Magnetic control capsule controller and mechanical arm thereof

Abstract

The magnetic control capsule controller mechanical arm comprises a pitching seat, a plurality of pitching rods, a connecting rod and a parallel arm, a pitching driving part is arranged on the pitching seat, one end of each pitching rod is fixed to an output seat of the pitching driving part, and the other end of each pitching rod is connected with a connecting rod seat; compared with an existing mechanical arm which adopts a whole pitching plate to connect the output base and the connecting rod base, the weight of the mechanical arm can be effectively reduced, and then the pitching action of the connecting rod base can be conveniently controlled. One end of the connecting rod is connected to the connecting rod base through the connecting rod bearing, the two ends of the parallel arm are hinged to the pitching base and the connecting rod respectively, the pitching base, the pitching rod, the connecting rod and the parallel arm form a parallelogram connecting rod structure, when the pitching rod conducts pitching action, the parallel arm can also act along with the pitching rod, and it can be guaranteed that the posture of the connecting rod is not changed.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a magnetically controlled capsule controller and its robotic arm. Background Technology

[0002] The magnetically controlled capsule is swallowed by the patient and enters the stomach through the esophagus. Doctors can control the movement of the magnetically controlled capsule in the stomach through the magnetically controlled capsule controller. During its movement, the magnetically controlled capsule continuously takes pictures of the stomach cavity and transmits the images to the data logger in real time.

[0003] Existing magnetically controlled capsule controllers are complex in structure, heavy in weight, inconvenient to move and use, and expensive. In particular, the robotic arm structure is quite complex, with joints typically connected by a single support plate, making the robotic arm heavy, which not only hinders its movement but also increases energy consumption.

[0004] Therefore, how to reduce the weight of the robotic arm of the magnetically controlled capsule controller is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] One object of the present invention is to provide a magnetically controlled capsule controller robotic arm that can effectively reduce its weight, and another object is to provide a magnetically controlled capsule controller including the above-mentioned magnetically controlled capsule controller robotic arm.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A magnetically controlled capsule controller robotic arm includes: a pitch base, multiple pitch rods, a connecting rod, and a parallel arm. The pitch base is equipped with a pitch drive component. One end of each of the multiple pitch rods is fixed to the output seat of the pitch drive component, and the other end is connected to a connecting rod seat. One end of each connecting rod is connected to the connecting rod seat via a connecting rod bearing. The two ends of the parallel arm are respectively hinged to the pitch base and the connecting rod. The pitch base, the pitch rods, the connecting rod, and the parallel arm form a parallelogram linkage structure.

[0008] In some embodiments, the connecting rod seat has a through hole, the connecting rod bearing is placed in the through hole, the pitch rod is connected to one side of the connecting rod seat, and the pitch rod is used to define the axial position of the connecting rod bearing.

[0009] In some embodiments, two parallel pitch rods are fixed on the output base, one end of one pitch rod covering one side of one end of the through hole, and the other end of the pitch rod covering the other side of one end of the through hole.

[0010] In some embodiments, a reinforcing rod is provided between the two pitch rods.

[0011] In some embodiments, one end of the connecting rod is provided with a connecting rod shaft, which is connected to the connecting rod bearing, and the axial direction of the connecting rod shaft is perpendicular to the extension direction of the connecting rod body; the other end of the connecting rod is provided with a connecting rod, the extension direction of the connecting rod is perpendicular to the extension direction of the rod body and the axial direction of the connecting rod shaft, and one end of the parallel arm is hinged to the connecting rod.

[0012] In some embodiments, the pitch mount is provided with a limiting member for limiting the rotation angle of the pitch rod.

[0013] In some embodiments, the magnetically controlled capsule controller robotic arm further includes an elbow horizontal support and rotation mechanism, which includes an elbow rotation drive, a horizontal rotation seat, a horizontal rotation shaft, and an elbow connecting rod assembly. The elbow rotation drive is fixed to the horizontal rotation seat, the output end of the elbow rotation drive is connected to the horizontal rotation shaft, the horizontal rotation shaft is fixedly connected to the connecting rod, and the elbow connecting rod assembly is connected to the horizontal rotation seat.

[0014] In some embodiments, the elbow connecting rod assembly includes two parallel fork arms.

[0015] In some embodiments, a reinforcing rib is provided between the two fork arms.

[0016] A magnetically controlled capsule controller, comprising the magnetically controlled capsule controller robotic arm described in any of the preceding claims.

[0017] Compared with existing technologies, the above technical solution has at least the following advantages:

[0018] The present invention provides a magnetically controlled capsule controller robotic arm, comprising: a pitch base, multiple pitch rods, a connecting rod, and a parallel arm. The pitch base is equipped with a pitch drive component. One end of each pitch rod is fixed to the output seat of the pitch drive component, and the other end is connected to a connecting rod seat. Compared to existing robotic arms that use a single pitch plate to connect the output seat and the connecting rod seat, this design effectively reduces weight and facilitates control of the pitch movement of the connecting rod seat. One end of each connecting rod is connected to the connecting rod seat via a connecting rod bearing. Both ends of the parallel arm are hinged to the pitch base and the connecting rod, respectively. The pitch base, pitch rods, connecting rod, and parallel arm form a parallelogram linkage structure. When the pitch rods perform a pitch movement, the parallel arm also moves accordingly, ensuring that the attitude of the connecting rod remains unchanged.

[0019] The magnetically controlled capsule controller provided by this invention has corresponding advantages because it includes the aforementioned magnetically controlled capsule controller robotic arm. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 A three-dimensional structural schematic diagram of a magnetically controlled capsule controller provided in a specific embodiment of the present invention;

[0022] Figure 2 A three-dimensional structural schematic diagram of a magnetically controlled capsule controller robotic arm provided for a specific embodiment of the present invention;

[0023] Figure 3 for Figure 2 A three-dimensional structural diagram of the shoulder pitch support rotation mechanism from one perspective;

[0024] Figure 4 for Figure 2 A three-dimensional structural diagram of the shoulder pitch support rotary mechanism from another perspective;

[0025] Figure 5 for Figure 2 A cross-sectional structural diagram of the shoulder pitch support rotation mechanism.

[0026] The attached figures are labeled as follows:

[0027] 10-Magnetic Capsule Controller Robotic Arm;

[0028] 11-Waist support rotary mechanism;

[0029] 12-Shoulder pitch support rotary mechanism; 121-Pitch seat; 1211-Flange; 122-Pitch drive component; 1221-Pitch motor; 1222-Pitch reducer; 1223-Output seat; 123-Pitch rod; 124-Connecting rod; 1241-Connecting rod shaft; 125-Parallel arm; 126-Connecting rod; 127-Connecting rod seat; 1271-Connecting rod bearing; 128-Hinge support;

[0030] 13-Elbow horizontal support slewing mechanism; 131-Elbow slewing drive component; 132-Horizontal slewing seat; 133-Horizontal slewing shaft; 134-Elbow connecting rod assembly;

[0031] 14-Magnet rotation and tumbling mechanism;

[0032] 20 - Cabinet. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please refer to Figures 1 to 5 , Figure 1 A three-dimensional structural schematic diagram of a magnetically controlled capsule controller provided in a specific embodiment of the present invention; Figure 2 A three-dimensional structural schematic diagram of a magnetically controlled capsule controller robotic arm provided for a specific embodiment of the present invention; Figure 3 for Figure 2 A three-dimensional structural diagram of the shoulder pitch support rotation mechanism from one perspective; Figure 4 for Figure 2 A three-dimensional structural diagram of the shoulder pitch support rotary mechanism from another perspective; Figure 5 for Figure 2 A cross-sectional structural diagram of the shoulder pitch support rotation mechanism.

[0035] The present invention provides a magnetically controlled capsule controller robotic arm 10, comprising: a waist support rotation mechanism 11, a shoulder pitch support rotation mechanism 12, an elbow horizontal support rotation mechanism 13, and a magnet rotation and tumbling mechanism 14. The waist support rotation mechanism 11 enables the robotic arm to rotate in a horizontal plane, the shoulder pitch support rotation mechanism 12 enables the robotic arm to pitch, the elbow horizontal support rotation mechanism 13 enables the robotic arm to rotate, and the magnet rotation and tumbling mechanism 14 enables the magnet to rotate and tumble. The shoulder pitch support rotation mechanism 12 includes: a pitch base 121, multiple pitch rods 123, a connecting rod 124, and a parallel arm 125. The pitch base 121 is provided with a pitch drive 122. One end of multiple pitch rods 123 is fixed to the output seat 1223 of the pitch drive 122. For example, the pitch drive 122 includes a pitch motor 1221 and a pitch reducer 1222. The pitch motor 1221 and the pitch reducer 1222 are connected and are provided on the pitch base 121. The output end of the pitch reducer 1222 is provided with an output seat 1223. The pitch motor 1221 can drive multiple pitch rods 123 to perform pitching actions through the pitch reducer 1222. The pitch reducer 1222 is provided inside the pitch base 121 and is connected to the pitch motor 1221 through a flange 1211. The other end of the multiple pitch rods 123 is connected to a linkage seat 127. Compared with the existing robotic arm that uses a single pitch plate to connect the output seat 1223 and the linkage seat 127, this effectively reduces its weight and facilitates control of the pitch movement of the linkage seat 127. The output seat 1223, the multiple pitch rods 123, and the linkage seat 127 are connected as a relatively fixed whole. One end of the linkage 124 is connected to the linkage seat 127 via a linkage bearing 1271. The two ends of the parallel arm 125 are hinged to the pitch seat 121 and the linkage 124, respectively. The pitch seat 121, the pitch rods 123, the linkage 124, and the parallel arm 125 form a parallelogram linkage 124 structure. When the pitch rods 123 pitch, the parallel arm 125 will also move accordingly, ensuring that the attitude of the linkage 124 remains unchanged.

[0036] In some embodiments, such as Figure 4 and Figure 5 As shown, the connecting rod seat 127 has a through hole, and the connecting rod bearing 1271 is placed in the through hole. The pitch rod 123 is connected to one side of the connecting rod seat 127. The pitch rod 123 can be connected to the connecting rod seat 127 by screws. The pitch rod 123 is located on the side of the connecting rod seat 127 away from the connecting rod 124, and can at least partially cover one end of the through hole. The pitch rod 123 can limit the axial position of the connecting rod bearing 1271. That is, the pitch rod 123 can act as a bearing end cover to reduce the number of parts used, thereby reducing the structural complexity and weight of the robotic arm.

[0037] In some embodiments, two parallel pitch rods 123 are fixed on the output base 1223, one end of which covers one side of the through hole, and the other end of which covers the other side of the through hole. For example... Figure 4 As shown, two pitch rods 123 are distributed vertically. One end of the upper pitch rod 123 is fixed to the output base 1223 with a screw, and the other end is fixedly connected to the connecting rod base 127 with a screw. One end of the lower pitch rod 123 is fixed to the output base 1223 with a screw, and the other end is fixedly connected to the connecting rod base 127 with a screw. The connection positions of the two pitch rods 123 and the connecting rod base 127 are located on the upper and lower sides of one end of the through hole, respectively. It should be noted that the above embodiment is only illustrated using two pitch rods 123 as an example. In addition, other numbers of pitch rods 123 can also be selected. Furthermore, the two pitch rods 123 can be arranged in other ways besides being parallel to each other, depending on actual needs.

[0038] In some embodiments, a reinforcing rod is provided between the two pitch rods 123, for example... Figure 3 As shown, a reinforcing rod can be connected to the two pitch rods 123 near the middle. The reinforcing rod can be fixed to the pitch rods 123 by screws or other means. The reinforcing rod can improve the structural stability of the robotic arm.

[0039] In some embodiments, such as Figures 3 to 5 As shown, one end of the connecting rod 124 is provided with a connecting rod shaft 1241. The connecting rod shaft 1241 can be detachably connected to the connecting rod 124 by screws to facilitate the maintenance of the connecting rod shaft 1241. The connecting rod shaft 1241 is connected to the connecting rod bearing 1271. The axial direction of the connecting rod shaft 1241 is perpendicular to the extension direction of the connecting rod 124. The connecting rod shaft 1241 passes through the inner ring of the connecting rod bearing 1271, and the outer ring of the connecting rod bearing 1271 is placed in the connecting rod seat 127. The other end of the connecting rod 124 is provided with a connecting rod 126. The extension direction of the connecting rod 126 is perpendicular to the extension direction of the rod and the axial direction of the connecting rod shaft 1241. One end of the parallel arm 125 is hinged to the connecting rod 126. Specifically, hinge supports 128 for hinged connection of the parallel arm 125 can be provided on the pitch seat 121 and the connecting rod 126, respectively. For example, the extension direction of the connecting rod 126 is vertical, and the extension direction of the rod body and the axis direction of the connecting rod shaft 1241 are two mutually perpendicular directions in the horizontal plane.

[0040] In some embodiments, the pitch base 121 is provided with a limiting member for limiting the rotation angle of the pitch rod 123. For example, the limiting member includes a lower pitch limiting rod and an upper pitch limiting rod. The lower pitch limiting rod can be positioned below the end face of the pitch base 121 facing the pitch rod 123, and the upper pitch limiting rod can be positioned above the end face of the pitch base 121 facing the pitch rod 123. When the pitch rod 123 rotates upward to contact the upper pitch limiting rod, it stops rotating. When the pitch rod 123 rotates downward to contact the lower pitch limiting rod, it stops rotating. The limiting member can limit the pitch range of the pitch rod 123 to improve the operating safety of the robotic arm.

[0041] In some embodiments, the elbow horizontal support rotary mechanism 13 includes an elbow rotary drive 131, a horizontal rotary seat 132, a horizontal rotary shaft 133, and an elbow connecting rod assembly 134. The elbow rotary drive 131 is fixed to the horizontal rotary seat 132, and its output end is connected to the horizontal rotary shaft 133. For example, the elbow rotary drive 131 includes an elbow motor and an elbow reducer. The elbow motor is connected to the elbow reducer, and the output end of the elbow reducer is fixedly connected to the horizontal rotary shaft 133. The horizontal rotary shaft 133 is fixedly connected to a connecting rod 124, and the elbow connecting rod assembly 134 is connected to the horizontal rotary seat 132. When the elbow motor is running, since the horizontal rotary shaft 133 and the connecting rod 124 are relatively fixed, the horizontal rotary seat 132 will rotate relative to the horizontal rotary shaft 133, thereby causing the elbow connecting rod assembly 134 to rotate.

[0042] In some embodiments, the elbow connecting rod assembly 134 includes two parallel fork arms, one end of which is connected to both sides of the horizontal swivel base 132. The magnet rotation and tumbling mechanism 14 is connected to the other end of the two fork arms and located between them. The fork arms not only reduce the weight of the robotic arm but also facilitate the connection of the magnet rotation and tumbling mechanism 14. Furthermore, to improve the structural strength of the fork arms, a reinforcing rib is provided between the two fork arms, and the reinforcing rib can be perpendicular to the length extension direction of the fork arms.

[0043] This invention also provides a magnetically controlled capsule controller, including the magnetically controlled capsule controller robotic arm 10 described in any of the above embodiments. For the beneficial effects of the magnetically controlled capsule controller, please refer to the magnetically controlled capsule controller robotic arm 10 provided in any of the above embodiments; further details are omitted here.

[0044] In some embodiments, the magnetic capsule controller further includes a cabinet 20, and a waist support rotation mechanism 11 of the robotic arm is connected to the cabinet 20. The waist support rotation mechanism 11 includes a base plate, a waist rotation drive, a waist support shaft, and a waist bearing seat. The base plate is connected to the cabinet 20, the waist bearing seat is connected to the base plate, the waist support shaft is connected to the waist bearing seat via a bearing, and the output shaft of the waist rotation drive is connected to the waist support shaft. The waist rotation drive is located below the base plate and inside the cabinet. The bottom of the cabinet 20 is equipped with casters and feet. The feet are height-adjustable, allowing the cabinet 20 to move easily via the casters. Once in position, the feet can support the cabinet to ensure its stability.

[0045] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0046] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0047] The present invention has been described in detail above as a magnetically controlled capsule controller and its robotic arm. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of these embodiments are merely for the purpose of helping to understand the core ideas of the invention. It should be noted that those skilled in the art can make various improvements and modifications to the invention without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A magnetically controlled capsule controller robotic arm, characterized in that, include: The device comprises a pitch seat (121), multiple pitch rods (123), a connecting rod (124), and a parallel arm (125). The pitch seat (121) is equipped with a pitch drive (122). One end of each of the multiple pitch rods (123) is fixed to the output seat (1223) of the pitch drive (122), and the other end is connected to a connecting rod seat (127). One end of the connecting rod (124) is connected to the connecting rod seat (127) through a connecting rod bearing (1271). The two ends of the parallel arm (125) are respectively hinged to the pitch seat (121) and the connecting rod (124). The pitch seat (121), the pitch rods (123), the connecting rod (124), and the parallel arm (125) form a parallelogram connecting rod (124) structure.

2. The magnetically controlled capsule controller robotic arm according to claim 1, characterized in that, The connecting rod seat (127) is provided with a through hole, the connecting rod bearing (1271) is placed in the through hole, the pitch rod (123) is connected to one side of the connecting rod seat (127), and the pitch rod (123) is used to limit the axial position of the connecting rod bearing (1271).

3. The magnetically controlled capsule controller robotic arm according to claim 2, characterized in that, Two parallel pitch rods (123) are fixed on the output base (1223), one end of which covers one side of the through hole, and the other end of which covers the other side of the through hole.

4. The magnetically controlled capsule controller robotic arm according to claim 3, characterized in that, A reinforcing bar is provided between the two pitch rods (123).

5. The magnetically controlled capsule controller robotic arm according to claim 1, characterized in that, One end of the connecting rod (124) is provided with a connecting rod shaft (1241), which is connected to the connecting rod bearing (1271). The axial direction of the connecting rod shaft (1241) is perpendicular to the extension direction of the rod body of the connecting rod (124). The other end of the connecting rod (124) is provided with a connecting rod (126), which extends perpendicular to the extension direction of the rod body and the axial direction of the connecting rod shaft (1241). One end of the parallel arm (125) is hinged to the connecting rod (126).

6. The magnetically controlled capsule controller robotic arm according to claim 1, characterized in that, The pitch seat (121) is provided with a limiting member for limiting the rotation angle of the pitch rod (123).

7. The magnetically controlled capsule controller robotic arm according to any one of claims 1 to 6, characterized in that, It also includes an elbow horizontal support rotary mechanism (13), which includes an elbow rotary drive (131), a horizontal rotary seat (132), a horizontal rotary shaft (133), and an elbow connecting rod assembly (134). The elbow rotary drive (131) is fixed to the horizontal rotary seat (132), and the output end of the elbow rotary drive (131) is connected to the horizontal rotary shaft (133). The horizontal rotary shaft (133) is fixedly connected to the connecting rod (124), and the elbow connecting rod assembly (134) is connected to the horizontal rotary seat (132).

8. The magnetically controlled capsule controller robotic arm according to claim 7, characterized in that, The elbow connecting rod assembly includes two parallel fork arms.

9. The magnetically controlled capsule controller robotic arm according to claim 8, characterized in that, A reinforcing rib is provided between the two fork arms.

10. A magnetically controlled capsule controller, characterized in that, Includes the magnetically controlled capsule controller robotic arm (10) as described in any one of claims 1 to 9.

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