanism 8, it is ensured that when the magnetic control device is powered on and initialized, the magnetic component 3 can be quickly adjusted to the initial "zero" position to facilitate subsequent operations.

[0169] The present application also provides a capsule endoscope control system, comprising a three-axis displacement base and the aforementioned magnetic control device, the magnetic control device being connected to the three-axis displacement base. The three-axis displacement base can drive the magnetic control device to move three coordinate positions in space, adjusting the position of the magnetic control device, and the magnetic control device provides an external magnetic field for the capsule endoscope. The magnet 31 of the magnetic component 3 is preferably made of a magnetic material with low radiation damage to the human body, such as neodymium iron boron, ferroferric oxide, samarium cobalt, or aluminum nickel cobalt.

[0170] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A magnetron device, characterized in that: include: A bracket assembly comprising a first bracket (1) and a second bracket (2); The magnetic component (3) comprises a shell (321) and a shaft (322) connected to the shell (321); the shell (321) is provided with a magnet (31) and a drive fitting portion (323); the shaft (322) is rotatably connected to the second bracket (2); A first driving mechanism (4) is provided on the first bracket (1) and is drivingly connected to the second bracket (2) to drive the magnetic component (3) to rotate around the first axis (L1); A second driving mechanism (5) is provided on the second bracket (2) and is drivingly connected to the driving engagement portion (323) to drive the magnetic component (3) to rotate around the second axis (L2); The first axis (L1) intersects the second axis (L2); The second driving mechanism (5) comprises a second driving component (51), a rotating body (53) and a permanent magnet (54); The permanent magnet (54) is mounted on the rotating body (53), and the second driving component (51) is driven and connected to the rotating body (53), so that the rotating body (53) drives the permanent magnet (54) to rotate, thereby driving the magnetic component (3) to rotate.

2. The magnetron device according to claim 1, characterized in that The driving fitting portion (323) is arranged around the shell portion (321) with the second axis (L2) as the center line; The second driving mechanism (5) drives the driving engagement portion (323) to rotate, thereby driving the shell portion (321) to rotate around the second axis (L2).

3. The magnetron device according to claim 1, characterized in that The second bracket (2) comprises a connecting plate (21) and side plates (22) provided on opposite sides of the connecting plate (21); The first driving mechanism (4) drives and connects the connecting plate (21); The shell portion (321) is accommodated between the side plates (22), and the shaft portion (322) is rotatably connected to the side plates (22); The second driving mechanism (5) is connected to the connecting plate (21) and / or the side plate (22).

4. The magnetron device according to claim 1, wherein: The rotating body (53) comprises a first semi-axle body (531) and a second semi-axle body (532) connected to each other; The first semi-axial body (531) has a first groove (5311), and the second semi-axial body (532) has a second groove (5321); When the first semi-axial body (531) and the second semi-axial body (532) are connected, the first groove (5311) and the second groove (5321) are connected to form an accommodating cavity, and the permanent magnet (54) is fixedly mounted in the accommodating cavity.

5. The magnetron device according to claim 4, characterized in that: The rotating body (53) further includes a third gear (533); The third gear (533) is sleeved on the first semi-axle body (531) or the second semi-axle body (532); The second driving component (51) comprises a fourth gear (55), and the fourth gear (55) is meshed with the third gear (533).

6. The magnetron device according to any one of claims 1 to 5, characterized in that: The magnetic control device further includes an electric slip ring (6); The electric slip ring (6) comprises a first ring body (61) and a second ring body (62) which are relatively rotatable; The first ring body (61) is connected to the first bracket (1) and is connected to the power supply unit of the magnetic control device via a first cable; The second ring body (62) is connected to the second bracket (2) and is connected to the second driving mechanism (5) via a second cable.

7. The magnetron device according to claim 6, characterized in that The first ring body and the second ring body are both annular sheet-shaped bodies; The electric slip ring includes a PCB plate slip ring.

8. The magnetron device according to any one of claims 1 to 5, characterized in that: The magnetic control device includes a first zero adjustment mechanism (7); The first zero adjustment mechanism (7) comprises a first code disk (71) and a first photoelectric switch (72); The first code disk (71) is connected to the first bracket (1), and the first photoelectric switch (72) is connected to the second bracket (2); The first photoelectric switch (72) comprises a first transmitting portion (721) and a first receiving portion (722) respectively arranged on both sides of the first code disk (71); the first code disk (71) is provided with a first transparent portion (711); When the second bracket (2) rotates to the point where the first receiving portion (722) can receive a signal sent by the first transmitting portion (721), the magnetic component (3) is located at an initial working position in the first direction.

9. The magnetron device according to any one of claims 1 to 5, comprising a second zero adjustment mechanism (8); The second zero adjustment mechanism (8) includes a second code disk (81) and a second photoelectric switch (82); The second code disk (81) is connected to the shaft portion (322), and the second photoelectric switch (82) is connected to the second bracket (2); The second photoelectric switch (82) comprises a second transmitting portion (822) and a second receiving portion (823) respectively arranged on both sides of the second code disk (81); the second code disk (81) is provided with a second transparent portion (811); When the shell (321) rotates until the second receiving part (823) can receive the signal sent by the second transmitting part (822), the magnetic component (3) is located in the initial working position in the second direction.

10. A capsule endoscope control system, comprising a three-axis displacement base, characterized in that: It also includes a magnetic control device as described in any one of claims 1-9, wherein the magnetic control device is connected to the three-axis displacement base.

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