An active motion capsule robot with hybrid driving mode

Abstract

The present invention provides an active motion capsule robot with a hybrid drive mode, comprising a head unit and a tail unit movably connected to the head unit, wherein the outer surface of the head unit is provided with a first thread groove, the outer surface of the tail unit is provided with a second thread groove, the head unit is provided with a moving magnet, the tail unit is provided with a rotating magnet, the rotating magnet can rotate relative to the tail unit, the moving magnet and the rotating magnet constitute a magnetic spring mechanism, and an external magnetic field is applied to the magnetic spring mechanism. The active motion capsule robot can realize spiral drive forward or peristaltic drive forward according to the strength of the applied external magnetic field. The beneficial effects of the present invention are as follows: the active motion capsule robot of the present invention has the characteristics of a hybrid drive mode, can realize spiral drive forward and peristaltic drive forward, and when in different parts of the gastrointestinal tract, adopts different drive modes to realize active motion of the hybrid drive mode, thereby improving the forward efficiency of the capsule robot in the gastrointestinal tract.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to an active motion capsule robot with a hybrid driving mode. Background Art

[0002] In recent years, the prevalence of gastrointestinal diseases has been increasing year by year. Gastric cancer and colorectal cancer are among the top ten most common malignant tumors in my country, with extremely high rates of progression, second only to lung cancer. Many deaths from malignant tumors are related to gastrointestinal tumors. Currently, endoscopic examination technology is the most widely used clinical method and the safest and most effective method for detecting gastrointestinal cancer lesions. Gastroenteroscopy involves inserting an inspection device through the digestive tract to observe the examination site. This invasive procedure is somewhat painful and carries certain medical risks or complications. Therefore, wireless capsule endoscopy robots have emerged. By swallowing a capsule, the patient allows the robot to pass through the entire digestive tract, capturing images and then analyzing them to determine whether there are lesions. With the advancement of technology, the diagnostic success rate of capsule endoscopy robots is increasing.

[0003] However, there are many problems with capsule robots at present. First, many existing capsule robots mainly rely on the natural peristaltic force of the gastrointestinal tract, cannot perform active movement, cannot adjust the posture of the capsule robot itself, the detection speed is very slow, and the collected images are incomplete; second, capsule robots with active movement functions can only achieve spiral drive or peristaltic drive. The driving method is too single and cannot effectively advance in some specific parts of the gastrointestinal tract. Summary of the Invention

[0004] In order to solve the problems in the prior art, the present invention provides an active motion capsule robot with a hybrid driving mode.

[0005] The present invention provides an active motion capsule robot with a hybrid drive mode, comprising a head unit and a tail unit movably connected to the head unit, wherein the outer surface of the head unit is provided with a first thread groove, the outer surface of the tail unit is provided with a second thread groove, the head unit is provided with a moving magnet, and the tail unit is provided with a rotating magnet, and the rotating magnet can rotate relative to the tail unit, the moving magnet and the rotating magnet constitute a magnetic spring mechanism, and an external magnetic field is applied to the magnetic spring mechanism. The active motion capsule robot can realize spiral drive forward or peristaltic drive forward according to the strength of the applied external magnetic field.

[0006] As a further improvement of the present invention, when the magnetic torque generated by the external magnetic field on the rotating magnet is not sufficient to overcome the magnetic torque between the moving magnet and the rotating magnet, when the external magnetic field rotates, it will drive the moving magnet and the rotating magnet to rotate synchronously, and the moving magnet will drive the entire active motion capsule robot to generate rotational motion, so as to realize the spiral drive forward of the active motion capsule robot.

[0007] As a further improvement of the present invention, when the magnetic torque generated by the external magnetic field on the rotating magnet overcomes the magnetic torque between the moving magnet and the rotating magnet, the moving magnet and the rotating magnet separate, and the head unit moves away from the tail unit under the drive of the moving magnet. When the external magnetic field weakens, the moving magnet and the rotating magnet attract each other again, and the head unit approaches the tail unit under the drive of the moving magnet. This process is repeated to realize the peristaltic drive of the capsule robot forward.

[0008] As a further improvement of the present invention, a guide rail is installed inside the tail unit, and the head unit can move linearly along the guide rail under the drive of the moving magnet.

[0009] As a further improvement of the present invention, a connecting rod is provided at one end of the head unit, the movable magnet is installed at the end of the connecting rod, an active chamber is provided at the front end of the tail unit, the guide rail is installed in the active chamber, and a mounting groove corresponding to the guide rail is provided on the side wall of the end of the connecting rod, the mounting groove is clamped on the guide rail, and the connecting rod moves linearly along the guide rail through the mounting groove.

[0010] As a further improvement of the present invention, a limiting groove is provided at the inner end of the tail unit, and the rotating magnet is located in the limiting groove. The rotating magnet can rotate along its own axis, and its axial movement is limited by the limiting groove.

[0011] As a further improvement of the present invention, the active motion capsule robot also includes a bearing and a rotating shaft. A bearing seat is provided between the limiting groove and the active chamber. The bearing is installed in the bearing seat. One end of the rotating shaft is installed on the bearing, and the rotating magnet is installed at the other end of the rotating shaft.

[0012] As a further improvement of the present invention, the movable magnet and the rotating magnet are radially magnetized magnets, the movable magnet and the rotating magnet are coaxially arranged, the movable magnet is a cylindrical magnet, and the rotating magnet is an annular magnet.

[0013] As a further improvement of the present invention, the head unit is a hollow shell, and the interior of the head unit shell is used to place a sampling needle or medicine to achieve its biopsy sampling function or medicine administration function.

[0014] As a further improvement of the present invention, the first thread groove and the second thread groove are trapezoidal or triangular, and the tail unit is assembled from an upper shell and a lower shell.

[0015] As a further improvement of the present invention, the active motion capsule robot includes a camera lighting module installed at the front end of the head unit.

[0016] The beneficial effects of the present invention are: 1. The active motion capsule robot of the present invention has the characteristics of a hybrid driving mode, which can realize spiral driving forward and peristaltic driving forward. When it is in different parts of the gastrointestinal tract, different driving modes are adopted to realize the active motion of the hybrid driving mode, thereby improving the forward efficiency of the capsule robot in the gastrointestinal tract; 2. The active motion capsule robot of the present invention uses a magnetic spring mechanism to realize spiral driving forward and peristaltic driving forward, and realizes two driving modes through one mechanism, which reduces the volume of the capsule robot and is more convenient to swallow; 3. The outer surfaces of the head unit and the tail unit of the active motion capsule robot of the present invention are respectively provided with thread grooves, and the thread grooves have anisotropic friction Friction provides differential friction during the forward movement of the active motion capsule robot. The active motion capsule robot relies on differential friction to achieve peristaltic drive forward. The thread groove can reduce the friction with the inner wall of the gastrointestinal tract during the spiral drive forward process, thereby improving the forward efficiency of the active motion capsule robot; 4. The driving energy of the hybrid drive mode is provided by the external magnetic field. There is no need to add a battery module for the active motion function, which reduces the volume of the capsule robot; 5. The head unit of the active motion capsule robot of the present invention adopts a modular design, and sampling needles or drugs can be added according to actual conditions to realize its biopsy sampling function or drug administration function, thereby increasing the function of the capsule robot and making it more suitable for clinical use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an overall structural diagram of an active motion capsule robot with a hybrid drive mode according to the present invention;

[0018] Figure 2 This is an exploded structural diagram of an active motion capsule robot with a hybrid drive mode according to the present invention;

[0019] Figure 3 This is a cross-sectional view of an active motion capsule robot in a hybrid drive mode according to the present invention;

[0020] Figure 4 This is a schematic diagram of a spirally driven forward active motion capsule robot in a hybrid drive mode of the present invention;

[0021] Figure 5 This is a schematic diagram of the creeping drive forward of an active motion capsule robot in a hybrid drive mode of the present invention. DETAILED DESCRIPTION

[0022] The present invention discloses an active motion capsule robot with a hybrid drive mode, comprising a head unit 2, a tail unit 3, a camera lighting module 1, a rotating magnet 7, a moving magnet 4, a bearing 5, and a rotating shaft 6. The outer surface of the head unit 2 is provided with a first thread groove 22, and the outer surface of the tail unit 3 is provided with a second thread groove 34. The rotating magnet 7 arranged inside the tail unit 3 and the moving magnet 4 arranged in the head unit 2 constitute a magnetic spring mechanism. Through external magnetic field control, the active motion capsule robot can be driven forward in a spiral manner and in a peristaltic manner. When in different parts of the gastrointestinal tract, different drive modes are adopted to achieve active motion in a hybrid drive mode, thereby improving the forward efficiency of the capsule robot in the gastrointestinal tract.

[0023] To move forward by spiral drive, a weak external magnetic field needs to be applied to the magnetic spring mechanism, and the external magnetic field drives the entire magnetic spring mechanism to rotate through rotation. Since the operating environment of the active motion capsule robot is the human gastrointestinal tract, the threaded grooves on the outer surfaces of the head unit 2 and the tail unit 3 will interact with the inner wall of the human gastrointestinal tract to generate friction. The active motion capsule robot as a whole is driven by the external magnetic field in the forward direction. Under the combined force of friction and the driving force of the external magnetic field, the active motion capsule robot moves forward. When the external magnetic field is removed, the active motion capsule robot stops rotating and stops moving forward.

[0024] To move forward by peristalsis, a strong external magnetic field needs to be applied to the magnetic spring mechanism. The strong external magnetic field causes the rotating magnet 7 to rotate. After the rotating magnet 7 rotates, the head unit 2 is pushed out due to the force of the magnetic field. The overall performance is that the tail unit 3 is anchored and the head unit 2 moves forward. The external magnetic field is removed, causing the rotating magnet 7 to rotate again. Due to the force of the magnetic field, the rotating magnet 7 is attracted to the moving magnet 2. Driven by the rotating magnet 7, the tail unit 3 approaches the head unit 2. The overall performance is that the head unit 2 of the active motion capsule robot is anchored and the tail unit 3 moves forward. The active motion capsule robot realizes peristalsis drive forward by repeating this process.

[0025] The magnetic spring mechanism uses two radially magnetized magnets, which are designed inside the active motion capsule robot and arranged coaxially. One of the magnets is a rotating magnet 7, which is in the form of an annular magnet and is fixed on the limiting groove 31 of the tail unit 3. The rotating magnet 7 can rotate along its own axis and its axial movement is limited by the limiting groove 31; the other magnet is a moving magnet 4, which is a cylindrical magnet fixed on the end of the connecting rod 21 of the head unit 2. It moves along the axis within a certain range through the guide rail 31 of the tail unit 3, but cannot rotate around its own axis relative to the tail unit 3.

[0026] There is a magnetic torque between the moving magnet 4 and the rotating magnet 7. The nonlinear torque transfer function is used to model and analyze the system. The specific expression is as follows:

[0027] T m (θ)=T p sinθ

[0028] Where θ represents the angle between the two magnets, T m Represents the torque required when the angle between the two magnets rotates from 0 to θ; T p It represents the maximum torque when the angle between the two magnets ranges from 0 to π. Its value is related to the distance between the two magnets, the shape of the magnets, and the magnetization intensity.

[0029] Analyzing the nonlinear torque transfer function, it can be obtained that the maximum torque T between the magnetic springs is p , which is the torque corresponding to θ = π / 2. The elastic potential energy stored in the two magnets is the work required to rotate the angle between the two magnets from θ = 0 to θ = π / 2. The specific expression is as follows:

[0030]

[0031] Wherein, U represents the elastic potential energy stored in the two magnets, and W represents the required work.

[0032] T m Substituting this into the formula, we can get the value of work:

[0033]

[0034] like Figure 1-2 As shown, the present invention discloses an active motion capsule robot with a hybrid drive mode, wherein the tail unit 3 is provided with a bearing seat 32, the bearing 5 is placed in the bearing seat 32, the rotating magnet 7 is connected to the bearing 5 through a rotating shaft 6, and the rotating magnet 7 can rotate relative to the tail unit 3, the moving magnet 4 is connected to the connecting rod end 21 of the head unit 2, and the connecting rod end 21 can move linearly along the guide rail 33 of the tail unit 3, the camera lighting module 1 is located at the front end of the head unit 2, and the rotating magnet 7 and the moving magnet 4 are both radially magnetized.

[0035] In the initial state, the rotating magnet 7 attracts the moving magnet 4 due to the magnetic force. The moving magnet 4 is attracted by the rotating magnet 7 and moves along the guide rail 33 of the tail unit 3 and moves close to the rotating magnet 7. The guide rail 33 of the tail unit 3 allows the moving magnet 4 to move only along the tail unit 3, but not to rotate relative to the tail unit 3. The moving magnet 4 and the rotating magnet 7 form a magnetic spring mechanism. There is a magnetic torque between the moving magnet 4 and the rotating magnet 7. A weak external magnetic field is applied to the magnetic spring mechanism, and the external magnetic field produces a magnetic field on the rotating magnet 7. The magnetic torque generated is not enough to overcome the magnetic torque between the moving magnet 4 and the rotating magnet 7. At this time, when the external magnetic field rotates, the moving magnet 4 and the rotating magnet 7 will rotate synchronously. The moving magnet 4 drives the entire capsule robot to produce rotational motion through the guide rail 33 of the tail unit 3. The outer surfaces of the head unit 2 and the tail unit 3 are provided with thread grooves 22 and thread grooves 34. According to the first thread groove 22 on the outer surface of the head unit 2 and the second thread groove 34 on the outer surface of the tail unit 3, the spiral drive forward of the active motion capsule robot can be realized.

[0036] When a strong external magnetic field is applied to the magnetic spring mechanism, the magnetic torque generated by the external magnetic field on the rotating magnet 7 overcomes the magnetic torque between the moving magnet 4 and the rotating magnet 7, the moving magnet 4 and the rotating magnet 7 separate, and the moving magnet 4 moves away from the rotating magnet 7 along the guide rail 33 of the tail unit 3. The head unit 2 moves away from the tail unit 3 under the drive of the moving magnet 4. When the external magnetic field weakens, the moving magnet 4 and the rotating magnet 7 attract each other again, and the head unit 2 approaches the tail unit 3 under the drive of the moving magnet 4. The first thread groove 22 on the outer surface of the head unit 2 and the second thread groove 34 on the tail unit 3 have anisotropic friction, which provides differential friction for the active motion capsule robot. The differential friction can enable the active motion capsule robot to achieve peristaltic drive forward.

[0037] from Figure 3 It can be seen that in the initial state, no external magnetic field B is added. At this time, the rotating magnet 7 and the moving magnet 4 attract each other, and the moving magnet 4 approaches the rotating magnet 7 along the guide rail 33. The rotating magnet 7 is affected by the moving magnet 4 and rotates to a specific position, so that the N pole of the rotating magnet 7 and the S pole of the moving magnet 4 are close to each other, and the S pole of the rotating magnet and the N pole of the moving magnet are close to each other. At this time, there is a magnetic torque between the two magnets. Under the action of the magnetic torque, the rotating magnet 7 maintains its current position and will not rotate at will.

[0038] from Figure 4It can be seen that when a rotating external magnetic field B is applied, the external magnetic field simultaneously applies a magnetic torque to the rotating magnet 7 and the moving magnet 4. The magnetic torque applied by the external magnetic field B to the moving magnet 4 causes the moving magnet 4 to rotate via the connecting rod end 21 and the guide rail 33, driving the head unit 2 and the tail unit 3. The magnetic torque applied by the external magnetic field to the rotating magnet 7 is less than the magnetic torque between the two magnets. Driven by the magnetic torque between the two magnets, the rotating magnet 7 rotates along with the moving magnet 4. The first thread groove 22 on the outer surface of the head unit 2 and the second thread groove 34 on the outer surface of the tail unit 3 reduce friction between the active motion capsule robot and the inner wall of the gastrointestinal tract. The interaction with the inner wall of the gastrointestinal tract generates a driving force for forward movement, thus achieving the spiral drive forward movement of the active motion capsule robot.

[0039] from Figure 5 It can be seen that at time T1, the moving magnet 4 and the rotating magnet 7 attract each other, the head unit 2 is close to the tail unit 3, and the active motion capsule robot is in a contracted state. At time T2, an external magnetic field is applied, and the external magnetic field will simultaneously apply a magnetic torque to the rotating magnet 7 and the moving magnet 4. The external magnetic field is strong, and the magnetic torque applied by the external magnetic field to the rotating magnet 7 is greater than the magnetic torque between the two magnets. The rotating magnet 7 rotates under the action of the magnetic torque of the external magnetic field. The S pole of the rotating magnet 7 and the S pole of the moving magnet 4 are on the same side, and the N pole of the rotating magnet 7 and the N pole of the moving magnet 4 are on the same side. The two magnets repel each other, and the moving magnet 4 is repelled by the repulsive force of the rotating magnet 7 and moves away from the rotating magnet 7 along the guide rail 33. The active motion capsule robot In the extended state, due to the anisotropic friction between the first thread groove 22 and the second thread groove 34, during the extension process, the head unit 2 is subjected to a smaller friction force, and the tail unit 3 is subjected to a larger friction force, which is manifested as the head unit 2 moves forward and the tail unit 3 is anchored. At time T3, the external magnetic field is removed, and the rotating magnet 7 is acted upon by the magnetic torque between the two magnets and rotates back to the initial position. The two magnets attract each other again. Due to the anisotropic friction between the thread groove 22 and the second thread groove 34, during the attraction process of the two magnets, the tail unit 3 is subjected to a smaller friction force, and the head unit 2 is subjected to a larger friction force, which is manifested as the head unit 2 is anchored and the tail unit 3 moves forward. Repeating this process can realize the peristaltic drive forward of the active motion capsule robot.

[0040] The head unit 2 adopts a modular design, and the camera lighting module 1 is located at the front end of the head unit 2. The head unit 2 is a hollow shell. Sampling needles or drugs can be added inside the shell of the head unit 2 to realize its biopsy sampling function or drug administration function, and add other functions on the basis of the active movement function.

[0041] A connecting rod 21 is provided at one end of the head unit 2, and a movable magnet 4 is installed at the end of the connecting rod 21. An active chamber is provided at the front end of the tail unit 3, and a guide rail 33 is installed relatively in the active chamber. Mounting grooves corresponding to the guide rail 33 are respectively provided on both sides of the side walls of the end of the connecting rod 21. The mounting grooves are clamped on the guide rail 33, and the connecting rod 21 moves linearly along the guide rail 33 through the mounting grooves.

[0042] The first thread groove 22 on the outer surface of the head unit 2 and the second thread groove 34 on the outer surface of the tail unit 3 can have different turns and thread groove shapes, and the thread groove shapes are preferably trapezoidal and triangular.

[0043] Peristaltic drive requires differential friction. The thread grooves on the outer surfaces of the head unit 2 and the tail unit 3 have anisotropic friction. When the head unit 2 moves forward, the friction of the tail unit 3 is greater than that of the head unit, which manifests as the tail unit 3 anchoring and the head unit 2 moving forward. When the tail unit 3 moves forward, the friction of the head unit 2 is greater than that of the tail unit 3, which manifests as the head unit 2 anchoring and the tail unit 3 moving forward.

[0044] The two driving modes of spiral drive and peristaltic drive are decoupled. When a weak external magnetic field is applied and the external magnetic field is rotated, the active motion capsule robot only uses spiral drive to move forward. When a strong external magnetic field is applied and the external magnetic field is periodically removed, the active motion capsule robot only uses peristaltic drive to move forward.

[0045] At different locations in the gastrointestinal tract, the driving mode can be reasonably selected to achieve active movement in a hybrid driving mode.

[0046] The present invention provides an active motion capsule robot with a hybrid drive mode, which has the following advantages:

[0047] 1. It has the characteristics of a hybrid drive mode, which can realize spiral drive and peristaltic drive. When it is in different parts of the gastrointestinal tract, different drive modes are adopted to realize active movement of the hybrid drive mode, thereby improving the forward efficiency of the capsule robot in the gastrointestinal tract.

[0048] 2. A magnetic spring mechanism is used to achieve spiral drive and peristaltic drive, realizing two drive modes through one mechanism, reducing the size of the capsule robot and making it more convenient to swallow.

[0049] 3. The outer surfaces of the head unit 2 and the tail unit 3 are respectively provided with thread grooves. The thread grooves have anisotropic friction, which provides differential friction during the forward movement of the active motion capsule robot. The active motion capsule robot relies on differential friction to achieve peristaltic drive forward. During the spiral drive forward process, the thread grooves can reduce the friction with the inner wall of the gastrointestinal tract, thereby improving the forward efficiency of the active motion capsule robot.

[0050] 4. The driving energy of the hybrid drive mode is provided by the external magnetic field, and there is no need to add a battery module for the active motion function, which reduces the size of the capsule robot.

[0051] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. An active motion capsule robot with a hybrid drive mode, characterized by: The invention comprises a head unit (2) and a tail unit (3) movably connected to the head unit (2), wherein the outer surface of the head unit (2) is provided with a first thread groove (22), and the outer surface of the tail unit (3) is provided with a second thread groove (34), the head unit (2) is provided with a moving magnet (4), and the tail unit (3) is provided with a rotating magnet (7), and the rotating magnet (7) can rotate relative to the tail unit (3), and the moving magnet (4) and the rotating magnet (7) constitute a magnetic spring mechanism, and an external magnetic field is applied to the magnetic spring mechanism. The active motion capsule robot can realize spiral driving forward or peristaltic driving forward according to the strength of the applied external magnetic field; the moving magnet (4) and the rotating magnet (7) are arranged coaxially; A guide rail (33) is installed inside the tail unit (3), and the head unit (2) can move linearly along the guide rail (33) under the drive of the moving magnet (4); The head unit (2) is provided with a connecting rod (21) at one end, and the movable magnet (4) is installed at the end of the connecting rod (21). The front end of the tail unit (3) is provided with an active chamber, and the guide rail (33) is installed in the active chamber. The side wall of the end of the connecting rod (21) is provided with a mounting groove corresponding to the guide rail (33), and the mounting groove is clamped on the guide rail (33). The connecting rod (21) moves linearly along the guide rail (33) through the mounting groove. The guide rail (33) of the tail unit (3) allows the movable magnet (4) to move only along the tail unit (3) but not to rotate relative to the tail unit (3). A limiting groove (31) is provided at the inner end of the tail unit (3), and the rotating magnet (7) is located in the limiting groove (31). The rotating magnet (7) can rotate along its own axis, and the rotating magnet (7) is limited in its axial movement by the limiting groove (31).

2. The active motion capsule robot according to claim 1, characterized in that: When the magnetic torque generated by the external magnetic field on the rotating magnet (7) is insufficient to overcome the magnetic torque between the moving magnet (4) and the rotating magnet (7), when the external magnetic field rotates, it drives the moving magnet (4) and the rotating magnet (7) to rotate synchronously, and the moving magnet (4) drives the entire active motion capsule robot to generate rotational motion, thereby realizing the spiral drive forward of the active motion capsule robot.

3. The active motion capsule robot according to claim 1, characterized in that: When the magnetic torque generated by the external magnetic field on the rotating magnet (7) overcomes the magnetic torque between the moving magnet (4) and the rotating magnet (7), the moving magnet (4) and the rotating magnet (7) separate, and the head unit (2) moves away from the tail unit (3) under the drive of the moving magnet (4). When the external magnetic field weakens, the moving magnet (4) and the rotating magnet (7) attract each other again, and the head unit (2) moves closer to the tail unit (3) under the drive of the moving magnet (4). This process is repeated to realize the peristaltic drive of the capsule robot.

4. The active motion capsule robot according to claim 1, characterized in that: The active motion capsule robot further comprises a bearing (5) and a rotating shaft (6); a bearing seat (32) is provided between the limiting groove (31) and the active chamber; the bearing (5) is mounted in the bearing seat (32); one end of the rotating shaft (6) is mounted on the bearing (5); and the other end of the rotating shaft (6) is mounted on the rotating magnet (7).

5. The active motion capsule robot according to claim 1, characterized in that: The movable magnet (4) and the rotating magnet (7) are radially magnetized magnets, the movable magnet (4) is a cylindrical magnet, and the rotating magnet (7) is an annular magnet.

6. The active motion capsule robot according to claim 1, characterized in that: The head unit (2) is a hollow shell, and the interior of the shell of the head unit (2) is used to place a sampling needle or medicine to achieve its biopsy sampling function or medicine administration function.

7. The active motion capsule robot according to claim 1, characterized in that: The first thread groove (22) and the second thread groove (34) are trapezoidal or triangular, and the tail unit (3) is assembled from an upper shell and a lower shell.

8. The active motion capsule robot according to any one of claims 1, 4-7, characterized in that: The active motion capsule robot comprises a camera lighting module (1) mounted on the front end of the head unit (2).

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