Magnetic control device

Abstract

The utility model provides a magnetic control device. The magnetic control device comprises a bearing seat and a magnet assembly, the bearing seat is configured to be connected with a mechanical arm; the magnet assembly is fixedly connected with a rotating shaft which is matched in the shaft hole of the bearing seat, so that the magnet assembly can rotate relative to the bearing seat; a locking mechanism is arranged at the position of the shaft hole and can be switched between a first state and a second state, so that the rotating shaft and the bearing base are locked or unlocked in the rotating direction of the rotating shaft. Based on the technical scheme of the utility model, motion control can be carried out by connecting the bearing seat with a mechanical arm, and the magnetic control device can omit structures such as a motor, so that the structure is greatly simplified, the size is greatly reduced, and the visual and psychological oppression and discomfort of a subject are greatly reduced. And in addition, the movement matching relation between the magnetic control assembly and the bearing base can be controlled through the locking mechanism, so that the requirements of automatic control and manual control of the mechanical arm can be met, and different control modes are matched.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical equipment technical field, especially a kind of magnetic control device. BACKGROUND

[0002] At present, in the medical detection field, using capsule endoscope to examine human digestive tract gradually becomes a new trend.Compared with traditional intubation electronic endoscope, capsule endoscope is more convenient and comfortable, and the examinee only needs to swallow capsule-sized electronic camera device to conduct comprehensive examination on the entire digestive tract, which does not cause physical discomfort to the examinee and reduces the risk of cross infection.

[0003] When using magnetic capsule gastroscope system to examine human stomach, after swallowing capsule endoscope, magnetic control equipment is used outside the human body to control the posture and position of the capsule endoscope by using the force of the small magnet inside the capsule endoscope under the action of external magnetic field, so as to conduct comprehensive examination on the inner wall of the entire stomach cavity.Based on the need to control the posture and position of the capsule endoscope, the magnetic control device in the external magnetic control equipment needs to meet the mobility in multiple directions.The current solution includes allowing the large magnet to rotate arbitrarily along two mutually perpendicular rotation axes to realize the feasibility in multiple directions through the combination of movement.

[0004] The traditional design idea is to install two motors in the fixed part and the rotating part respectively to control the rotation of the magnet around the two mutually perpendicular rotation axes.When the rotating part rotates, one of the motors rotates with the rotating part.However, in this scheme, the equipment has large size and volume, and since one of the motors rotates with the rotating part, the rotating radius is also large, so when the examinee lies on the hospital bed for gastroscopy, the magnetic control equipment moves back and forth above the examinee, which easily causes the examinee to feel oppressed and uncomfortable in vision and psychology.In addition, in order to prevent the motor cable and the photoelectric sensor cable from being wound and broken during rotation, an electric slip ring is needed for rotating conduction and signal transmission, which has complex structure, high cost, high process requirement and short service life, and is easily disturbed when transmitting sensitive signals, resulting in poor reliability of the magnetic control device.

[0005] In addition, the current traditional magnetic control equipment based on double-motor drive has the problem of being unable to switch control modes, i.e., the current magnetic control equipment can only be automatically controlled and driven by motor, and cannot be manually controlled by personnel, which is difficult to adapt to some application scenarios that require manual control. UTILITY MODEL CONTENTS

[0006] In order to solve the problems of poor user experience, complex structure, low reliability and inability to switch manual control mode of the existing magnetic control equipment, the utility model provides a magnetic control device.

[0007] The utility model provides a kind of magnetron device, it includes:

[0008] Bearing seat, it is configured for connecting mechanical arm;And

[0009] Magnet assembly, fixedly connected with rotating shaft, the rotating shaft is cooperated in the shaft hole of the bearing seat, to enable the magnet assembly can rotate relative to the bearing seat;

[0010] Wherein, the shaft hole place is configured with locking mechanism, the locking mechanism is configured to be able to switch between first state and second state, to make the rotating shaft in its rotating direction with the bearing seat lock or unlock.

[0011] In an embodiment, the locking mechanism includes:

[0012] Index pin, it is installed in the bearing seat and can be inserted into the shaft hole;And

[0013] Locking hole, it is configured in the part of the rotating shaft that is cooperated in the shaft hole, the locking hole extends along the radial direction of the rotating shaft, and the position of the locking hole in the axial direction of the rotating shaft corresponds to the index pin;

[0014] Wherein, the index pin is configured to be able to insert or exit the locking hole, to switch the state of the locking mechanism.

[0015] In an embodiment, the bearing seat is also provided with first ball head plunger that can be inserted into the shaft hole, the position of the first ball head plunger in the axial direction of the rotating shaft corresponds to the locking hole, and the first ball head plunger and the index pin are located on the opposite sides of the shaft hole respectively;

[0016] Wherein, the end of the first ball head plunger close to the inside of the shaft hole is configured as spherical head, and the diameter of the spherical head is greater than the inner diameter of the locking hole.

[0017] In an embodiment, the locking mechanism includes:

[0018] Locking sleeve, it is sleeved on the end of the rotating shaft and at least partially located in the shaft hole, and the locking sleeve is fixed relative to the rotating shaft in the circumferential direction and can move relative to the rotating shaft in the axial direction;

[0019] Locking pin, it is arranged on the outer circumferential surface of the locking sleeve and protrudes from the outer circumferential surface of the locking sleeve;And

[0020] Locking groove, it is configured in the inner wall of the shaft hole and used for cooperating with the locking pin, and the locking groove includes annular groove part and clamping groove part adjacent and connected in the axial direction of the shaft hole, and the annular groove part continuously extends along the circumferential direction of the shaft hole for one turn;

[0021] The locking pin can enter or exit the clamping groove portion along with the axial movement of the locking sleeve, so as to switch the state of the locking mechanism.

[0022] In one embodiment, a positioning groove extending along the axial direction of the rotating shaft is configured on the outer circumferential surface of the end portion of the rotating shaft, the positioning groove comprises deep groove portions at both ends and a shallow groove portion connecting the two deep groove portions, and the depth of the deep groove portion is greater than that of the shallow groove portion.

[0023] The inner wall of the locking sleeve is provided with a protruding second ball head plunger, and the head portion of the second ball head plunger is matched in the positioning groove.

[0024] In one embodiment, a limiting key is arranged on the outer circumferential surface of the end portion of the rotating shaft, and a limiting groove matched with the limiting key is arranged on the inner wall of the locking sleeve, and the limiting groove extends along the axial direction of the locking sleeve.

[0025] In one embodiment, a friction hovering mechanism is further configured at the shaft hole, the friction hovering mechanism comprises a first friction ring fixedly sleeved on the rotating shaft, and a second friction ring and a third friction ring respectively matched on both sides of the first friction ring, and the second friction ring and the third friction ring are fixed in the shaft hole.

[0026] In one embodiment, the side surface of the third friction ring is provided with a bearing matched between the rotating shaft and the inner wall of the shaft hole, and a resilient member with the elastic direction along the axial direction of the rotating shaft is fixedly arranged in the shaft hole, the resilient member is located on one side of the second friction ring and presses the second friction ring, so as to clamp the three friction rings through the bearing.

[0027] In one embodiment, the bearing seat is configured in a U shape, the magnet assembly is fixedly connected with the rotating shaft on opposite sides respectively, and the magnet assembly is erected on the bearing seat through the rotating shaft on both sides.

[0028] In one embodiment, the end portion of the rotating shaft is directly or indirectly connected with a manually operated wheel.

[0029] The above technical features can be combined in various suitable manners or replaced by equivalent technical features, as long as the purpose of the utility model can be achieved.

[0030] Compared with the prior art, the magnetic control device provided by the utility model has at least the following beneficial effects:

[0031] The magnetic control device can utilize the bearing seat to connect the mechanical arm to perform motion control, and the magnetic control device itself can be free of a motor and other structures, so that the structure is greatly simplified, the volume is greatly reduced, and the compression and discomfort of the examinee in vision and psychology are greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0032] The utility model will be described in more detail below based on the embodiments and with reference to the drawings. Among them:

[0033] Figure 1 The structure perspective drawing of one kind of embodiment of the magnetic control device of the utility model is shown;

[0034] Figure 2 The structure perspective drawing of another embodiment of the magnetic control device of the utility model is shown; Figure 1 The front view of the structure shown is shown;

[0035] Figure 3 The side view of the structure shown is shown; Figure 1 The structure schematic diagram of the section in A-A direction is shown;

[0036] Figure 4 The structure schematic diagram of the section in B-B direction is shown; Figure 3 The local enlarged view of the friction suspension mechanism is shown;

[0037] Figure 5 The local enlarged view of the friction suspension mechanism is shown; Figure 4 The section view under the overhead perspective of the structure shown is shown;

[0038] Figure 6 The section view under the overhead perspective of the structure shown is shown; Figure 2 The structure perspective drawing of one kind of embodiment of the magnetic control device of the utility model is shown;

[0039] Figure 7 The structure perspective drawing of one kind of embodiment of the magnetic control device of the utility model is shown;

[0040] Figure 8 The front view of the structure shown is shown; Figure 7 The side view of the structure shown is shown;

[0041] Figure 9 The side view of the structure shown is shown; Figure 7 The structure schematic diagram of the section in B-B direction is shown;

[0042] Figure 10 The local enlarged view of the friction suspension mechanism is shown; Figure 9 The local enlarged view of the friction suspension mechanism is shown;

[0043] Figure 11 The local enlarged view of the friction suspension mechanism is shown; Figure 10 The local enlarged view of the friction suspension mechanism is shown;

[0044] Figure 12 Showing Figure 8 Cross-sectional view of the structure shown from a top-down perspective;

[0045] Figure 13 The diagram shows the usage state of the magnetic control device of this utility model when it is installed on a robotic arm.

[0046] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not to scale.

[0047] Figure label:

[0048] 1-Bearing seat, 11-Shaft hole, 12-Fixed seat, 2-Magnet assembly, 21-Rotating shaft, 211-Positioning groove, 2111-Deep groove, 2112-Shallow groove, 212-Limit key, 3-Locking mechanism, 31-Indexing pin, 32-Locking hole, 33-Locking sleeve, 331-Limit groove, 34-Locking pin, 35-Locking groove, 351-Ring groove, 352-Card groove, 4-First ball plunger, 41-Spherical head, 5-Second ball plunger, 6-Friction suspension mechanism, 61-First friction ring, 62-Second friction ring, 63-Third friction ring, 64-Elastic element, 7-Bearing, 8-Manual operation wheel, 9-Mechanical arm, 10-Capsule endoscope. Detailed Implementation

[0049] The present invention will be further described below with reference to the accompanying drawings.

[0050] An embodiment of this utility model provides a magnetic control device, which includes a support base 1 and a magnet assembly 2. The support base 1 is configured to connect a robotic arm 9. The magnet assembly 2 is fixedly connected to a rotating shaft 21, which is fitted into the shaft hole 11 of the support base 1 so that the magnet assembly 2 can rotate relative to the support base 1. A locking mechanism 3 is configured at the shaft hole 11, which is configured to switch between a first state and a second state so that the rotating shaft 21 is locked or unlocked from the support base 1 in its rotation direction.

[0051] Specifically, as shown in the attached document Figures 1 to 3 As shown, the main body of the magnetic control device includes two parts: a support base 1 and a magnet assembly 2. The support base 1 is used to mount the magnet assembly 2 and to connect the robotic arm 9. The magnet assembly 2 is used to guide the object to be guided (in this embodiment, the object to be guided is a capsule endoscope 10) through magnetic force. (See attached diagram) Figure 4 , 6 As shown, the magnet assembly 2 includes an external magnetic body that can be disposed inside the outer shell, and the outer shell has a hollow structure. A rotating shaft 21 is fixedly connected to the outer shell, and the rotating shaft 21 passes through the shaft hole 11 of the bearing 1, as shown in the attached figure. Figure 1 , 2 As shown, this is to achieve the installation of the magnet assembly 2 on the support 1.

[0052] Based on the structural design, the magnetic control device can be installed on the mechanical arm 9 through the bearing seat 1, and the magnetic control device can be driven by the mechanical arm 9 to move in multiple directions, thereby guiding and controlling the position and posture of the capsule endoscope 10, as shown in the accompanying drawings. Figure 13 Therefore, the magnetic control device itself can be free of a motor and other structures, and the structure is greatly simplified and the volume is greatly reduced, thereby greatly reducing the visual and psychological pressure and discomfort of the examinee.

[0053] In addition, more importantly, the magnetic control device is provided with a locking mechanism 3 at the shaft hole 11 of the bearing seat 1, and the locking mechanism 3 can be moved and changed in structure, thereby switching the state, that is, switching the cooperation between the rotating shaft 21 and the bearing seat 1. For example, when the locking mechanism 3 is switched to the first state, the rotating shaft 21 and the bearing seat 1 (specifically, the structure of the shaft hole 11 of the bearing seat 1) can be connected, so that the rotating shaft 21 and the bearing seat 1 are locked in the rotating direction of the rotating shaft 21, that is, relatively fixed, so that the magnetic control device is switched to an automatic mode controlled by the mechanical arm 9. When the locking mechanism 3 is switched to the second state, the rotating shaft 21 and the bearing seat 1 can be separated, that is, the rotating shaft 21 and the bearing seat 1 are unlocked in the rotating direction of the rotating shaft 21, that is, the rotating shaft 21 can rotate freely relative to the bearing seat 1, so that the magnetic control device is switched to a manual mode controlled by manual operation; of course, in the manual mode, the adaptive mechanical arm 9 can follow the control of the position, movement and posture of the magnetic control device by manual operation when needed.

[0054] Therefore, the magnetic control device can be connected to the mechanical arm 9 through the bearing seat 1 to control the movement, the magnetic control device itself can be free of a motor and other structures, and the structure is greatly simplified and the volume is greatly reduced, thereby greatly reducing the visual and psychological pressure and discomfort of the examinee. In addition, the locking mechanism 3 can control the movement cooperation between the magnetic control assembly and the bearing seat 1, thereby meeting the needs of automatic control and manual control of the mechanical arm 9 and matching different control modes.

[0055] In one embodiment, as shown in the accompanying drawings, Figure 2 、 8 The bearing seat 1 is configured as a U-shaped structure, the magnet assembly 2 is fixedly connected to the opposite sides of the bearing seat 1 through the rotating shafts 21, and the magnet assembly 2 is arranged on the bearing seat 1 through the rotating shafts 21 on the two sides. In addition, the locking mechanism 3 and other structures corresponding to the rotating shaft 21 are provided as two sets, and correspond to the two rotating shafts 21 respectively. When the state is switched, the two rotating shafts 21 correspondingly need to act synchronously.

[0056] The specific structure of the locking mechanism can selectively adopt the following two implementation manners according to needs.

[0057] The first implementation manner of the locking mechanism:

[0058] In one embodiment, the locking mechanism 3 comprises an index pin 31 and a locking hole 32; the index pin 31 is installed on the bearing seat 1 and can be inserted into the shaft hole 11; the locking hole 32 is configured on the part of the rotating shaft 21 that is fitted in the shaft hole 11, the locking hole 32 extends along the radial direction of the rotating shaft 21, and the position of the locking hole 32 in the axial direction of the rotating shaft 21 corresponds to the index pin 31; wherein the index pin 31 is configured to be able to be inserted into or withdrawn from the locking hole 32, so as to switch the state of the locking mechanism 3.

[0059] Specifically, as shown in the accompanying drawings, Figure 4 the locking mechanism 3 is composed of the index pin 31 and the locking hole 32. The index pin 31 is arranged at the position of the shaft hole 11 on the bearing seat 1, specifically, the index pin 31 is inserted into the assembly hole on the bearing seat 1 which is vertically communicated with the shaft hole 11, and the main body of the index pin 31 is threadedly connected with the assembly hole, and by pressing, the head at the end of the index pin 31 can be extended into the shaft hole 11; the locking hole 32 is opened on the part of the rotating shaft 21 located in the shaft hole 11 along the radial direction of the rotating shaft 21. Therefore, when the head at the end of the index pin 31 corresponds to the locking hole 32, it can be extended into the locking hole 32, and Figure 4 in the accompanying drawings, the right index pin 31 is in the state of being extended into the locking hole 32, and the left index pin 31 is in the state of being withdrawn from the locking hole 32. When the head at the end of the index pin 31 is extended into the locking hole 32, the rotating shaft 21 obviously cannot rotate freely, and the rotating shaft 21 and the bearing seat 1 are in a locked state.

[0060] Further, the bearing seat 1 is further provided with a first ball head plunger 4 which can be inserted into the shaft hole 11, the position of the first ball head plunger 4 in the axial direction of the rotating shaft 21 corresponds to the locking hole 32, and the first ball head plunger 4 and the index pin 31 are respectively located on the opposite sides of the shaft hole 11; wherein the end of the first ball head plunger 4 close to the inside of the shaft hole 11 is configured as a spherical head 41, and the diameter of the spherical head 41 is greater than the inner diameter of the locking hole 32.

[0061] Specifically, based on the above implementation manner of the locking mechanism 3, the bearing seat 1 can be further provided with the first ball head plunger 4. As shown in the accompanying drawings, Figure 4 the setting mode of the first ball head plunger 4 on the bearing seat 1 is the same as that of the index pin 31, and the spherical head 41 at the end thereof can be extended into the shaft hole 11 under the action of the internal elastic force. Since the first ball head plunger 4 and the index pin 31 are located on the opposite sides of the shaft hole 11, when the index pin 31 corresponds to the hole opening at one end of the locking hole 32 and is inserted into the locking hole 32, the first ball head plunger 4 corresponds to the hole opening at the other end of the locking hole 32, as shown in the accompanying drawings, Figure 6As shown, a portion of the spherical head 41 of the first ball-head plunger 4 can enter the locking hole 32 (due to diameter limitations, the portion entering the locking hole 32 is less than half the size of the sphere), thus assisting in locking the rotating shaft 21 based on the indexing pin 31. Furthermore, when the indexing pin 31 exits the locking hole 32 and the rotating shaft 21 can rotate freely, the spherical head 41 of the first ball-head plunger 4 abuts against the outer circumferential surface of the rotating shaft 21, applying friction to the rotating shaft 21 to provide a certain degree of damping and improve the smoothness of the rotation of the rotating shaft 21.

[0062] In this embodiment, the end of the rotating shaft 21 is directly connected to a manual operation wheel 8 via a threaded fastener, which is used for personnel to operate the rotation of the rotating shaft 21.

[0063] It should be noted that the indexing pin 31 and the first ball plunger 4 in this embodiment are both existing technologies and are not the main inventive points of this application. Existing products can be directly adopted, and their specific structural design and working principle can be referred to existing literature.

[0064] The second implementation of the locking mechanism:

[0065] In one embodiment, the locking mechanism 3 includes a locking sleeve 33, a locking pin 34, and a locking groove 35. The locking sleeve 33 is sleeved on the end of the rotating shaft 21 and is at least partially located in the shaft hole 11. The locking sleeve 33 and the rotating shaft 21 are relatively fixed in the circumferential direction and can move relative to each other in the axial direction. The locking pin 34 is disposed on the outer circumferential surface of the locking sleeve 33 and protrudes from the outer circumferential surface of the locking sleeve 33. The locking groove 35 is constructed on the inner wall of the shaft hole 11 and is used to engage the locking pin 34. The locking groove 35 includes an annular groove portion 351 and a slot portion 352 that are adjacent and connected in the axial direction of the shaft hole 11. The annular groove portion 351 extends continuously around the circumference of the shaft hole 11. The locking pin 34 can enter or exit the slot portion 352 as the locking sleeve 33 moves in the axial direction of the rotating shaft 21, thereby switching the state of the locking mechanism 3.

[0066] Specifically, as shown in the attached document Figures 7 to 9 As shown, based on this embodiment, the locking mechanism 3 adopts an axially movable structure. Most of its components are mounted on the rotating shaft 21 and fitted into the shaft hole 11, meaning they are hidden inside the device. This eliminates the need for the indexing pin 31 on the external surface of the magnetic control device, resulting in a simpler external structure, but the internal structure is slightly more complex. (Refer to the attached diagram.) Figure 12The locking mechanism 3 includes a sleeve-shaped locking sleeve 33, which is fitted onto the end of the rotating shaft 21, with a portion located inside the shaft hole 11. A locking pin 34 is provided on the outer circumferential surface of the portion of the locking sleeve 33 located inside the shaft hole 11. The locking pin 34 is partially embedded in the locking sleeve 33 and partially protrudes from the locking sleeve 33. A locking groove 35 is provided on the inner wall of the shaft hole 11, which includes an annular groove 351 and a retaining groove 352. The locking sleeve 33 can move along the axial direction of the rotating shaft 21 to switch the locking pin 34 between the annular groove 351 and the retaining groove 352. When the locking pin 34 is in the annular groove 351, the annular groove 351 provides space for the locking pin 34 to move with the rotation of the rotating shaft 21, at which time the rotating shaft 21 can rotate freely. When the locking pin 34 is in the slot 352, the slot walls of the slot 352 in both the positive and negative directions of the circumference of the rotating shaft 21 limit the locking pin 34, so that the locking pin 34 cannot rotate with the rotating shaft 21, thereby restricting the rotation of the rotating shaft 21.

[0067] Furthermore, the locking groove 35 may only have a slot portion 352 without an annular groove portion 351, but when the locking sleeve 33 needs to move outward, the locking pin 34 can move outside the shaft hole 11.

[0068] In this embodiment, as shown in the appendix Figure 12 As shown, the manual operating wheel 8, which is used for personnel to operate the rotation of the shaft 21, is directly connected to the end of the locking sleeve 33 by a threaded fastener, and is then indirectly installed on the end of the shaft 21 through the locking sleeve 33.

[0069] Furthermore, a positioning groove 211 extending axially along the shaft 21 is constructed on the outer peripheral surface of the end of the shaft 21. The positioning groove 211 includes a deep groove portion 2111 located at both ends and a shallow groove portion 2112 connecting the two deep groove portions 2111. The depth of the deep groove portion 2111 is greater than that of the shallow groove portion 2112. A protruding second ball-head plunger 5 is provided on the inner wall of the locking sleeve 33. The head of the second ball-head plunger 5 is fitted into the positioning groove 211.

[0070] Specifically, based on the above embodiments of the locking mechanism 3, the locking sleeve 33 can move freely along the axial direction of the rotating shaft 21. Therefore, further structural design is needed to limit the range of motion or travel of the locking sleeve 33 to prevent it from moving excessively and detaching from the rotating shaft 21. Therefore, as shown in the attached... Figure 11 As shown, a positioning groove 211 extending axially is provided on the rotating shaft 21, and a second ball-head plunger 5 (same as the first ball-head plunger 4, the second ball-head plunger 5 is also existing technology, and its specific structure will not be described in detail here) is provided on the inner wall of the locking sleeve 33 and fits in the positioning groove 211. The movement stroke of the locking sleeve 33 can be limited by setting the length of the positioning groove 211.

[0071] Further, the two ends of the positioning groove 211 are set as deep groove portions 2111 (the radial dimension matches the head of the first ball plunger 4) with a larger depth, and the middle portion is set as a shallow groove portion 2112 with a smaller depth, so that when the locking sleeve 33 moves along the rotation shaft 21 in the axial direction to switch the rotation state, it needs to enter the shallow groove portion 2112 from the current deep groove portion 2111 and then move to another deep groove portion 2111. When entering the shallow groove portion 2112 from the current deep groove portion 2111, the head of the second ball plunger 5 needs to overcome the internal elastic force to retract, so that the internal elastic force of the second ball plunger 5 can in turn limit the random movement of the locking sleeve 33, avoid the erroneous movement of the locking sleeve 33 due to external shaking and other factors, and improve the reliability of the structure.

[0072] Further, a limiting key 212 is arranged on the outer circumferential surface of the end of the rotation shaft 21, and a limiting groove 331 cooperating with the limiting key 212 is arranged on the inner wall of the locking sleeve 33, and the limiting groove 331 extends in the axial direction of the locking sleeve 33.

[0073] Specifically, in the embodiment, the cooperation relationship between the locking sleeve 33 and the rotation shaft 21 is relatively fixed in the circumferential direction and can be relatively moved in the axial direction, and therefore the general limiting key 212 and the limiting groove 331 are used to achieve this, as shown in FIG. 8. Figure 10 、 11 The limiting key 212 can be a general flat key, which can slide along the limiting groove 331 to achieve relative movement in the axial direction and relative fixation in the circumferential direction.

[0074] In one embodiment, a friction hovering mechanism 6 is further arranged in the shaft hole 11, which includes a first friction ring 61 fixedly sleeved on the rotation shaft 21, and a second friction ring 62 and a third friction ring 63 respectively attached to the two sides of the first friction ring 61, and the second friction ring 62 and the third friction ring 63 are fixed in the shaft hole 11.

[0075] Specifically, based on the foregoing embodiment, the magnetic control device can be switched between the automatic mode and the manual mode, and when switched to the manual mode, the rotation shaft 21 can be freely rotated. However, in actual application, there may be a need to keep the magnet assembly 2 at a certain angle when it rotates with the rotation shaft 21, that is, to realize the hovering of the magnet assembly 2, which requires overcoming the torque caused by the gravity of the magnet assembly 2. Therefore, the embodiment further arranges a friction hovering mechanism 6 based on friction in the shaft hole 11, as shown in FIG. 9. Figure 4 、 5As shown, the friction suspension mechanism 6 includes a first friction ring 61 fixedly sleeved on the rotating shaft 21, which can rotate with the rotating shaft 21, and the first friction ring 61 is matched with a second friction ring 62 and a third friction ring 63 on both sides, respectively. The second friction ring 62 and the third friction ring 63 are fixed in the shaft hole 11 and do not rotate with the rotating shaft 21. Based on the first friction ring 61, the second friction ring 62 and the third friction ring 63, a structure similar to a car brake disc can be formed, and through the friction force generated on the first friction ring 61, the rotating damping of the rotating shaft 21 is formed, so that when the person does not actively control the rotation, the friction resistance is used to overcome the torque caused by the gravity of the magnet assembly 2, the angle and attitude are kept, and then the suspension of the magnet assembly 2 is realized.

[0076] In one embodiment, the side surface of the third friction ring 63 is provided with a bearing 7 matched between the rotating shaft 21 and the inner wall of the shaft hole 11, and a resilient member 64 with the elastic direction along the axial direction of the rotating shaft 21 is fixedly arranged in the shaft hole 11. The resilient member 64 is located on one side of the second friction ring 62 and presses the second friction ring 62 to clamp the three friction rings in cooperation with the bearing 7.

[0077] Specifically, as shown in the accompanying drawings Figure 4 , 5 , the friction suspension mechanism 6 is arranged on one side of the bearing 7, one side of the friction suspension mechanism 6 is the bearing 7, the other side is the resilient member 64, one end of the resilient member 64 abuts against the step structure on the inner wall of the shaft hole 11, and the other end abuts against the second friction ring 62 of the friction suspension mechanism 6. Therefore, the elastic force of the resilient member 64 makes the first friction ring 61, the second friction ring 62 and the third friction ring 63 abut against the bearing 7 (specifically, abut against the outer ring of the bearing 7 which does not rotate) as a whole, so as to ensure the friction contact between the friction rings. In this embodiment, in order to adapt to the limited installation space inside the shaft hole 11 and ensure that the pressure applied to the friction suspension mechanism 6 meets the demand, the resilient member 64 is preferably a wave spring.

[0078] It should be noted that the magnetic control device corresponding to the two locking mechanisms 3 described above has the same structure of the friction suspension mechanism 6, which can refer to the structure shown in the accompanying drawings Figure 4 , 5 .

[0079] In one embodiment, as shown in the accompanying drawings Figure 1 , 2 , 7, 8, the part of the bearing seat 1 for matching and installing the rotating shaft 21 includes a fixed seat 12, that is, the fixed seat 12 and the corresponding part of the main body of the bearing seat 1 jointly form the shaft hole 11, and the shaft hole 11 is jointly constituted by the hole structure in the center of the fixed seat 12 and the hole structure on the main body of the bearing seat 1, as shown in the accompanying drawings Figure 4 , 12The fixing seat 12 is fixed on the side of the main body of the bearing seat 1 through a threaded fastener, and the purpose is that the fixing seat 12 can be detached relative to the main body of the bearing seat 1, so that the inside of the shaft hole 11 is opened, and the corresponding parts are installed into the inside of the shaft hole 11. Based on the structural design of the fixing seat 12, in the first embodiment of the locking mechanism 3, the indexing pin 31 and the first ball head plunger 4 are all installed on the fixing seat 12, as shown in FIG. 2; in the second embodiment of the locking mechanism 3, the locking groove 35 is opened on the inner wall of the aperture structure of the fixing seat 12, as shown in FIG. 3. Figure 4 Figure 12

[0080] In the description of the utility model, it is understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the utility model.

[0081] Although the utility model is described herein with reference to specific embodiments, it should be understood that these examples are only examples of the principles and applications of the utility model. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed, as long as they do not deviate from the spirit and scope of the utility model defined in the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from the original claims. It should also be understood that the features described in conjunction with individual embodiments can be used in other described embodiments.​​

Claims

1. A magnetron device, characterized by The application relates to a bearing seat for connecting a mechanical arm, comprising: a bearing seat configured for connecting a mechanical arm; and a magnet assembly fixedly connected with a rotating shaft, the rotating shaft being fitted in a shaft hole of the bearing seat so that the magnet assembly can rotate relative to the bearing seat; wherein the shaft hole is configured with a locking mechanism capable of switching between a first state and a second state to lock or unlock the rotating shaft relative to the bearing seat in the rotating direction.

2. The magnetic control device of claim 1, wherein, The locking mechanism comprises: an index pin installed on the bearing seat and capable of being inserted into the shaft hole; and a locking hole configured on the part of the rotating shaft fitted in the shaft hole, the locking hole extending along the radial direction of the rotating shaft, and the position of the locking hole in the axial direction of the rotating shaft corresponding to the index pin; wherein the index pin is configured to be inserted into or withdrawn from the locking hole to switch the state of the locking mechanism.

3. The magnetic control device of claim 2, wherein, The bearing seat is further provided with a first ball plunger capable of being inserted into the shaft hole, the position of the first ball plunger in the axial direction of the rotating shaft corresponding to the locking hole, and the first ball plunger and the index pin being located on opposite sides of the shaft hole, respectively; wherein the end of the first ball plunger close to the inside of the shaft hole is configured as a spherical head, and the diameter of the spherical head is greater than the inner diameter of the locking hole.

4. The magnetic control device of claim 1, wherein, The locking mechanism comprises: a locking sleeve sleeved on the end of the rotating shaft and at least partially located in the shaft hole, the locking sleeve being fixed relative to the rotating shaft in the circumferential direction and being capable of moving relative to the rotating shaft in the axial direction; a locking pin provided on the outer peripheral surface of the locking sleeve and protruding from the outer peripheral surface of the locking sleeve; and a locking groove configured on the inner wall of the shaft hole and used for fitting the locking pin, the locking groove comprising an annular groove part and a clamping groove part adjacent to and communicating with each other in the axial direction of the shaft hole, the annular groove part continuously extending along the circumferential direction of the shaft hole for one turn; wherein the locking pin can enter or exit the clamping groove part along with the movement of the locking sleeve in the axial direction of the rotating shaft to switch the state of the locking mechanism.

5. The magnetic control device of claim 4, wherein, The outer peripheral surface of the end of the rotating shaft is configured with a positioning groove extending in the axial direction of the rotating shaft, the positioning groove comprising deep groove parts at two ends and a shallow groove part communicating the two deep groove parts, and the depth of the deep groove parts being greater than that of the shallow groove part; wherein the inner wall of the locking sleeve is provided with a protruding second ball plunger, and the head of the second ball plunger is fitted in the positioning groove.

6. The magnetic control device of claim 4, wherein, The outer peripheral surface of the end of the rotating shaft is provided with a limiting key, and the inner wall of the locking sleeve is provided with a limiting groove matched with the limiting key, the limiting groove extending in the axial direction of the locking sleeve.

7. The magnetic control device according to any one of claims 1 to 6, wherein The shaft hole is further configured with a friction hovering mechanism, the friction hovering mechanism comprising a first friction ring fixedly sleeved on the rotating shaft and a second friction ring and a third friction ring respectively attached to the two sides of the first friction ring, and the second friction ring and the third friction ring being fixed in the shaft hole.

8. The magnetic control device of claim 7, wherein, The side of the third friction ring is provided with a bearing matched between the rotating shaft and the inner wall of the shaft hole, and a resilient member with a resilient direction along the axial direction of the rotating shaft is fixedly arranged in the shaft hole, and the resilient member is located at one side of the second friction ring and presses the second friction ring to clamp the three friction rings through the bearing.

9. The magnetic control device according to any one of claims 1 to 6, characterized in that, The bearing seat is configured in a U shape, and the magnet assembly is fixedly connected with the rotating shaft on opposite sides respectively, and the magnet assembly is erected on the bearing seat through the rotating shaft on the two sides.

10. The magnetic control device according to any one of claims 1 to 6, characterized in that, The end of the rotating shaft is directly or indirectly connected with a manually operated wheel.

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