An adjustable clamping device for an electromagnetic coil

Abstract

This utility model relates to the technical field of magnetic traction devices for capsule robots, specifically an adjustable clamping device for electromagnetic coils. It includes a support frame, characterized in that the top of the support frame has two symmetrical X-rails, a Y-rail slidably connected between the two X-rails, and a Z-rail slidably connected to the Y-rail. A coil mounting mechanism is detachably connected to the lower end of the Z-rail. The coil mounting mechanism includes a housing, within which a chuck base and a coil module are located. A clamping mechanism is mounted on the chuck base, with the coil module positioned at the center of the clamping mechanism. The clamping mechanism includes a drive disc, a toothed pawl, and a wrench. Multiple sets of movable modules are slidably connected to the top of the drive disc. This utility model enables quick disassembly and installation of the coil mounting mechanism, facilitating replacement and maintenance. By rotating the wrench, three movable claws mounted above the drive disc can move synchronously inward or outward, achieving rapid tightening or loosening of the coil module.

Description

Technical Field

[0001] This utility model relates to the technical field of magnetic traction devices for capsule robots, specifically an adjustable clamping device for electromagnetic coils. Background Technology

[0002] Capsule robot examination is an emerging method for gastrointestinal examination. The patient swallows a capsule robot, which moves with the peristalsis of the intestines, continuously capturing images of the patient's internal organs and wirelessly transmitting them to an external receiving device. Doctors then use these images to diagnose the patient's condition. Compared to traditional medical endoscopy, capsule robots can significantly reduce the pain during gastrointestinal examinations, effectively replacing traditional endoscopy.

[0003] Existing external magnetic traction capsule robots mostly use screws to fix the electromagnetic coils and mechanical slide rails, which is time-consuming to disassemble and install, and has poor stability. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an adjustable clamping device for electromagnetic coils, which can effectively solve the problems mentioned in the background art.

[0005] To solve the above problems, the technical solution adopted by this utility model is: an adjustable clamping device for electromagnetic coils, including a support frame, characterized in that the top of the support frame is provided with two mutually symmetrical X slide rails, a Y slide rail is slidably connected between the two X slide rails, a Z slide rail is slidably connected on the Y slide rail, and a coil mounting mechanism is detachably connected to the lower end of the Z slide rail. The coil mounting mechanism includes a housing, within which a chuck base and a coil module are disposed. A clamping mechanism is provided on the chuck base, and the coil module is located at the center of the clamping mechanism. The clamping mechanism includes a drive disc and umbrella-shaped teeth. One end of each umbrella-shaped tooth engages with the bottom of the drive disc, and the other end of each umbrella-shaped tooth is engaged with a wrench. Multiple sets of movable modules are slidably connected to the top of the drive disc. The top of the drive disc has an annular protrusion, and the bottom of each movable module has a groove that mates with the annular protrusion. A guide groove is provided on the chuck base, and the movable module is slidably connected to the guide groove.

[0006] Preferably, the housing includes a fitting outer shell and a coil outer shell. The lower end of the Z-slide rail is provided with a fitting block that is threadedly connected to the fitting outer shell. The coil module is located below the fitting block, and the end of the fitting block is designed with a tapered angle. The bottom of the coil outer shell is provided with an upwardly extending protrusion, and a male socket is provided on the protrusion. The bottom of the coil module is provided with a female socket that mates with the male socket.

[0007] Preferably, the coil housing is provided with a sliding hole that communicates with the guide groove of the chuck base, one end of the umbrella tooth penetrates through the side wall of the chuck base, and one end of the umbrella tooth is provided with a square hole, the coil housing is provided with an adjustment hole that communicates with the square hole of the umbrella tooth, and the wrench is provided in the adjustment hole and is engaged with the square hole at one end of the wrench.

[0008] Preferably, the movable module includes a slide, a connecting seat, and a claw. The bottom of the slide is provided with a groove that cooperates with the annular protrusion. The slide is located in the guide groove of the chuck base and is slidably connected to the chuck base. The connecting seat is fixed to the slide by screws, and the claw is connected to the connecting seat.

[0009] Preferably, the top surface of the connector has a groove, a screw is inserted into the groove, the screw is rotatably connected to the connector, one end of the screw extends to the outside of the coil housing, the claw is threadedly connected to the screw, and the claw is slidably connected to the connector.

[0010] Preferably, the top of the claw is detachably connected to an extended claw, one end of the extended claw is provided with a locking block, and both the top of the claw and the other end of the extended claw are provided with locking grooves, which cooperate with the locking block.

[0011] Preferably, both the claw and the extended claw are provided with anti-slip pads on the side near the coil module, and the anti-slip pads are provided with anti-slip teeth.

[0012] Preferably, the number of umbrella-shaped teeth and the number of movable modules are three, arranged in a circumferential array along the drive disk.

[0013] Preferably, the X-track is provided with an X-track, a stepper motor and a synchronous pulley. One end of the X-track is engaged with the output end of the stepper motor, and the other end of the X-track is engaged with the synchronous pulley. The X-track is provided with an X-slider, and the X-slider is provided with a pulley that cooperates with the X-track. The Y slide rail is fixedly connected to the X slider at both ends. The Y slide rail is provided with a Y track, a stepper motor and a synchronous wheel. One end of the Y track is engaged with the output end of the stepper motor and the other end of the Y track is engaged with the synchronous wheel. The Y track is provided with a Y slider and the Y slider is provided with a pulley that cooperates with the Y slide rail. The Z-slide rail is provided with a guide block, which is fixedly connected to the Y-slide block. The Z-slide rail is slidably connected to the guide block, and the guide block is provided with a pulley that slides with the Z-slide rail.

[0014] Compared with the prior art, this utility model provides an adjustable clamping device for electromagnetic coils, which has the following advantages: The new invention uses a threaded connection between the mating block and the mating shell for tightening and separating, enabling quick disassembly and installation of the coil mounting mechanism, facilitating replacement and maintenance. By turning the wrench, the umbrella teeth are rotated, which in turn drives the drive disk to rotate. This causes the three movable claws mounted on the drive disk to move inward or outward synchronously, enabling the coil module to be tightened or loosened quickly. The clamping mechanism is designed to be compatible with coil modules of different diameters, making it easy to adapt to capsule robots of different sizes. The coil module can achieve self-centering and automatic limiting during the assembly process, ensuring that the coil magnetic axis and the robotic arm movement axis are always aligned, and improving the structural stability after assembly. The connecting seat and the slide are fixed together by screws, which allows the chuck to be disassembled and installed, making it easy to replace and maintain. A groove is opened on the top surface of the connecting seat, and a screw rod is inserted into the groove. The screw rod is rotatably connected to the connecting seat. Rotating the screw rod can drive the chuck to move along the length of the guide groove to clamp or release the coil module, realizing fine adjustment of the chuck, better meeting the needs of use, and making it more practical. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the structure of the coil mounting mechanism of this utility model; Figure 3 This is an exploded structural diagram of the coil mounting mechanism of this utility model; Figure 4 This is a partial structural schematic diagram of the present invention; Figure 5 This is a partial structural schematic diagram of the present invention; Figure 6 This is a partial structural schematic diagram of the present invention; Figure 7 This is a schematic diagram of the structure of Embodiment 2 of the present invention; Figure 8 This is an exploded structural diagram of Embodiment 2 of the present invention; Figure 9 This is a cross-sectional view of Embodiment 2 of the present invention; Figure 10 This is a schematic diagram of the structure of this utility model.

[0016] Among them: 100, support frame; 10, stepper motor; 20, synchronous pulley; 30, pulley; 1-1, X slide rail; 1-2, X track; 1-3, X slider; 2-1, Y slide rail; 2-2, Y track; 2-3, Y slider; 3-1, Z slide rail; 3-2, guide block. 1. Coil mounting mechanism; 2. Housing; 21. Fitting outer shell; 22. Coil outer shell; 23. Fitting block; 24. Protrusion; 25. Male socket; 26. Sliding hole; 27. Adjustment hole; 3. Chuck base; 31. Guide groove; 4. Coil module; 41. Female socket; 5. Clamping mechanism; 51. Drive disk; 52. Umbrella teeth; 53. Wrench; 54. Annular protrusion; 6. Movable module; 61. Groove; 62. Slide; 63. Connecting seat; 64. Claw; 65. Slot; 66. Screw; 7. Extended claw; 71. Clamping block; 72. Clamping groove; 8. Anti-slip pad. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0018] Reference Figures 1-10 This utility model provides an adjustable clamping device for electromagnetic coils, including a support frame 100. The support frame 100 is characterized in that the top of the support frame 100 is provided with two symmetrical X slide rails 1-1, and a Y slide rail 2-1 is slidably connected between the two X slide rails 1-1. A Z slide rail 3-1 is slidably connected on the Y slide rail 2-1, and a coil mounting mechanism 1 is detachably connected to the lower end of the Z slide rail 3-1. The coil mounting mechanism 1 includes a housing 2, inside which is a chuck base 3 and a coil module 4. The chuck base 3 is provided with a clamping mechanism 5, and the coil module 4 is located at the center of the clamping mechanism 5. The clamping mechanism 5 includes a drive disk 51 and umbrella teeth 52. One end of the umbrella teeth 52 engages with the bottom of the drive disk 51, and the other end of the umbrella teeth 52 is engaged with a wrench 53. Multiple sets of movable modules 6 are slidably connected to the top of the drive disk 51. The top of the drive disk 51 is provided with an annular protrusion 54, and the bottom of the movable module 6 is provided with a groove 61 that cooperates with the annular protrusion 54. The chuck base 3 is provided with a guide groove 31, and the movable module 6 is slidably connected to the guide groove 31.

[0019] Preferably, the housing 2 includes a fitting outer shell 21 and a coil housing 22. The lower end of the Z-slide rail 3-1 is provided with a fitting block 23 that is threadedly connected to the fitting outer shell 21. The coil module 4 is located below the fitting block 23. The end of the fitting block 23 is designed with a tapered angle. The bottom of the coil housing 22 is provided with an upwardly extending protrusion 24. The protrusion 24 is provided with a male socket 25. The bottom of the coil module 4 is provided with a female socket 41 that mates with the male socket 25.

[0020] Preferably, the coil housing 22 is provided with a sliding hole 26 that communicates with the guide groove 31 of the chuck base 3, one end of the umbrella tooth 52 penetrates through the side wall of the chuck base 3, and one end of the umbrella tooth 52 is provided with a square hole, the coil housing 22 is provided with an adjustment hole 27 that communicates with the square hole of the umbrella tooth 52, and the wrench 53 is provided in the adjustment hole 27 and is engaged with the square hole at one end of the wrench 53.

[0021] Preferably, the movable module 6 includes a slide 62, a connecting seat 63, and a claw 64. The bottom of the slide 62 is provided with a groove 61 that cooperates with the annular protrusion 54. The slide 62 is located in the guide groove 31 of the chuck base 3 and is slidably connected to the chuck base 3. The connecting seat 63 is fixed to the slide 62 by screws, and the claw 64 is connected to the connecting seat 63.

[0022] Preferably, the top surface of the connecting seat 63 is provided with a groove 65, and a screw 66 is inserted in the groove 65. The screw 66 is rotatably connected to the connecting seat 63, and one end of the screw 66 extends to the outside of the coil housing 22. The claw 64 is threadedly connected to the screw 66 and slidably connected to the connecting seat 63.

[0023] Preferably, the top of the claw 64 is detachably connected to an extended claw 7, one end of the extended claw 7 is provided with a locking block 71, and the top of the claw 64 and the other end of the extended claw 7 are both provided with locking grooves 72, which cooperate with the locking block 71.

[0024] Preferably, both the claw 64 and the extended claw 7 are provided with anti-slip pads 8 on the side near the coil module 4, and the anti-slip pads 8 are provided with anti-slip teeth. The anti-slip pads 8 are made of rubber or silicone.

[0025] Preferably, the number of umbrella-shaped teeth 52 and the number of movable modules 6 are three, arranged in a circumferential array along the drive disk 51.

[0026] Preferably, the X-track 1-1 is provided with an X-track 1-2, a stepper motor 10 and a synchronous pulley 20. One end of the X-track 1-2 is engaged with the output end of the stepper motor 10, and the other end of the X-track 1-2 is engaged with the synchronous pulley 20. The X-track 1-2 is provided with an X-slider 1-3, and the X-slider 1-3 is provided with a pulley 30 that cooperates with the X-track 1-1. The Y slide rail 2-1 is fixedly connected to the X slider 1-3 at both ends. The Y slide rail 2-1 is provided with a Y track 2-2, a stepper motor 10 and a synchronous wheel 20. One end of the Y track 2-2 is engaged with the output end of the stepper motor 10, and the other end of the Y track 2-2 is engaged with the synchronous wheel 20. The Y track 2-2 is provided with a Y slider 2-3, and the Y slider 2-3 is provided with a pulley 30 that cooperates with the Y slide rail 2-1. The Z slide rail 3-1 is provided with a guide block 3-2, which is fixedly connected to the Y slider 2-3. The Z slide rail 3-1 is slidably connected to the guide block 3-2, and the guide block 3-2 is provided with a pulley 30 that slidably cooperates with the Z slide rail 3-1.

[0027] As a specific embodiment of this utility model: Example 1: Refer to Figure 1 , 10 The Y-rail 2-1 is connected and driven by the X-rail 1-1, the X-track 1-2 set on the X-rail 1-1, the stepper motor 10 and the synchronous wheel 20, so that the Y-rail 2-1 can move on the X-rail 1-1; the Y-slider 2-3 is connected and driven by the Y-rail 2-1, the Y-track 2-2 set on the Y-rail 2-1, the stepper motor 10 and the synchronous wheel 20, so that the Y-slider 2-3 can move on the Y-rail 2-1; the Z-rail 3-1 is provided with a guide block 3-2 and is fixedly connected to the Y-slider 2-3, so that the Z-rail 3-1 can move up and down along the guide block 3-2; thereby controlling the movement of the mounting coil mechanism 1 in the X, Y and Z directions.

[0028] Reference Figures 2-3 5-6, The top of the housing (or housing 22) of the mounting coil mechanism 1 is connected to a mating housing 21. The mating housing 21 has a threaded structure inside, which can be tightened and separated from the mating block 23 located at the end of the Z-axis mechanical slide rail (or Z slide rail 3-1, vertical direction) through the thread. The ends of the mating block 23 and the mating housing 21 both have a certain taper angle that can fit together, which can achieve a tightening effect when tightening; thus realizing quick disassembly and installation of the mounting coil mechanism 1, which is convenient for replacement and maintenance.

[0029] The bottom of the coil housing 22 is fitted with a chuck base 3 via a protrusion 24. The chuck base 3 is sleeved on the inside of the coil housing 22. A three-jaw chuck structure (or clamping mechanism 5) is provided on the chuck base 3. The clamping mechanism 5 includes a drive disk 51, umbrella teeth 52 and a movable module 6 (or movable claw). The bottom surface of the drive disk 51 is a gear structure that meshes with the gear of the umbrella teeth 52. The top surface of the drive disk 51 has a series of circular protrusions (referred to as annular protrusions 54, similar to mosquito coils). The bottom of the movable claw is covered with grooves 61. The protrusions on the top surface of the drive disk 51 and the grooves 61 on the bottom of the movable claw fit together. The other end of the umbrella teeth 52 is fitted with a wrench 53. By rotating the wrench 53, the drive disk 51 is rotated. When it is necessary to replace coil module 4, use wrench 53 to engage with the square hole of umbrella tooth 52 through the adjustment hole 27 on the outer shell of coil mechanism 1. Rotating wrench 53 drives umbrella tooth 52 to rotate, causing drive disk 51, which meshes with umbrella tooth 52, to rotate. This, in turn, drives the three movable claws mounted on drive disk 51 to move inward or outward synchronously. Turning wrench 53 clockwise loosens and counterclockwise tightens. When tightening, the movable claws clamp coil module 4, enabling adaptation to coil modules 4 of different diameters. This facilitates adaptation to capsule robots of different sizes. Even with different coil modules 4, self-centering and automatic limiting ensure that the coil magnetic axis and the robotic arm's motion axis remain aligned, improving the structural stability after assembly. Figure 2 The image shows the state of the movable claw clamping coil module 4. Figure 5 The image shows the state of the movable claw releasing the coil module 4.

[0030] Reference Figure 4 The coil module 4 has a female connector 41 at the bottom and a male connector 25 on the protrusion 24 of the coil housing 22. The male connector 25 can be connected to an external power source, enabling the coil module 4 to be powered on and off quickly: when installing the coil module 4, simply insert the female connector 41 into the male connector 25 to power on; when removing the coil, simply remove the coil and pull the female connector 41 out of the male connector 25 to power off.

[0031] Example 2: Refer to Figures 7-9 Based on Embodiment 1, the movable module 6 is further improved: the movable module 6 includes a slide 62, a connecting seat 63, and a claw 64. The bottom of the slide 62 is provided with a groove 61 that cooperates with the annular protrusion 54. The slide 62 is located in the guide groove 31 of the chuck base 3 and is slidably connected to the chuck base 3. The connecting seat 63 is fixed to the slide 62 by screws, and the claw 64 is connected to the connecting seat 63. Thus, the claw 64 can be disassembled and installed, which is convenient for replacement and maintenance.

[0032] Furthermore, a groove 65 is formed on the top surface of the connecting seat 63, and a screw 66 is inserted into the groove 65. The screw 66 is rotatably connected to the connecting seat 63, and one end of the screw 66 extends to the outside of the coil housing 22. The pawl 64 has a connecting end that is threadedly connected to the screw 66, and the pawl 64 is slidably connected to the connecting seat 63. By rotating the screw 66 outside the coil housing 22, the pawl 64 can be moved along the length direction of the guide groove 31 to clamp or release the coil module 4, so as to achieve fine adjustment of the pawl 64, better meet the needs of use, and be more practical.

[0033] Furthermore, the length of the claw 64 can be adjusted by setting an extension claw 7 at the top of the claw 64. Specifically, a locking block 71 is provided at one end of the extension claw 7, and a locking groove 72 is provided at the top of the claw 64 and the other end of the extension claw 7. The locking groove 72 cooperates with the locking block 71 to achieve detachable connection of the extension claw 7 and length adjustment of the claw 64 by locking, which is more flexible.

[0034] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An adjustable clamping device for an electromagnetic coil, comprising a support frame (100) and a coil mounting mechanism (1), characterized in that, The support frame (100) is provided with two symmetrical X slide rails (1-1) at the top, and a Y slide rail (2-1) is slidably connected between the two X slide rails (1-1). A Z slide rail (3-1) is slidably connected on the Y slide rail (2-1). The hanging coil mechanism (1) is detachably located at the lower end of the Z slide rail (3-1). The coil mounting mechanism (1) includes a housing (2), inside which is a chuck base (3) and a coil module (4). The chuck base (3) is provided with a clamping mechanism (5), and the coil module (4) is located at the center of the clamping mechanism (5). The clamping mechanism (5) includes a drive disk (51) and umbrella teeth (52). One end of the umbrella teeth (52) meshes with the bottom of the drive disk (51), and the other end of the umbrella teeth (52) is engaged with a wrench (53). The top of the drive disk (51) is slidably connected to multiple sets of movable modules (6). The top of the drive disk (51) is provided with an annular protrusion (54), and the bottom of the movable module (6) is provided with a groove (61) that cooperates with the annular protrusion (54). The chuck base (3) is provided with a guide groove (31), and the movable module (6) is slidably connected to the guide groove (31). The housing (2) includes a fitting outer shell (21) and a coil outer shell (22). The bottom of the coil outer shell (22) is provided with an upwardly extending protrusion (24), and a male socket (25) is provided on the protrusion (24). The bottom of the coil module (4) is provided with a female socket (41) that mates with the male socket (25).

2. The adjustable clamping device for an electromagnetic coil according to claim 1, characterized in that, The lower end of the Z slide rail (3-1) is provided with a fitting block (23) that is threadedly connected to the fitting shell (21). The coil module (4) is located below the fitting block (23), and the end of the fitting block (23) is designed with a tapered angle.

3. An adjustable clamping device for an electromagnetic coil according to claim 2, characterized in that, The coil housing (22) is provided with a sliding hole (26) that communicates with the guide groove (31) of the chuck base (3). One end of the umbrella tooth (52) penetrates the side wall of the chuck base (3), and one end of the umbrella tooth (52) is provided with a square hole. The coil housing (22) is provided with an adjustment hole (27) that communicates with the square hole of the umbrella tooth (52). The wrench (53) is located in the adjustment hole (27) and is engaged with the square hole at one end of the wrench (53).

4. An adjustable clamping device for an electromagnetic coil according to claim 1 or 3, characterized in that, The active module (6) includes a slide (62), a connecting seat (63), and a claw (64). The bottom of the slide (62) is provided with a groove (61) that cooperates with the annular protrusion (54). The slide (62) is located in the guide groove (31) of the chuck base (3) and is slidably connected to the chuck base (3). The connecting seat (63) is fixed to the slide (62) by screws, and the claw (64) is connected to the connecting seat (63).

5. An adjustable clamping device for an electromagnetic coil according to claim 4, characterized in that, The top surface of the connecting seat (63) is provided with a groove (65), and a screw (66) is inserted in the groove (65). The screw (66) is rotatably connected to the connecting seat (63). One end of the screw (66) extends to the outside of the coil shell (22). The claw (64) is threadedly connected to the screw (66), and the claw (64) is slidably connected to the connecting seat (63).

6. An adjustable clamping device for an electromagnetic coil according to claim 5, characterized in that, The top of the claw (64) is detachably connected to an extended claw (7), one end of the extended claw (7) is provided with a locking block (71), and the top of the claw (64) and the other end of the extended claw (7) are both provided with a locking groove (72), which cooperates with the locking block (71).

7. An adjustable clamping device for an electromagnetic coil according to claim 6, characterized in that, Both the claw (64) and the extended claw (7) are provided with anti-slip pads (8) on the side near the coil module (4), and the anti-slip pads (8) are provided with anti-slip teeth.

8. An adjustable clamping device for an electromagnetic coil according to claim 1, characterized in that, The number of umbrella teeth (52) and the number of active modules (6) are three, arranged in a circular array along the drive disk (51).

9. An adjustable clamping device for an electromagnetic coil according to claim 1, characterized in that, The X-track (1-1) is provided with an X-track (1-2), a stepper motor (10) and a synchronous pulley (20). One end of the X-track (1-2) is engaged with the output end of the stepper motor (10), and the other end of the X-track (1-2) is engaged with the synchronous pulley (20). The X-track (1-2) is provided with an X-slider (1-3), and the X-slider (1-3) is provided with a pulley (30) that cooperates with the X-track (1-1). The Y slide rail (2-1) is fixedly connected to the X slider (1-3) at both ends. The Y slide rail (2-1) is provided with a Y track (2-2), a stepper motor (10) and a synchronous wheel (20). One end of the Y track (2-2) is engaged with the output end of the stepper motor (10), and the other end of the Y track (2-2) is engaged with the synchronous wheel (20). The Y track (2-2) is provided with a Y slider (2-3), and the Y slider (2-3) is provided with a pulley (30) that cooperates with the Y slide rail (2-1). The Z slide rail (3-1) is provided with a guide block (3-2), the guide block (3-2) is fixedly connected to the Y slider (2-3), the Z slide rail (3-1) is slidably connected to the guide block (3-2), and the guide block (3-2) is provided with a pulley (30) that slidably cooperates with the Z slide rail (3-1).

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