scope-advancing and -retracting scope retraction robot

Abstract

This utility model discloses an endoscope withdrawal robot with automatic advance and retraction, comprising: an endoscope, the endoscope including an operating part and an insertion part, one end of the insertion part being connected to the operating part; an insertion part feeding unit, the insertion part feeding unit including a support, an active friction wheel, a passive friction wheel, and a drive motor, the active friction wheel and the passive friction wheel being spaced apart and mounted on the upper surface of the support, forming a feeding gap between the active friction wheel and the passive friction wheel, the insertion part passing through the feeding gap and abutting against the active friction wheel and the passive friction wheel; the support having a through hole, the through hole penetrating the upper and lower surfaces of the support, the drive motor being mounted on the support and located below the support, the output shaft of the drive motor driving the active friction wheel through the through hole. This utility model's endoscope withdrawal robot achieves automatic advance and retraction control of the endoscope insertion part, replacing repetitive manual operations with mechanical automation, thus improving the effectiveness of endoscope use.

Description

Technical Field

[0001] This utility model relates to the field of mirror removal robot technology, and in particular to a mirror removal robot with an automatic mirror body that can move forward and backward. Background Technology

[0002] Endoscopy is an optical examination performed by inserting an instrument from outside the body through natural cavities to examine internal diseases. It allows direct observation of lesions within organs, determining their location and extent, and performing imaging, biopsies, or smears, significantly improving the accuracy of cancer diagnosis and enabling certain treatments. Traditional endoscopic procedures require manual operation by the doctor, are time-consuming and repetitive, and are prone to errors due to fatigue, thus affecting the effectiveness of the endoscope. Utility Model Content

[0003] The main purpose of this invention is to propose an endoscope retraction robot that can automatically advance and retract the endoscope body, aiming to solve the technical problem of how to improve the effectiveness of endoscope use.

[0004] To achieve the above objectives, the automatic retraction robot for the scope of the scope proposed in this utility model includes:

[0005] An endoscope, comprising an operating section and an insertion section, wherein one end of the insertion section is connected to the operating section;

[0006] An insertion section feeding unit includes a bracket, an active friction wheel, a passive friction wheel, and a drive motor. The active and passive friction wheels are spaced apart on the upper surface of the bracket, forming a feeding gap. The insertion section passes through the feeding gap and abuts against the active and passive friction wheels. The bracket has a through hole that penetrates both the upper and lower surfaces of the bracket. The drive motor is mounted on the bracket and located below it. The output shaft of the drive motor drives the active friction wheel through the through hole.

[0007] Optionally, the rotation axis of the drive motor is parallel to the feeding direction of the insertion part. The feeding unit of the insertion part further includes a drive gear and a first transmission gear. The drive gear is connected to the output shaft of the drive motor. The first transmission gear is rotatably mounted on the bracket and located below the bracket. The first transmission gear is connected to the active friction wheel. The drive gear meshes with the first transmission gear. Both the drive gear and the first transmission gear are bevel gears.

[0008] Optionally, the insertion feeding unit further includes a second transmission gear, a third transmission gear, and a first connecting rod. The second transmission gear is connected to the upper surface of the first transmission gear and is coaxially arranged with the first transmission gear so as to rotate synchronously with the first transmission gear. The third transmission gear is rotatably mounted on the bracket and meshes with the second transmission gear. The lower end of the first connecting rod is connected to the third transmission gear, and the upper end of the first connecting rod passes through the through hole and is connected to the active friction wheel.

[0009] Optionally, there are two active friction wheels, which are spaced apart along the feeding direction of the insertion part. The number and position of the passive friction wheels correspond to the active friction wheels, and the number and position of the through holes correspond to the active friction wheels.

[0010] The insertion feeding unit further includes a fourth transmission gear, a fifth transmission gear, and a second connecting rod. The fourth and fifth transmission gears are rotatably mounted on the bracket. The fourth transmission gear meshes with the third transmission gear, and the fifth transmission gear meshes with the fourth transmission gear. The lower end of the second connecting rod is connected to the fifth transmission gear, and the upper end of the second connecting rod passes through the through hole and is connected to the active friction wheel.

[0011] Optionally, the insertion feeding unit further includes a sliding frame, which is slidably mounted on the bracket. The passive friction wheel is rotatably mounted on the sliding frame, and the sliding frame can drive the passive friction wheel to move closer to or away from the active friction wheel, so that the width of the feed gap is adjustable.

[0012] Optionally, the bracket has a protruding fixing plate, which is located on the side of the sliding frame away from the active friction wheel. The sliding frame has a through hole. The insertion feeding unit also includes a screw and a drive nut. One end of the screw is connected to the fixing plate and the other end passes through the through hole. The drive nut is sleeved on the screw and is used to push the sliding frame toward the active friction wheel.

[0013] Optionally, the insertion feeding unit further includes an elastic element sleeved on the screw, one end of the elastic element abutting against the sliding frame and the other end abutting against the nut, so that the pushing force applied to the sliding frame is an elastic force.

[0014] Optionally, two slide rails are connected to both ends of the sliding frame, and two guide rails are protruding on the upper surface of the bracket, with each guide rail slidably engaging with each slide rail.

[0015] Optionally, the outer peripheral surfaces of the active friction wheel and the passive friction wheel are concave curved surfaces.

[0016] Optionally, the insertion feeding unit further includes a support block, which is mounted on the bracket. The support block has a guide hole, which is spaced opposite to the feed gap. The insertion part passes through the feed gap and then through the guide hole.

[0017] This utility model presents a robotic endoscope with automatic advance and retraction, achieving automatic advance and retraction control of the endoscope insertion section, replacing the traditional manual operation mode. The motor-driven friction wheel transmission mechanism provides stable and precise power output, overcoming the problems of fatigue and uneven speed associated with manual operation. The automated control system can accurately execute preset speeds and distances, improving the consistency and repeatability of endoscopic examinations. This design improves the effectiveness of endoscope use by replacing repetitive manual operations with mechanical automation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a structure of an embodiment of the automatic retraction robot for the mirror body of this utility model;

[0020] Figure 2 This is an exploded structural diagram of an embodiment of the retracting robot with an automatically advancing and retracting mirror body according to the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of an embodiment of the insertion section feeding unit in this utility model;

[0022] Figure 4 This is a structural cross-sectional view of an embodiment of the insertion section feeding unit in this utility model;

[0023] Figure 5 This is a schematic diagram of another embodiment of the insertion section feeding unit in this utility model;

[0024] Figure 6 This is a schematic diagram of another embodiment of the insertion part feeding unit in this utility model.

[0025] Explanation of icon numbers:

[0026]

[0027]

[0028] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text is to include three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0032] This invention proposes a retraction robot with an automatically advancing and retracting endoscope body, aiming to solve the technical problem of how to improve the effectiveness of endoscope 10.

[0033] In the embodiments of this utility model, such as Figures 1 to 3As shown, the endoscope-extraction robot with automatic advance and retraction includes: an endoscope 10, which includes an operation part 11 and an insertion part 12, one end of which is connected to the operation part 11; an insertion part feeding unit 20, which includes a support 21, an active friction wheel 22, a passive friction wheel 23, and a drive motor 24. The active friction wheel 22 and the passive friction wheel 23 are spaced apart on the upper surface of the support 21, forming a feeding gap between them. The insertion part 12 passes through the feeding gap and abuts against the active friction wheel 22 and the passive friction wheel 23. The support 21 has a through hole that penetrates the upper and lower surfaces of the support 21. The drive motor 24 is mounted on the support 21 and located below it. The output shaft of the drive motor 24 drives the active friction wheel 22 through the through hole.

[0034] In this embodiment, the endoscope 10 refers to an optical instrument used for endoscopic examination. Specifically, it can be implemented using an integrated design of the operating unit 11 and the insertion unit 12. The operating unit 11 is for handheld control, and the insertion unit 12 is used to enter the body cavity to perform the examination. The insertion unit feed unit 20 is a mechanical structure that drives the insertion unit 12 to move automatically. Specifically, it can use a bracket 21 as the mounting base, and an active friction wheel 22 and a passive friction wheel 23 as clamping and transmission components. The two friction wheels are spaced apart to form a feed gap. The insertion unit 12 passes through the gap and contacts the friction wheels, driving linear motion through friction. The active friction wheel 22 is a friction wheel directly driven by a power source, specifically a motor driven through gear transmission. Its surface contacts the insertion unit 12 to generate propulsion. The passive friction wheel 23 is a driven friction wheel without power input, specifically an adjustable-gap installation method. It cooperates with the active friction wheel 22 to clamp the insertion unit 12, ensuring transmission stability. The drive motor 24 is a device that provides power. Specifically, it can be a motor whose axis is parallel to the feeding direction of the insertion part 12. The power is transmitted vertically to the active friction wheel 22 through a through hole, which lowers the center of gravity of the equipment and optimizes the spatial layout. The through hole is a through hole that passes through the upper and lower surfaces of the bracket 21. Specifically, it can be a circular or rectangular hole structure, used to connect the output shaft of the drive motor 24 and the active friction wheel 22, simplifying the transmission path and reducing assembly complexity.

[0035] The automatic forward and backward movement of the endoscope 10 insertion section 12 is achieved through the coordinated design of friction wheel clamping transmission and the bottom-mounted drive motor 24. The active friction wheel 22 and the passive friction wheel 23 form a stable clamping force, ensuring that the insertion section 12 maintains linear movement during friction transmission. The bottom-mounted drive motor 24 directly drives the active friction wheel 22 through a through-hole, lowering the center of gravity of the equipment and optimizing the power transmission path, thereby solving the problems of low efficiency and fatigue-induced errors in traditional manual operation. This structure replaces manual operation with mechanical automation, improving inspection accuracy and stability while simplifying the assembly process.

[0036] During operation, the drive motor 24 drives the active friction wheel 22 to rotate via its output shaft. Since the insertion part 12 abuts against both the active friction wheel 22 and the passive friction wheel 23, the rotation of the active friction wheel 22 causes the insertion part 12 to move within the feed gap. The passive friction wheel 23 provides the necessary clamping force, ensuring sufficient friction between the insertion part 12 and the active friction wheel 22. Automatic forward and backward movement of the insertion part 12 can be achieved by controlling the speed and direction of the drive motor 24. The lowered motor layout lowers the center of gravity of the equipment, improving operational stability. The through-hole design simplifies the transmission structure, reduces the number of components, and contributes to improved system reliability.

[0037] The endoscope 10 includes an operating section 11 and an insertion section 12. The insertion section 12 is a flexible tubular structure, with one end fixedly connected to the operating section 11. The support 21 of the insertion section feeding unit 20 is made of metal and is rectangular in shape. An active friction wheel 22 is installed on each side edge of the upper surface of the support 21, and the two active friction wheels 22 are spaced apart along the feeding direction of the insertion section 12. Each active friction wheel 22 is correspondingly provided with a passive friction wheel 23, which is located inside the active friction wheel 22. Both the active friction wheel 22 and the passive friction wheel 23 are made of rubber, with concave curved outer surfaces to increase the contact area with the insertion section 12.

[0038] The bracket 21 has a circular through hole directly below each active friction wheel 22. The drive motor 24 is fixedly mounted on the lower surface of the bracket 21. The drive motor 24 is a stepper motor, which can precisely control the speed and angle.

[0039] The insertion part 12 extends from the operating part 11 and passes through the feed gap between the active friction wheel 22 and the passive friction wheel 23. The width of the feed gap is slightly smaller than the diameter of the insertion part 12 to ensure sufficient clamping force.

[0040] The operator sets the forward and backward speed and distance of the insertion part 12 via the control panel. The control system controls the speed and direction of the drive motor 24 according to the set parameters, thereby realizing the automatic forward and backward movement of the insertion part 12. The rotation of the active friction wheel 22 drives the insertion part 12 to move, while the passive friction wheel 23 provides the necessary clamping force to ensure stable transmission.

[0041] Through the above-described scheme, this application achieves automatic advance and retreat control of the insertion section 12 of the endoscope 10, replacing the traditional manual operation mode. The motor-driven friction wheel transmission mechanism provides stable and precise power output, overcoming the problems of fatigue and uneven speed caused by manual operation. The automated control system can achieve precise execution of preset speeds and distances, improving the consistency and repeatability of endoscopic examinations. In addition, the operator does not need to continuously manually control the insertion section 12, reducing physical burden and lowering the risk of occupational injury caused by prolonged operation. This design improves the efficiency and quality of endoscopic examinations by replacing repetitive manual operations with mechanical automation, providing more reliable technical support for clinical diagnosis and treatment.

[0042] Specifically, such as Figure 3 and Figure 4 As shown, the rotation axis of the drive motor 24 is parallel to the feeding direction of the insertion part 12. The insertion part feeding unit 20 also includes a drive gear 241 and a first transmission gear 251. The drive gear 241 is connected to the output shaft of the drive motor 24. The first transmission gear 251 is rotatably mounted on the bracket 21 and located below the bracket 21. The first transmission gear 251 is connected to the active friction wheel 22. The drive gear 241 meshes with the first transmission gear 251. Both the drive gear 241 and the first transmission gear 251 are bevel gears.

[0043] The rotation axis of the drive motor 24 is set parallel to the feed direction of the insertion part 12, so that the motor can be arranged longitudinally along the movement direction of the insertion part 12. Through the inclined meshing characteristics of the bevel gear, the rotation plane of the drive gear 241 is made perpendicular to the rotation plane of the first transmission gear 251.

[0044] The rotational motion of the output shaft of the drive motor 24 is transmitted to the first transmission gear 251 via the drive gear 241. The bevel gear meshing structure converts the power direction from axial rotation to rotational motion perpendicular to the feeding direction of the insertion part 12. The rotational shaft of the first transmission gear 251 is connected to the active friction wheel 22 through the mounting space below the bracket 21, for example, through a coupling or coaxial rod to achieve power output. The tooth surface contact area of ​​the bevel gear can reach 1.2 to 1.5 times that of the flat gear, thereby improving transmission stability. In the power transmission path, the cross-axis layout of the drive motor 24 and the active friction wheel 22 achieves spatial decoupling through the 90° transmission characteristics of the bevel gear, allowing the motor mounting position to extend axially along the insertion part 12, avoiding spatial interference with the friction wheel drive mechanism.

[0045] The above technical solution achieves parallel arrangement of the drive motor 24 and the insertion part 12 in the feeding direction, optimizing the motor spatial layout. The use of a bevel gear transmission structure completes the power direction conversion within a limited space, improving transmission efficiency. The meshing transmission between the drive gear 241 and the first transmission gear 251 increases the contact area, enhancing transmission stability. The use of bevel gears solves the structural interference problem in cross-axis transmission, making the drive system more compact and reliable. This transmission structure adapts to the linear motion requirements of the insertion part 12, improving the overall performance and reliability of the mirror removal robot.

[0046] For example, such as Figure 3 and Figure 4 As shown, the insertion feeding unit 20 further includes a second transmission gear 252, a third transmission gear 253, and a first connecting rod 261. The second transmission gear 252 is connected to the upper surface of the first transmission gear 251 and is coaxially arranged with the first transmission gear 251 so as to rotate synchronously with the first transmission gear 251. The third transmission gear 253 is rotatably mounted on the bracket 21 and meshes with the second transmission gear 252. The lower end of the first connecting rod 261 is connected to the third transmission gear 253, and the upper end of the first connecting rod 261 passes through the through hole and is connected to the active friction wheel 22.

[0047] The coaxial arrangement of the second transmission gear 252 and the first transmission gear 251 enables direct vertical extension of power. Their connection can be achieved through keyway fitting or flange fixing. The lower end of the first connecting rod 261 is connected to the third transmission gear 253 via a spline or pin, while the upper end is fixed to the driving friction wheel 22 via threads or snap fasteners. The torque output by the drive motor 24 is transmitted to the first transmission gear 251 via a bevel gear set, and then directly upwards via the coaxial second transmission gear 252, avoiding the space occupied by the transverse transmission shaft.

[0048] When the drive motor 24 starts, power is transmitted sequentially through the drive gear 241 and the first transmission gear 251 to the second transmission gear 252. Since the second transmission gear 252 rotates coaxially with the first transmission gear 251, the power is transmitted vertically upwards to the third transmission gear 253. After the third transmission gear 253 changes its rotation direction to the horizontal direction, it transmits the power vertically to the active friction wheel 22 above the bracket 21 via the first connecting rod 261. During this process, the meshing position of the second transmission gear 252 and the third transmission gear 253 is located below the bracket 21, and the structure of the first connecting rod 261 passing through the through hole creates a straight power channel between the upper and lower spaces.

[0049] The above technical solution achieves direct vertical extension of power, avoiding lateral space occupation. The meshing of the third transmission gear 253 and the second transmission gear 252 changes the power direction from vertical to horizontal. Power is then transmitted from the transmission assembly below the bracket 21 to the active friction wheel 22 above via the through hole of the first connecting rod 261, simplifying the transmission path and reducing space occupation. The upper and lower ends of the first connecting rod 261 connect the third transmission gear 253 and the active friction wheel 22 respectively, ensuring the stability and coaxiality of power transmission. Simultaneously, the through hole enables a compact layout of the upper and lower structures of the bracket 21, reducing installation complexity and improving maintenance convenience.

[0050] Specifically, such as Figure 3 and Figure 4 As shown, there are two active friction wheels 22, which are spaced apart along the feeding direction of the insertion part 12. The number and position of the passive friction wheels 23 correspond to the number of active friction wheels 22, and the number and position of the through holes correspond to the number of active friction wheels 22. The insertion part feeding unit 20 also includes a fourth transmission gear 254, a fifth transmission gear 255, and a second connecting rod 262. The fourth transmission gear 254 and the fifth transmission gear 255 are rotatably mounted on the bracket 21. The fourth transmission gear 254 meshes with the third transmission gear 253, and the fifth transmission gear 255 meshes with the fourth transmission gear 254. The lower end of the second connecting rod 262 is connected to the fifth transmission gear 255, and the upper end of the second connecting rod 262 passes through the through hole and is connected to the active friction wheel 22.

[0051] The power of the drive motor 24 is transmitted to the fourth drive gear 254 via the third drive gear 253. The fourth drive gear 254 drives the fifth drive gear 255 for secondary power distribution. The fifth drive gear 255 transmits the rotational motion to the second active friction wheel 22 via the second connecting rod 262. When the two active friction wheels 22 rotate synchronously, the contact area with the insertion part 12 is expanded to more than twice its original size. The position of the through hole is precisely set to coincide with the central axis of the active friction wheel 22, so that the second connecting rod 262 will not generate lateral stress with the bracket 21 when passing through the through hole. The passive friction wheels 23 are symmetrically arranged on the outside of the active friction wheels 22 to form a three-point clamping structure. When the insertion part 12 is laterally offset, the passive friction wheels 23 on both sides can provide a reverse restraint force.

[0052] Two active friction wheels 22 can be equidistantly spaced along the feed direction of the insertion part 12. Passive friction wheels 23 can correspond one-to-one with the active friction wheels 22, forming two sets of drive mechanisms. A through hole can be provided on the bracket 21, its position corresponding to the position of the active friction wheels 22, so that the second connecting rod 262 can pass through. The fourth transmission gear 254 can be installed below the bracket 21 and meshes with the third transmission gear 253. The fifth transmission gear 255 can be installed above the fourth transmission gear 254 and meshes with it. The lower end of the second connecting rod 262 can be connected to the fifth transmission gear 255 via a key connection or a threaded connection, and the upper end can be connected to the active friction wheel 22 via a bearing or a sleeve.

[0053] By adding a second set of active friction wheels 22 and a matching transmission structure, the driving force and stability of the insertion part 12 are enhanced. The two active friction wheels 22 are spaced apart along the feed direction, expanding the contact area with the insertion part 12 and making the friction force distribution more uniform, avoiding slippage or deviation that may occur with single-point drive. The passive friction wheel 23 is arranged correspondingly to the active friction wheels 22, further ensuring the force balance of the insertion part 12 in the feed gap. The through hole is arranged correspondingly to the active friction wheels 22, ensuring that the power transmission path of the second connecting rod 262 is consistent with that of the first connecting rod 261, avoiding structural interference. The fourth transmission gear 254 meshes with the third transmission gear 253, transmitting power from the third transmission gear 253 to the fourth transmission gear 254, and then changing the transmission direction through the fifth transmission gear 255, ultimately driving the second active friction wheel 22 by the second connecting rod 262. This gear meshing design achieves synchronous drive of the two active friction wheels 22, ensuring that the driving force of the two friction wheels on the insertion part 12 is coordinated, thereby improving feed efficiency and motion accuracy. The second connecting rod 262 passes through the through hole to connect the fifth transmission gear 255 and the active friction wheel 22, which maintains the compactness of the transmission chain and avoids the space under the bracket 21 from becoming too complicated due to multi-stage transmission.

[0054] For example, such as Figure 5 and Figure 6 As shown, the insertion feeding unit 20 also includes a sliding frame 27, which is slidably mounted on the bracket 21. The passive friction wheel 23 is rotatably mounted on the sliding frame 27. The sliding frame 27 can drive the passive friction wheel 23 to move closer to or further away from the active friction wheel 22, so that the width of the feed gap can be adjusted.

[0055] The sliding frame 27 is slidably mounted on the upper surface of the bracket 21, with its sliding direction perpendicular to the axis of the active friction wheel 22. The passive friction wheel 23 is rotatably mounted in the mounting groove of the sliding frame 27 via a bearing structure, allowing the passive friction wheel 23 to still rotate around its own axis when adjusting the gap. When the diameter of the insertion part 12 changes due to manufacturing tolerances or deformation, the sliding frame 27 moves along the guide rail 212 via an external drive mechanism, causing the passive friction wheel 23 to move closer to or away from the active friction wheel 22. During this process, the passive friction wheel 23 always maintains free rotation via the bearing, avoiding sliding friction with the insertion part 12. This adjustment process can be performed in real time during equipment operation without stopping the machine or disassembling parts. By precisely controlling the feed gap width, sufficient friction force is maintained to drive the insertion part 12 forward and backward, while surface damage caused by overpressure is avoided, and the system is adapted to the usage requirements of insertion parts 12 of different specifications.

[0056] Through the above technical solution, dynamic adjustment of the feed gap width is achieved, solving the problems of insufficient friction or excessive clamping that may occur with a fixed-width feed gap. The introduction of the sliding frame 27 makes the position of the passive friction wheel 23 adjustable to adapt to insertion parts 12 of different diameters or deformations. The rotating mounting of the passive friction wheel 23 on the sliding frame 27 ensures that it maintains rolling contact with the insertion part 12 while adjusting the gap, avoiding damage to the insertion part 12 due to sliding friction. The design of the sliding frame 27 driving the passive friction wheel 23 directly affects the width of the feed gap, allowing the clamping force to be flexibly adjusted according to actual needs. This ensures effective transmission of driving force and prevents wear or deformation of the insertion part 12 surface due to excessive clamping. This adjustable feed mechanism improves the stability and adaptability of the insertion part 12 feed and enhances the overall performance of the mirror removal robot.

[0057] Specifically, such as Figure 5 and Figure 6 As shown, the bracket 21 has a protruding fixing plate 211, which is located on the side of the sliding frame 27 away from the active friction wheel 22. The sliding frame 27 has a through hole. The insertion feeding unit 20 also includes a screw 271 and a drive nut 272. One end of the screw 271 is connected to the fixing plate 211 and the other end passes through the through hole. The drive nut 272 is sleeved on the screw 271 and is used to push the sliding frame 27 toward the active friction wheel 22.

[0058] The fixed plate 211 and the bracket 21 are fixed by integral molding or bolt connection. A limiting boss with a diameter larger than the through hole diameter can be provided at the end of the screw 271 to prevent the screw 271 from coming out. When it is necessary to adjust the feed gap, the drive nut 272 rotates axially along the screw 271, and the rotational motion is converted into linear propulsion force through the mechanical conversion of the threaded pair. Since a surface contact pressure is formed between the drive nut 272 and the sliding frame 27, the propulsion force is evenly transmitted to the entire sliding frame 27, avoiding local stress concentration. Under the constraint of the guide rail 212, the sliding frame 27 moves smoothly along a linear trajectory, driving the passive friction wheel 23 to approach the active friction wheel 22 at a constant speed. During this process, the rigid connection between the screw 271 and the fixed plate 211 provides a reaction force fulcrum for the propulsion action, while the clearance fit between the through hole and the screw 271 allows the sliding frame 27 to adaptively adjust its posture within a small range. When the gap width reaches the set value, the self-locking effect between the drive nut 272 and the screw 271 can maintain the continuous action of the propulsion force and prevent gap changes caused by vibration.

[0059] The above technical solution enables precise control and slow pushing of the sliding frame 27. The cooperation between the screw 271 and the drive nut 272 ensures uniform and controllable adjustment force, avoiding improper adjustment problems that may be caused by direct rigid pushing. This structural design effectively prevents potential damage to the friction wheel or the surface of the insertion part 12 during adjustment, while improving the stability of friction control of the insertion part 12. Therefore, the solution of this application significantly improves the adjustment accuracy and reliability of the feed gap width, providing technical assurance for the safe operation of the insertion part 12 of the endoscope 10.

[0060] In practical applications, such as Figure 5 and Figure 6 As shown, the insertion feeding unit 20 also includes an elastic element 273 sleeved on the screw 271. One end of the elastic element 273 abuts against the sliding frame 27 and the other end abuts against the nut, so that the pushing force applied to the sliding frame 27 is an elastic force.

[0061] The elastic element 273 is configured as a compression spring sleeved around the screw 271, with its two ends contacting the end faces of the sliding frame 27 and the drive nut 272, respectively. When the drive nut 272 moves axially along the screw 271, the spring converts the rotational motion into axial elastic thrust through the contact surfaces at both ends. In the initial stage of the sliding frame 27's movement, the initial compression of the spring generates a preload, creating a basic clamping force between the passive friction wheel 23 and the active friction wheel 22. As the drive nut 272 continues to advance, the spring's compression increases, generating an increasing elastic thrust that propels the sliding frame 27 to move smoothly.

[0062] Through the above technical solution, the rigid pushing force of the drive nut 272 is converted into an elastic force acting on the sliding frame 27. The elastic element 273 can absorb the impact caused by mechanical vibration and assembly errors, avoiding squeezing damage to the insertion part 12 of the endoscope 10 caused by sudden changes in clamping force. At the same time, the continuous elastic restoring force of the elastic element 273 can dynamically compensate for the attenuation of clamping force caused by wear of the friction wheel or changes in the diameter of the insertion part 12, ensuring that the clamping of the insertion part 12 is always uniform and reliable. This design not only protects the integrity of the endoscope 10, but also improves the stability and reliability of the feeding unit in long-term use.

[0063] For example, such as Figure 5 and Figure 6 As shown, the two ends of the sliding frame 27 are respectively connected to two slide rails 274, and the upper surface of the bracket 21 is provided with two guide rails 212, and each guide rail 212 can slide in cooperation with each slide rail 274.

[0064] When the sliding frame 27 moves along the support 21 to adjust the feed clearance, the slide rails 274 at both ends form sliding pairs with the corresponding guide rails 212. The extension direction of the guide rails 212 limits the single-degree-of-freedom movement trajectory of the sliding frame 27. The contact surface between the side wall of the slide rail 274 and the guide rail 212 generates a constraint force, preventing the sliding frame 27 from deviating perpendicular to the movement direction. The symmetrical arrangement of the two guide rails 212 ensures that the sliding frame 27 bears a balanced guiding force at both ends, eliminating the tilting moment caused by unilateral force. When the drive nut 272 pushes the sliding frame 27 through the screw 271, the mating structure of the guide rails 212 and slide rails 274 converts the axial thrust into linear displacement, preventing the sliding frame 27 from deflecting during movement.

[0065] Through the above technical solution, this application solves the problem of lateral displacement caused by lack of guidance during the movement of the sliding frame 27. The symmetrical distribution of the slide rail 274 and the guide rail 212 forms a bidirectional constraint, effectively suppressing the radial sway of the sliding frame 27 when adjusting the feed gap. The hardened layer and lubrication structure of the guide rail 212 reduce the frictional resistance of the sliding pair, ensuring that the passive friction wheel 23 always moves smoothly along the preset trajectory, avoiding fluctuations in clamping force caused by motion jamming. The continuous support structure of the guide rail 212 eliminates the risk of cantilever deformation of the sliding frame 27, ensuring uniform force on the insertion part 12 in the feed gap.

[0066] Specifically, such as Figure 3As shown, the outer peripheral surfaces of the active friction wheel 22 and the passive friction wheel 23 are concave surfaces. The radius of curvature of the concave surface is set to match the outer diameter of the insertion part 12 to form an enveloping angle around the insertion part 12. When the insertion part 12 is clamped in the feed gap, the concave surface and the cylindrical surface of the insertion part 12 form a line-to-surface contact, and the clamping force is evenly distributed along the normal direction of the concave surface. A continuous pressure gradient is formed in the contact area between the concave surface and the insertion part 12, with the maximum pressure point located at the center line of the bottom of the concave surface, decreasing symmetrically to both sides. The concave surface and the gap adjustment mechanism of the sliding frame 27 work together to automatically maintain the optimal enveloping angle between the concave surface and the insertion part 12 when adjusting the feed gap width, avoiding contact area loss due to gap changes.

[0067] The above technical solution effectively solves the problem of insufficient contact area in traditional planar friction wheels. The concave curved surface structure ensures that the clamping force is evenly distributed along the circumference of the insertion part 12, eliminating local stress concentration. During mirror withdrawal, the curved surface of the concave surface and the curved surface of the insertion part 12 make contact with each other, preventing instantaneous slippage caused by pressure fluctuations. At the same time, the elastic material layer increases friction while avoiding surface scratches caused by hard contact. Experiments show that this structure enables the insertion part 12 to maintain a stable velocity curve during axial movement, and no displacement lag occurs under emergency stop or reverse drive conditions.

[0068] In practical applications, such as Figure 3 As shown, the insertion feeding unit 20 also includes a support block 28, which is mounted on the bracket 21. The support block 28 has a guide hole 281, which is spaced opposite to the feed gap. The insertion part 12 passes through the feed gap and then through the guide hole 281.

[0069] The support block 28 forms a rigid structure with the bracket 21 through a fixed connection, and the inner diameter of the guide hole 281 forms a clearance fit with the outer diameter of the insertion part 12. The inner wall of the guide hole 281 is made of a low-friction coefficient material, such as a polytetrafluoroethylene coating, to reduce the resistance when the insertion part 12 moves. The support block 28 is installed on the extension line of the moving direction of the feed gap, forming a collinear layout with the axes of the active friction wheel 22 and the passive friction wheel 23.

[0070] When the insertion part 12 moves forward and backward under the clamping drive of the active friction wheel 22 and the passive friction wheel 23, the guide hole 281 forms an axial constraint on the insertion part 12. While the feed clearance provides driving force, the guide hole 281 counteracts the lateral component force generated by the uneven pressure of the friction wheels in the insertion part 12 through rigid contact. The support block 28 and the bracket 21 can be fixedly connected by bolts or welding. When the insertion part 12 passes through the guide hole 281, its outer surface forms a continuous sliding contact with the inner wall of the guide hole 281, so that the insertion part 12 always maintains linear motion along the preset path during the movement.

[0071] During movement, the insertion part 12 is simultaneously subjected to the frictional driving force of the feed gap and the radial constraint of the guide hole 281. When the active friction wheel 22 drives the insertion part 12 to move axially, the guide hole 281 effectively restricts the lateral displacement of the insertion part 12 perpendicular to the direction of movement, eliminating the deviation in the motion trajectory caused by fluctuations in the contact pressure of the friction wheel or changes in external load. Furthermore, the spacing arrangement of the support block 28 and the feed gap forms a double-point positioning structure, enabling the insertion part 12 to maintain a linear motion trajectory during long-stroke movement, thereby improving the position control accuracy of the endoscope withdrawal operation and ensuring the movement stability of the endoscope 10 in complex cavity environments.

[0072] The above description is only an optional embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A retractable scope robot with an automatically advancing and retracting scope body, characterized in that, include: An endoscope, comprising an operating section and an insertion section, wherein one end of the insertion section is connected to the operating section; An insertion section feeding unit includes a bracket, an active friction wheel, a passive friction wheel, and a drive motor. The active and passive friction wheels are spaced apart on the upper surface of the bracket, forming a feeding gap. The insertion section passes through the feeding gap and abuts against the active and passive friction wheels. The bracket has a through hole that penetrates both the upper and lower surfaces of the bracket. The drive motor is mounted on the bracket and located below it. The output shaft of the drive motor drives the active friction wheel through the through hole.

2. The automatic retraction robot for the scope body as described in claim 1, characterized in that, The rotation axis of the drive motor is parallel to the feeding direction of the insertion part. The feeding unit of the insertion part also includes a drive gear and a first transmission gear. The drive gear is connected to the output shaft of the drive motor. The first transmission gear is rotatably mounted on the bracket and located below the bracket. The first transmission gear is connected to the active friction wheel. The drive gear meshes with the first transmission gear. Both the drive gear and the first transmission gear are bevel gears.

3. The automatic retraction robot for the scope body as described in claim 2, characterized in that, The insertion feeding unit further includes a second transmission gear, a third transmission gear, and a first connecting rod. The second transmission gear is connected to the upper surface of the first transmission gear and is coaxially arranged with the first transmission gear so as to rotate synchronously with the first transmission gear. The third transmission gear is rotatably mounted on the bracket and meshes with the second transmission gear. The lower end of the first connecting rod is connected to the third transmission gear, and the upper end of the first connecting rod passes through the through hole and is connected to the active friction wheel.

4. The automatic retraction robot for the scope body as described in claim 3, characterized in that, The number of active friction wheels is two, and the two active friction wheels are spaced apart along the feeding direction of the insertion part. The number and position of the passive friction wheels correspond to the active friction wheels, and the number and position of the through holes correspond to the active friction wheels. The insertion feeding unit further includes a fourth transmission gear, a fifth transmission gear, and a second connecting rod. The fourth and fifth transmission gears are rotatably mounted on the bracket. The fourth transmission gear meshes with the third transmission gear, and the fifth transmission gear meshes with the fourth transmission gear. The lower end of the second connecting rod is connected to the fifth transmission gear, and the upper end of the second connecting rod passes through the through hole and is connected to the active friction wheel.

5. The automatic retraction robot for the scope body as described in claim 1, characterized in that, The insertion section feeding unit also includes a sliding frame, which is slidably mounted on the bracket. The passive friction wheel is rotatably mounted on the sliding frame. The sliding frame can drive the passive friction wheel to move closer to or away from the active friction wheel, so that the width of the feed gap is adjustable.

6. The automatic retraction robot for the scope body as described in claim 5, characterized in that, The bracket has a protruding fixing plate, which is located on the side of the sliding frame away from the active friction wheel. The sliding frame has a through hole. The insertion feeding unit also includes a screw and a drive nut. One end of the screw is connected to the fixing plate and the other end passes through the through hole. The drive nut is sleeved on the screw and is used to push the sliding frame toward the active friction wheel.

7. The automatic retraction robot for the scope body as described in claim 6, characterized in that, The insertion feeding unit also includes an elastic element sleeved on the screw, with one end of the elastic element abutting against the sliding frame and the other end abutting against the nut, so that the pushing force applied to the sliding frame is an elastic force.

8. The automatic retraction robot for the scope body as described in claim 5, characterized in that, The sliding frame is connected to two slide rails at both ends, and two guide rails are protruding on the upper surface of the frame. Each guide rail and each slide rail can slide together.

9. The retraction robot with an automatically advancing and retracting scope as described in claim 1, characterized in that, The outer circumferential surfaces of the active friction wheel and the passive friction wheel are concave curved surfaces.

10. The retraction robot with an automatically advancing and retracting scope as described in claim 1, characterized in that, The insertion feeding unit also includes a support block, which is mounted on the bracket. The support block has a guide hole, which is spaced opposite to the feed gap. The insertion part passes through the feed gap and then through the guide hole.

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