阅读说明：本技术 一种履带式胶囊机器人 (Crawler-type capsule robot ) 是由 杨建林 孙志峻 彭瀚旻 于 2020-07-21 设计创作，主要内容包括：一种履带式胶囊机器人,其特征在于：包括气囊(1)、履带模块外壳(4)和前端盖(2),气囊(1)上设有粘接面(6)和圆缺口(7),前端盖(2)上固连有若干约束管(3)和连接块(5),圆缺口(7)与约束管(3)粘接,连接块(5)与气囊(1)一端固连；履带模块外壳(4)下端与气囊(1)的粘接面(6)粘接相连。本发明具有结构简单,操控方便,能够在管径较小且管径波动大、拐弯处较多、姿态在空间内变化的软体或硬质管道内爬行。(A crawler-type capsule robot which characterized in that: the crawler belt module comprises an air bag (1), a crawler belt module shell (4) and a front end cover (2), wherein an adhesive surface (6) and a circular notch (7) are arranged on the air bag (1), a plurality of restraint pipes (3) and connecting blocks (5) are fixedly connected to the front end cover (2), the circular notch (7) is adhered to the restraint pipes (3), and the connecting blocks (5) are fixedly connected with one end of the air bag (1); the lower end of the crawler belt module shell (4) is connected with the bonding surface (6) of the air bag (1) in a bonding way. The invention has simple structure and convenient operation and control, and can crawl in soft or hard pipelines with small pipe diameter, large pipe diameter fluctuation, more turning positions and changed postures in space.)

1. A crawler-type capsule robot which characterized in that: the crawler belt module comprises an air bag (1), a crawler belt module shell (4) and a front end cover (2), wherein an adhesive surface (6) and a circular notch (7) are arranged on the air bag (1), a plurality of restraint pipes (3) and connecting blocks (5) are fixedly connected to the front end cover (2), the circular notch (7) is adhered to the restraint pipes (3), and the connecting blocks (5) are fixedly connected with one end of the air bag (1); the lower end of the crawler belt module shell (4) is connected with the bonding surface (6) of the air bag (1) in a bonding way; a cable outlet (8) for passing through a lead is arranged on the crawler module shell (4); the crawler belt module shell (4) is provided with a plurality of wheel shafts (14), and the wheel shafts (14) are in interference fit with holes in the crawler belt module shell (4); each wheel shaft (14) is provided with two wheel bearings (15), and the wheel bearings (15) are arranged on the driven wheel (9) and the driving wheel (11) in an interference manner; the wheel shaft (14) is not in contact with the driven wheel (9) and the driving wheel (11), and the wheel shaft (14) penetrates through central holes of the driven wheel (9) and the driving wheel (11). Both sides of the driven wheel (9) and the driving wheel (11) are fixedly connected with synchronous belt wheels (12), and the crawler belt (10) is sleeved on the synchronous belt wheels (12); the middle of the driving wheel (11) is provided with a worm wheel which is matched with the worm (16), and a middle hole of the worm (16) is in interference fit with the worm shaft (17); a worm support bearing (18) is arranged on the worm shaft (17) in a serial mode, the worm support bearing (18) is installed in a worm support seat (22), and the worm support seat (22) is fixedly connected with the crawler belt module shell (4). The motor (13) is fixedly arranged in a motor base (19), the motor base (19) is fixedly connected with the crawler belt module shell (4), and an output shaft of the motor (13) is fixedly connected with the worm (16); the limiting block (21) is fixedly connected with the crawler belt module shell (4) to prevent the motor (13) from axially moving; and two sides of the crawler module shell (4) are fixedly connected with wheel anti-interference blocks (20) to prevent the driven wheel (9) and the driving wheel (11) from contacting with the crawler module shell (4).

2. The tracked capsule robot of claim 1, wherein: the front end cover (2) is integrated with an LED lamp, a camera, an inertial sensor and a microcontroller which are respectively used for lighting, shooting, measuring the pose of the robot and processing information.

3. The tracked capsule robot of claim 1, wherein: the number of the restraint pipes (3) is three, the restraint pipes are uniformly distributed on the front end cover (2), and the restraint pipes (3) are of hollow structures and are communicated with the front end cover (2); the restraint tube (3) is used for placing a trachea, a water tube, a biopsy forceps and a guide wire or is used for inflating and exhausting air for the intestinal tract, cleaning the intestinal tract, carrying out biopsy operation and transmitting energy signals; the external diameter and the internal diameter of the restraint tube (3) are adjusted according to the size of an article placed in the restraint tube, and the corresponding round notch (7) on the air bag (1) is also adaptively adjusted.

4. The tracked capsule robot of claim 1, wherein: the restraint tube (3) restrains the air bag (1) to be divided into a plurality of parts to expand and contract, so that the crawler module shells (4) with corresponding quantity can be ensured to be arranged symmetrically along the periphery of the air bag (1).

5. The tracked capsule robot of claim 1, wherein: the middle of the driven wheel (9) is arc-shaped, so that the structural strength of the driven wheel (9) can be ensured to the maximum extent, and the contact area between the driven wheel (9) and a pipeline can be ensured to reduce the pressure.

6. The tracked capsule robot of claim 1, wherein: the crawler belt (10) is a synchronous belt with patterns on the outer surface to increase friction.

7. The tracked capsule robot of claim 1, wherein: the material tensile rate of the air bag (1) is higher so as to be convenient for expansion.

8. The tracked capsule robot of claim 1, wherein: the air bag (1) is composed of a plurality of three air cavities which are distributed around an axis and are not communicated with each other, each air cavity supplies air independently, and each air cavity drives one crawler belt module shell (4) to extend and retract.

9. The tracked capsule robot as claimed in claim 1, wherein the number of the driven wheels 9 is 2 or more; the arrangement mode between the driving wheel and the driven wheel and the crawler belt module shell is that the supporting end of the wheel is arranged at two sides, namely the crawler belt module shells are arranged at two sides of the wheel, and the wheel is separated from the environment at two sides of the crawler belt module; or the supporting end of the wheel is arranged in the middle of the wheel, namely the wheel is divided into two small wheels, and the environments on two sides of the wheel on the crawler belt module are open.

10. The tracked capsule robot of claim 1, wherein: the two robots are connected by two ends of a middle pneumatic actuator and respectively used as a front main body and a rear main body to form an inchworm-like moving robot; the middle pneumatic actuator is a single-degree-of-freedom pneumatic extension actuator similar to passive bending or a multi-degree-of-freedom pneumatic actuator capable of being extended and bent; the robot can better advance in intestinal tracts with complex structures and can output higher traction force by matching with the crawler belt to travel.

Technical Field

The invention belongs to the field of robots, particularly relates to an intestinal examination robot, and particularly relates to a crawler-type capsule robot.

Background

In recent years, due to diversification of industrial production, various robots are continuously researched to accomplish different tasks. Wherein, capsule robot develops late, mainly serves for narrow space, the complicated pipeline of environment such as industrial thin pipeline, animal alimentary canal inspection. Due to the limitation of the structure size, the existing capsule robot has too few degrees of freedom and is difficult to adapt to complex environments. Most of the existing capsule robots are driven by a motor or magnetically controlled, the driving force is very limited, and the stability of the magnetic control is difficult to improve. In addition, the existing leg-type active capsule robot has small unfolding radius and cannot detect pipelines with large pipe diameter changes, such as human colons. The existing snake-shaped robot can be competent for exploring complex pipelines, but the snake-shaped robot is complex in control, difficult to manufacture, too high in cost, difficult to realize large-scale production and easy to damage soft pipelines.

Disclosure of Invention

The invention aims to overcome the defects of small driving force, poor adaptability, poor stability, poor safety and the like of the existing capsule robot, and designs a crawler-type capsule robot which is simple in structure and convenient to operate and control, can crawl in a soft or hard pipeline with small pipe diameter, large pipe diameter fluctuation, more turning positions and posture change in space, has a simple device structure, is easy to miniaturize, strong in power, can turn, is flexible when in contact with the pipeline, cannot damage the inner wall of the pipeline and the structure of the pipeline, is particularly suitable for colon disease screening, and has a huge application prospect.

The technical scheme of the invention is as follows:

a crawler-type capsule robot which characterized in that: the crawler belt module comprises an air bag 1, a crawler belt module shell 4 and a front end cover 2, wherein an adhesive surface 6 and a circular notch 7 are arranged on the air bag 1, a plurality of restraint tubes 3 and a connecting block 5 are fixedly connected to the front end cover 2, the circular notch 7 is adhered to the restraint tubes 3, and the connecting block 5 is fixedly connected with one end of the air bag 1; the lower end of the crawler belt module shell 4 is connected with the bonding surface 6 of the air bag 1 in a bonding way; a cable outlet 8 for passing through a lead is arranged on the crawler module shell 4; a plurality of wheel shafts 14 are arranged on the crawler belt module shell 4, and the wheel shafts 14 are in interference fit with holes in the crawler belt module shell 4; each wheel shaft 14 is provided with two wheel bearings 15, and the wheel bearings 15 are arranged on the driven wheel 9 and the driving wheel 11 in an interference manner; the axle 14 is not in contact with the driven wheel 9 and the driving wheel 11, and the axle 14 passes through the central holes of the driven wheel 9 and the driving wheel 11. Both sides of the driven wheel 9 and the driving wheel 11 are fixedly connected with synchronous belt wheels 12, and the crawler 10 is sleeved on the synchronous belt wheels 12; the middle of the driving wheel 11 is provided with a worm wheel which is matched with the worm 16, and the middle hole of the worm 16 is in interference fit with the worm shaft 17; a worm support bearing 18 is arranged on the worm shaft 17 in a stringing mode, the worm support bearing 18 is installed in a worm support seat 22, and the worm support seat 22 is fixedly connected with the crawler belt module shell 4. The motor 13 is fixedly arranged in a motor base 19, the motor base 19 is fixedly connected with the shell 4 of the track module, and an output shaft of the motor 13 is fixedly connected with the worm 16; the limiting block 21 is fixedly connected with the crawler belt module shell 4 to prevent the motor 13 from axially moving; wheel anti-interference blocks 20 are attached to each side of the track module housing 4 to prevent the driven wheels 9 and the drive wheel 11 from contacting the track module housing 4.

The front end cover 2 is integrated with an LED lamp, a camera, an inertial sensor and a microcontroller which are respectively used for lighting, shooting, measuring the pose of the robot and processing information.

The number of the restraint tubes 3 is three, the restraint tubes are uniformly distributed on the front end cover 2, and the restraint tubes 3 are of hollow structures and are communicated with the front end cover 2; the restraint tube 3 is used for placing an air tube, a water tube, a biopsy forceps and a guide wire or used for inflating and exhausting air for the intestinal tract, cleaning the intestinal tract, performing biopsy operation and transmitting energy signals; the external diameter and the internal diameter of the restraint tube 3 are adjusted according to the size of an article placed in the restraint tube, and the corresponding round notch 7 on the air bag 1 is also adaptively adjusted.

The restraining tube 3 restrains the airbag 1 from expanding and contracting in sections, which ensures that a corresponding number of crawler module housings 4 are arranged relatively evenly around the airbag 1.

The middle of the driven wheel 9 is arc-shaped, so that the structural strength of the driven wheel 9 can be ensured to the maximum extent, and the contact area between the driven wheel 9 and a pipeline can be ensured to reduce the pressure.

The track 10 is a timing belt with a pattern on the outer surface to increase friction.

The material of the airbag 1 has a high elongation rate so as to be expanded.

The air bag 1 is composed of a plurality of three air cavities which are distributed around an axis and are not communicated with each other, each air cavity supplies air independently, and each air cavity drives one crawler belt module shell 4 to extend and retract.

The number of the driven wheels 9 is 2 or more; the arrangement mode between the driving wheel and the driven wheel and the crawler belt module shell is that the supporting end of the wheel is arranged at two sides, namely the crawler belt module shells are arranged at two sides of the wheel, and the wheel is separated from the environment at two sides of the crawler belt module; or the supporting end of the wheel is arranged in the middle of the wheel, namely the wheel is divided into two small wheels, and the environments on two sides of the wheel on the crawler belt module are open.

Two crawler-type capsule robots of the invention can be connected by two ends of a middle pneumatic actuator, and the two robots are respectively used as a front main body and a rear main body to form an inchworm-like moving robot; the middle pneumatic actuator is a single-degree-of-freedom pneumatic extension actuator similar to passive bending or a multi-degree-of-freedom pneumatic actuator capable of being extended and bent; the robot can better advance in intestinal tracts with complex structures and can output higher traction force by matching with the crawler belt to travel.

The invention has the beneficial effects that:

the device has the advantages of simple structure, convenient operation and control, capability of crawling in soft or hard pipelines with small pipe diameter, large pipe diameter fluctuation, more turning positions and changed postures in space, simple structure, easy miniaturization, strong power, capability of turning, flexibility in contact with the pipelines, no damage to the inner walls of the pipelines and the structures of the pipelines, suitability for colon disease screening and huge application prospect.

Drawings

Fig. 1 is an overview of the robot of the present invention.

Figure 2 is a detailed view of the middle part of the robot of the invention,

fig. 3 is a detailed view of the robotic track module housing of the present invention.

Fig. 4 is a detail view of the drive wheels of the housing of the robotic track module of the present invention.

Fig. 5 is a diagram of the robotic track module housing transmission components of the present invention.

Fig. 6 is a detailed view of the housing of the robotic track module housing of the present invention.

Fig. 7 is a view showing a contracted state of the air bag of the crawler of the robot according to the present invention.

FIG. 8 is a schematic diagram of a novel inchworm-moving robot assembled by the robot of the invention.

FIG. 9 is a schematic view of the working principle of the novel inchworm motion robot.

In the figure: 1. the automatic belt conveyor comprises an air bag, 2 parts of a front end cover, 3 parts of a restraint tube, 4 parts of a crawler belt module shell, 5 parts of a connecting block, 6 parts of a bonding surface, 7 parts of a circular notch, 8 parts of a cable outlet, 9 parts of a driven wheel, 10 parts of a crawler belt, 11 parts of a driving wheel, 12 parts of a synchronous belt wheel, 13 parts of a motor, 14 parts of a wheel shaft, 15 parts of a wheel bearing, 16 parts of a worm, 17 parts of a worm shaft, 18 parts of a worm support bearing, 19 parts of a motor base, 20 parts of a wheel anti-interference block, 21 parts of a limiting block and 22.

Detailed Description

The invention is further described below with reference to the figures and examples.

As shown in fig. 1-9.

A crawler-type capsule robot comprises an air bag 1, a front end cover 2 and a crawler module, as shown in figure 1; each part in the track module is installed on track module shell 4, has linked firmly bonding face 6 and round notch 7 on the gasbag 1, has linked firmly three about pipe 3 and connecting block 5 on the front end housing 2, and round notch 7 bonds with about pipe 3, and connecting block 5 links firmly with gasbag one end, as shown in fig. 2. The lower end of the crawler belt module shell 4 is bonded with the bonding surface 6, and three crawler belt module shells 4 are bonded around the air bag 1. Cable outlets 8 are provided on track module housing 4 for passage of wires, as shown in fig. 3. The crawler module housing 4 has three wheel shafts 14, the three wheel shafts 14 are in interference fit with holes on the crawler module housing 4, as shown in fig. 5, two wheel bearings 15 are connected on each wheel shaft 14 in series, and the wheel bearings 15 are arranged on the driven wheel 9 and the driving wheel 11 in interference fit. The axle 14 is not in contact with the driven wheel 9 and the driving wheel 11, and the axle 14 passes through the central holes of the driven wheel 9 and the driving wheel 11. Synchronous pulleys 12 are fixedly connected to two sides of the driven wheel 9 and the driving wheel 11, and the crawler 10 is sleeved on the three synchronous pulleys 12, as shown in fig. 4. The middle of the driving wheel 11 is provided with a worm wheel which is matched with the worm 16, the worm wheel and the worm, and the middle hole of the worm 16 is in interference fit with the worm shaft 17. A worm support bearing 18 is threaded on the worm shaft 17, the worm support bearing 18 is mounted in a worm support 22, as shown in fig. 6, and the worm support 22 is fixedly connected with the track module housing 4. The motor 13 is fixedly arranged in a motor base 19, the motor base 19 is fixedly connected with the crawler belt module shell 4, and an output shaft of the motor 13 is fixedly connected with the worm 16. The limiting block 21 is fixedly connected with the crawler belt module shell 4, and can prevent the motor 13 from axially moving. Three wheel interference prevention blocks 20 are fixedly connected to two sides of the crawler module housing 4, and the wheel interference prevention blocks 20 can prevent the driven wheel 9 and the driving wheel 11 from contacting the crawler module housing 4. The front end cover 2 is integrated with an LED lamp, a camera, an inertial sensor and a microcontroller which are respectively used for lighting, shooting, measuring the pose of the robot and processing information. In particular, the three constraining tubes 3 are hollow and communicate with the front end cap 2 (fig. 2). The three restraint tubes 3 can be provided with a trachea tube, a biopsy forceps and a guide wire and are used for inflating and exhausting the intestinal tract, cleaning the intestinal tract, performing biopsy operation and transmitting energy signals. The external diameter and the internal diameter of the restraint tube 3 can be adjusted according to the size of an article placed in the restraint tube, and the corresponding round notch 7 on the air bag 1 also needs to be properly adjusted. The restraining tube 3 restrains the air bag 1 from expanding and contracting in three sections, which ensures that the three crawler module housings are arranged relatively evenly around the air bag, as shown in figure 7. The driving of the driven wheel 9 and the driving wheel 11 is provided by worm and gear transmission, so that the device can output larger output force and has the advantage of simple and compact structure. The middle of the driven wheel 9 is arc-shaped (as shown in fig. 3), so that the structural strength of the driven wheel 9 can be ensured to the maximum extent, and the contact area between the driven wheel 9 and the intestinal tract can be ensured to reduce the pressure. The track 10 is a timing belt and has a tread on its outer surface to increase friction. The material elongation of the airbag 1 is high, that is, the airbag 1 can be inflated. The air bag 1 can also be three-degree-of-freedom, namely the air bag 1 is divided into three air cavities which are not communicated with each other around an axis, each air cavity supplies air independently, and each air cavity drives one crawler belt module shell to extend and retract.

The robot of the invention can be used as a module, two identical modules are connected with two ends of a middle pneumatic actuator, and the two modules are respectively used as a front main body and a rear main body, as shown in figure 8, so that the robot similar to the inchworm motion is formed. The middle pneumatic actuator can be a single-degree-of-freedom pneumatic extension actuator similar to a passively bent corrugated pipe, and can also be an extensible and bendable multi-degree-of-freedom pneumatic actuator. The robot can better advance in intestinal tracts with complex structures and can output higher traction force by matching with the crawler belt to travel.

The details are as follows:

the installation relation of each part is as follows: the air bag 1 is fixedly connected with a bonding surface 6 and a circular notch 7, the front end cover 2 is fixedly connected with three restraint tubes 3 and a connecting block 5, the circular notch 7 is bonded with the restraint tubes 3, and the connecting block 5 is fixedly connected with one end of the air bag. The lower end of the crawler belt module shell 4 is bonded with the bonding surface 6, and three crawler belt module shells 4 are bonded around the air bag 1. A cable outlet 8 is provided on the track module housing 4 for passage of a wire. Three axles 14 are provided on the track module housing 4, the three axles 14 being in interference fit with the holes in the track module housing 4. Two wheel bearings 15 are arranged on each wheel shaft 14 in series, and the wheel bearings 15 are arranged on the driven wheel 9 and the driving wheel 11 in an interference mode. The axle 14 is not in contact with the driven wheel 9 and the driving wheel 11, and the axle 14 passes through the central holes of the driven wheel 9 and the driving wheel 11. Synchronous belt wheels 12 are fixedly connected to two sides of the driven wheel 9 and the driving wheel 11, and the crawler 10 is sleeved on the three synchronous belt wheels 12. The middle of the driving wheel 11 is provided with a worm wheel which is matched with the worm 16, the worm wheel and the worm, and the middle hole of the worm 16 is in interference fit with the worm shaft 17. A worm support bearing 18 is arranged on the worm shaft 17 in a stringing mode, the worm support bearing 18 is installed in a worm support seat 22, and the worm support seat 22 is fixedly connected with the crawler belt module shell 4. The motor 13 is fixedly arranged in a motor base 19, the motor base 19 is fixedly connected with the crawler belt module shell 4, and an output shaft of the motor 13 is fixedly connected with the worm 16. The limiting block 21 is fixedly connected with the crawler belt module shell 4, and can prevent the motor 13 from axially moving. Three wheel interference prevention blocks 20 are fixedly connected to two sides of the crawler module housing 4, and the wheel interference prevention blocks 20 can prevent the driven wheel 9 and the driving wheel 11 from contacting the crawler module housing 4.

The working process of the invention is as follows:

the working principle of the robot is explained by combining all the drawings:

when the air bag 1 is inflated or exhausted, the air bag 1 can support or retract the three crawler belt module shells 4 simultaneously. And pumping out the air in the air bag 1, so that the robot enters the intestinal tract or the pipeline in a contraction state. The air bag 1 is then inflated to a suitable pressure so that the three sets of tracks 10 press against the wall of the tube or bowel. And simultaneously, the three motors 13 are respectively controlled to work to drive the worms 16 to rotate, so that the driving wheel 11 is driven to rotate through the worm wheel on the driving wheel 11, and the two driven wheels 9 are driven to move through the crawler belt 10. If the three motors 13 are at the same speed, the robot as a whole moves in one direction. If the speeds of the three motors are different, the robot turns while advancing. By controlling the speeds of the three motors 13, the robot can be controlled to move forward and backward in the pipeline or the intestinal tract and turn. By adjusting the air pressure in the air bag 1, the three groups of tracks 10 have proper contact force with the tube wall or the intestinal wall, so that the safety is ensured, the tube wall or the intestinal wall is not damaged, and the enough friction force required by the advancing of the robot is ensured. The robot can advance in the pipeline or the intestinal tract to turn.

In addition, the robot can be used as the front body and the rear body in fig. 8, and the front body and the rear body are connected by an intermediate pneumatic actuator, wherein the intermediate pneumatic actuator can be a single-degree-of-freedom pneumatic extension actuator like a passively bent bellows, or an extensible and bendable multi-degree-of-freedom pneumatic actuator. The working principle is as shown in figure 9, and is similar to inchworm movement:

(0): the air in the front main body, the rear main body and the middle pneumatic actuator is pumped out firstly, and the robot is in a contraction state;

(1): inflating the rear body such that the rear body expands to a certain extent;

(2): inflating the middle actuator to extend the middle actuator so as to drive the front main body to advance;

(3): inflating the front body such that the front body expands to a certain extent;

(4): exhausting air from the rear body to make the rear body in a contracted state;

(5): exhausting air from the intermediate actuator to place the intermediate actuator in a contracted state, thereby pulling the rear body forward;

(6): inflating the rear body such that the rear body expands to a certain extent;

exhausting the air in the front body to make the front body in a contracted state, and returning to the step (1). The robot can obtain larger traction force by circulating the way and matching with the movement of the crawler, and can better pass through a pipeline or an intestinal tract.

The present invention is not concerned with parts which are the same as or can be implemented using prior art techniques.