CN109580270B - Magnetic suspension capsule robot test device - Google Patents
Magnetic suspension capsule robot test device Download PDFInfo
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- CN109580270B CN109580270B CN201910051866.8A CN201910051866A CN109580270B CN 109580270 B CN109580270 B CN 109580270B CN 201910051866 A CN201910051866 A CN 201910051866A CN 109580270 B CN109580270 B CN 109580270B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
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Abstract
The invention discloses a magnetic suspension capsule robot test device which comprises a frame, a driving robot, a controller, a simulated intestinal tract, an intestinal tract tensioning mechanism, a permanent magnet, a first intestinal tract holder and a second intestinal tract holder. The upper end of the driving robot is fixed on the frame, the lower end of the driving robot is connected with the mounting plate, the mounting plate is provided with an intestinal tensioning mechanism, the intestinal tensioning mechanism is connected with the first intestinal clamp holder, the intestinal tensioning mechanism can drive the first intestinal clamp holder to slide, the intestinal tract penetrates through the intestinal clamp holder and is full of simulated intestinal juice, and the permanent magnet drives the capsule robot to move. The controller controls the driving robot and the permanent magnet, so that the capsule robot can realize multi-dimensional motions such as translation, rotation and the like, peristaltic motion and shrinkage of intestinal tracts can be simulated through the intestinal tract tensioning mechanism, related data parameters of the capsule robot in the motion process can be obtained through the sensor, a data basis is provided for retention and walking problems in a capsule robot body, and damage to the intestinal tracts can be reduced through experiments.
Description
Technical Field
The invention relates to the technical field of medical test devices, in particular to a magnetic suspension capsule robot test device.
Background
Minimally invasive and noninvasive diagnosis and treatment techniques are a permanent pursuit of the necessary trend of human medical development and the progress of human civilization. The invention of the capsule robot provides practical application technology for minimally invasive and noninvasive diagnosis and treatment technologies, but the capsule robot is a cylindrical, leg-type, external spiral and internal spiral capsule robot, has direct influence on the movement of the capsule robot in the intestinal tract due to intestinal peristalsis, intestinal fluid, resistance of the intestinal wall, friction force and the like, and needs a large amount of experiments to obtain and verify how to control the movement of the capsule robot, optimize the structure of the capsule robot and reduce the damage of the capsule robot to the intestinal tract.
In the existing method, the stress of the capsule robot is measured by adopting a mode that the capsule robot is fixedly connected with a measuring wire, or the intestinal muscle is contracted and the capsule robot is extruded forward to move by adopting an electric stimulation method, or magnetic dragging navigation is adopted, namely an external permanent magnet drives an internal permanent magnet in the capsule endoscope to move, rotate at a large angle and stop, or a rotating magnetic field method refers to that a plurality of groups of coils are utilized to generate a space rotating magnetic field to drive the capsule robot to do precession movement, and the like. In the methods, the capsule robot is in a passive motion state, and the actual stress condition of the capsule robot is difficult to obtain.
The capsule running resistance of the capsule in the intestinal tract with high elasticity and full intestinal juice is obtained by the filament fixed capsule robot in an intestinal tract moving mode, but the peristaltic state of the intestinal tract cannot be simulated. And the movement condition of the capsule robot with the coexistence of rotation and translation is difficult to realize, and the change condition of the friction resistance of the capsule robot under the intestinal peristalsis condition can not be known.
At present, theoretical analysis and experimental research on the problems of movement, friction and the like of a capsule robot in intestinal tracts are based on a non-magnetic field control environment, and mainly aim at translational movement of a conventional cylindrical robot under the condition that intestinal tracts do not have peristaltic movement, when rotation and translational coexistence of the capsule robot are not considered, the change condition of the friction resistance of the robot is not considered, the intestinal tracts are not simulated, the friction force related to the viscoelastic deformation of the capsule robot and the intestinal tracts cannot be obtained, the friction force related to the intestinal tracts, the viscosity friction resistance of intestinal juice related to a lubricating state and other factors are not added in the experimental research on the friction resistance of the capsule robot. However, optimization and controllability of the capsule robot are the most important evaluation indexes of gastrointestinal minimally invasive and noninvasive diagnosis and treatment technologies, and the existing test equipment cannot meet the experimental requirements.
Disclosure of Invention
The invention aims to provide a magnetic suspension capsule robot test device which solves the problems in the prior art, so that the magnetic suspension capsule robot can simulate running in intestinal tracts simulating peristaltic movement, the running state is controllable, and related data such as friction force, resistance and the like in the running process can be acquired.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a magnetic suspension capsule robot test device which comprises a rack, a driving robot, a controller, a simulated intestinal tract, an intestinal tract tensioning mechanism, a permanent magnet, a first intestinal tract holder and a second intestinal tract holder, wherein the driving robot is arranged on the rack; the simulated intestinal canal is used for filling simulated intestinal juice;
the frame is a rectangular frame, and the rectangular frame is provided with a top surface and a bottom surface; the upper end of the driving robot is hinged with the top surface, the lower end of the driving robot is connected with a mounting plate, and the driving robot can drive the mounting plate to translate and rotate;
the intestinal tensioning mechanism is arranged on the mounting plate and connected with the first intestinal clamp holder, and the intestinal tensioning mechanism can drive the first intestinal clamp holder to slide; the second intestinal canal holder is connected with the mounting plate, and the simulated intestinal canal is penetrated in the first intestinal canal holder and the second intestinal canal holder; the capsule robot is arranged in the simulated intestinal canal between the first intestinal canal holder and the second intestinal canal holder, and is provided with a sensor; the permanent magnet is respectively matched with the magnetic suspension shaft and the rotary magnet, and the permanent magnet can control the capsule robot to translate and rotate;
the controller is arranged on the bottom surface, the controller is electrically connected with the capsule robot, the sensor and the driving robot, and the controller can control the movement of the capsule robot.
Preferably, the permanent magnet comprises a rotary permanent magnet and a translational permanent magnet, the rotary permanent magnet is connected with a rotary motor, the rotating shaft of the rotary motor is rotationally connected with the connecting rod of the second intestinal clamp holder, and the rotary permanent magnet is matched with the rotary magnet in the middle of the capsule robot; the two pairs of translation permanent magnets are connected through a short shaft and fixed on the first intestinal canal clamp holder, and the translation permanent magnets are arranged between the first intestinal canal clamp holder and the second intestinal canal clamp holder and are matched with magnetic suspension shafts at two ends of the capsule robot.
Preferably, the intestinal tensioning mechanism is a slider-crank mechanism, the slider-crank mechanism comprises a motor, a crankshaft, a connecting rod and a slider, the motor is arranged on the mounting plate, a shaft of the motor is connected with one end of the crankshaft, the other end of the crankshaft is hinged with one end of the connecting rod, the other end of the connecting rod is connected with the slider, the slider is matched with a slider groove arranged on the mounting plate, and the slider is connected with the first intestinal clamp holder.
Preferably, the crank slide block mechanism is replaced by an eccentric slide block mechanism, the eccentric slide block mechanism comprises a motor, an eccentric wheel, a connecting rod and a slide block which are sequentially connected, the slide block is matched with a slide block groove arranged on the mounting plate, and the slide block is connected with the first intestinal clamp holder.
Preferably, the moving speed of the sliding block is 0.5-2.0cm/s.
Preferably, the first intestinal canal holder and the second intestinal canal holder each comprise a connecting rod and a clamping part which are connected with each other, the clamping part comprises a cylindrical outer wall and an elastic inner wall, the cylindrical outer wall is in sealing connection with two ends of the elastic inner wall correspondingly, and an air inlet and an air extraction opening are formed in the cylindrical outer wall.
Preferably, the driving robot is a six-degree-of-freedom parallel robot or a six-degree-of-freedom serial robot or a multi-degree-of-freedom rectangular coordinate robot.
Preferably, a micro strain sensor is arranged on the end part of the magnetic suspension shaft, a micro target sensor is arranged on the surface of the rotary magnet, and the micro strain sensor and the micro target sensor are connected with the controller.
Preferably, two ends of the simulated intestinal canal respectively penetrate through a fixing seat and are communicated with a simulated intestinal canal liquid container, a one-way valve is arranged on the fixing seat, and the fixing seat and the simulated intestinal canal liquid container are both arranged on the bottom surface.
Preferably, one end of the simulated intestinal canal is connected with a water pump, and the water pump is electrically connected with the controller.
Compared with the prior art, the invention has the following technical effects:
according to the invention, the capsule robot is controlled by the driving robot and the permanent magnet to realize multi-dimensional motions such as translation, rotation and the like, peristaltic motion and shrinkage of intestinal tracts can be simulated, and related data parameters of the capsule robot in the motion process can be obtained through the sensor, so that a data basis is provided for the problems of retention and walking in a capsule robot body, and damage to the intestinal tracts can be reduced through experiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a magnetic levitation capsule robot test device according to the present invention;
FIG. 2 is a schematic structural diagram of a magnetic levitation capsule robot test device of the present invention;
FIG. 3 is a schematic diagram II of a magnetic suspension capsule robot test device according to the present invention;
FIG. 4 is a schematic diagram III of a magnetic levitation capsule robot test device according to the present invention;
FIG. 5 is an enlarged view of a part of the magnetic suspension capsule robot test device of the present invention;
FIG. 6 is a schematic view of an intestinal tensioning mechanism according to the present invention;
FIG. 7 is a schematic diagram of a crank mechanism according to the present invention;
FIG. 8 is a schematic view of the first and second intestinal holders according to the present invention;
wherein: the device comprises a 1-frame, a 2-driving robot, a 3-intestinal tensioning mechanism, a 4-simulated intestinal canal, a 5-capsule robot, a 6-first intestinal canal holder, a 7-second intestinal canal holder, an 8-controller, a 9-top surface, a 10-bottom surface, a 11-hydraulic rod, a 12-mounting plate, a 13-motor, a 14-crankshaft, a 15-connecting rod, a 16-sliding block, a 17-fixing seat, a 18-simulated intestinal canal container, a 19-magnetic suspension shaft, a 20-rotating magnet, a 21-translation permanent magnet, a 22-rotating permanent magnet, a 23-rotating motor, a 24-cylindrical outer wall, a 25-elastic inner wall, a 26-air inlet and a 27-air extraction opening.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art based on the embodiments of the invention without any inventive effort, are intended to fall within the scope of the invention.
The invention aims to provide a magnetic suspension capsule robot test device which solves the problems in the prior art, so that a magnetic suspension capsule robot can simulate running in an intestinal tract simulating peristaltic movement, the running state is controllable, and related data such as friction force, resistance and the like in the running process can be acquired.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1 to 8: the embodiment provides a magnetic suspension capsule robot test device, which comprises a frame 1, a driving robot 2, a controller 8, a simulated intestinal canal 4, an intestinal canal tensioning mechanism 3, a permanent magnet, a first intestinal canal clamp 6 and a second intestinal canal clamp 7.
The frame 1 is a rectangular frame, and the rectangular frame is provided with a top surface 9 and a bottom surface 10; the upper end of the driving robot 2 is hinged with the top surface 9, the lower end of the driving robot 2 is connected with a mounting plate 12, and the driving robot 2 can drive the mounting plate 12 to translate and rotate; the driving robot 2 is a six-degree-of-freedom parallel robot or a six-degree-of-freedom serial robot or a multi-degree-of-freedom rectangular robot, and in this embodiment, a six-degree-of-freedom parallel robot is used, and the hydraulic rod 11 is used as a driving member and connected to the controller 8.
Be provided with intestinal tensioning mechanism 3 on the mounting panel 12, intestinal tensioning mechanism 3 links to each other with first intestinal holder 6, and intestinal tensioning mechanism 3 can drive first intestinal holder 6 and slide. The intestinal tensioning mechanism 3 in the embodiment is a crank slide mechanism, the crank slide mechanism comprises a motor 13, a crankshaft 14, a connecting rod 15 and a slide block 16, the motor 13 is arranged on the mounting plate 12, a shaft of the motor 13 is connected with one end of the crankshaft 14, the other end of the crankshaft 14 is hinged with one end of the connecting rod 15, the other end of the connecting rod 15 is connected with the slide block 16, the slide block 16 is matched with a slide block groove arranged on the mounting plate 12, and the slide block 16 is connected with the first intestinal clamp holder 6.
Or the crank slide block mechanism is replaced by an eccentric slide block mechanism, the eccentric slide block mechanism comprises a motor 13, an eccentric wheel, a connecting rod 15 and a slide block 16 which are sequentially connected, the slide block 16 is matched with a slide block groove arranged on the mounting plate 12, and the slide block 16 is connected with the first intestinal clamp holder 6. Wherein intestinal peristalsis is a continuous contraction of the annular and longitudinal muscles coordinated with each other, occurs at the proximal end of the small intestine and propagates toward the distal end of the intestine at a rate of 0.5-2.0cm/s. Therefore, the moving speed of the slider 16 is set to 0.5-2.0cm/s. Wherein, the motor 13 drives the eccentric wheel or the crankshaft 14 to move, and the connecting rod 15 drives the sliding block 16 to slide, so as to drive the first intestinal canal clamp holder 6 to move, and the simulated intestinal canal 4 sleeved in the first intestinal canal clamp holder 6 is lengthened. From the working principle, the crank slider mechanism may be replaced by a mechanism capable of linear reciprocating motion, such as a hydraulic mechanism, a pneumatic mechanism, an electromagnetic telescopic mechanism, or a screw mechanism, to realize the reciprocating motion of the slider 16.
The second intestinal canal clamp 7 is connected with the mounting plate 12, and the simulated intestinal canal 4 penetrates through the first intestinal canal clamp 6 and the second intestinal canal clamp 7; the capsule robot 5 is arranged in the simulated intestinal canal 4 between the first intestinal canal clamp holder 6 and the second intestinal canal clamp holder 7, two ends of the simulated intestinal canal 4 respectively penetrate through a fixing seat 17 and are communicated with a simulated intestinal canal liquid container 18, a one-way valve is arranged on the fixing seat 17, only the simulated intestinal canal liquid is allowed to flow into the simulated intestinal canal 4, and the fixing seat 17 and the simulated intestinal canal liquid container 18 are arranged on the bottom surface 10. The simulated intestinal canal 4 is used for filling simulated intestinal juice, one end of the simulated intestinal canal 4 is connected with a water pump, the water pump is arranged in the simulated intestinal juice container 18 and is electrically connected with the controller 8, and the controller 8 is preferably arranged at the upper part of the simulated intestinal juice container 18 in the embodiment.
The capsule robot 5 is provided with a magnetic suspension shaft 19 at both ends, the middle part of the capsule robot 5 is provided with a rotary magnet 20, the permanent magnet is respectively matched with the magnetic suspension shaft 19 and the rotary magnet 20, and the permanent magnet can control the capsule robot 5 to translate and rotate. The capsule robot 5 is provided with a sensor. Wherein, the end of the magnetic suspension shaft 19 is provided with a micro strain sensor, the surface of the rotary magnet 20 is provided with a micro target sensor, and the axial pressure of the capsule robot 5 relative to the magnetic suspension shaft 19 can be obtained when the capsule robot 5 rotates, thereby obtaining the movement resistance of the capsule robot 5; the micro strain sensor and the micro target sensor are connected with the controller 8, and the rotation resistance moment of the capsule relative to the liquid can be obtained.
Wherein the permanent magnet comprises a rotary permanent magnet 22 and a translational permanent magnet 21, the rotary permanent magnet 22 is connected with a rotary motor 23, the rotating shaft of the rotary motor 23 is rotationally connected with a connecting rod of the second intestinal clamp 7, and the rotary permanent magnet 22 is matched with the rotary magnet 20 in the middle of the capsule robot 5; the translational permanent magnets 21 are two pairs, each pair of translational permanent magnets 21 is connected and fixed on the first intestinal canal clamp 6 through a short shaft, and the translational permanent magnets 21 are arranged between the first intestinal canal clamp 6 and the second intestinal canal clamp 7 and are matched with the magnetic suspension shafts 19 at two ends of the capsule robot 5.
The first intestinal canal holder 6 and the second intestinal canal holder 7 respectively comprise a connecting rod and a clamping part which are connected with each other, the clamping part comprises a cylindrical outer wall 24 and an elastic inner wall 25, two ends of the cylindrical outer wall 24 and two ends of the elastic inner wall 25 are correspondingly and hermetically connected, and an air inlet 26 and an air extraction opening 27 are arranged on the cylindrical outer wall 24. The air inlet device is connected with the air inlet 26, air is blown to increase air pressure, the elastic inner wall 25 is further made to contact with the simulated intestinal canal 4 and squeeze the simulated intestinal canal 4, and when air pressure is discharged through the air suction opening 27, the section of the simulated intestinal canal 4 is restored, and the process of intestinal canal contraction is simulated.
The controller 8 is disposed on the bottom surface 10, and the controller 8 is electrically connected to the capsule robot 5, the sensor, and the driving robot 2, and may be wired or wireless, and the controller 8 may control the movement of the capsule robot 5.
The specific movement process of this embodiment is as follows:
firstly, the capsule robot 5 is placed in the simulated intestinal canal 4 and penetrates into the first intestinal canal clamp holder 6 and the second intestinal canal clamp holder 7, so that the capsule robot 5 is positioned between the first intestinal canal clamp holder and the second intestinal canal clamp holder, and then two ends of the simulated intestinal canal respectively penetrate through a fixing seat 17 and are communicated with a simulated intestinal canal liquid container 18, wherein one end of the simulated intestinal canal 4 is connected with a water pump. After the simulated intestinal canal 4 is installed, the controller 8 controls the water pump to inject simulated intestinal canal liquid into the intestinal canal, and after the simulated intestinal canal 4 is filled, the controller 8 controls the water pump to supplement the pumped simulated intestinal canal liquid according to the flow of the simulated intestinal canal liquid.
The controller 8 controls the six-degree-of-freedom parallel robot to move, so that the mounting plate 12 moves directionally according to a set program, and the second intestinal clamp 7 mounted on the mounting plate 12 is driven to move, so that the rotary permanent magnet 22 and the rotary motor 23 follow. The driving robot 2 moves the first intestinal canal clamp 6 and the second intestinal canal clamp 7 through the mounting plate 12, and the capsule robot 5 moves to a designated position simulating the intestinal canal 4 under the traction of the translation permanent magnet 21, so that the first intestinal canal clamp 6 and the second intestinal canal clamp 7 are positioned at the relative nearest positions; then, the air inlet 26 is used for inflating the clamping part in the second intestinal canal clamp holder 7, the elastic inner wall 25 is in contact with the simulated intestinal canal 4 and extrudes the simulated intestinal canal 4, so that the section of the simulated intestinal canal 4 is reduced, and the one-way valve is arranged on the fixing seat 17, so that the simulated intestinal canal fluid flows unidirectionally due to extrusion, and the action of contraction of the annular muscle of the intestinal canal is simulated. Then the clamping part in the first intestinal canal clamp holder 6 is inflated and extrudes the simulated intestinal canal 4 to further drive the simulated intestinal canal liquid to flow unidirectionally, meanwhile, because friction exists between the extruded elastic inner wall 25 and the outer wall of the simulated intestinal canal 4, when the first intestinal canal clamp holder 6 is driven to move by the crank-slide mechanism, the controller 8 controls the motor 13 to rotate, the motor 13 drives the slide 16 to move through the crank-slide mechanism or the eccentric-slide mechanism, and further drives the first intestinal canal clamp holder 6 and the embedded simulated intestinal canal 4 to reciprocate relative to the second intestinal canal clamp holder 7, and the translational permanent magnet 21 drives the capsule robot 5 to move along with the first intestinal canal clamp holder 6, so that the simulated intestinal canal 4 is promoted to be elongated. After the simulated intestinal canal 4 is elongated, the second intestinal canal clamp holder 7 and the first intestinal canal clamp holder 6 sequentially perform air extraction and pressure relief through the air extraction opening 27, the section of the simulated intestinal canal 4 and the stretched length are recovered, the simulated intestinal canal liquid is required to be changed according to the flow of the simulated intestinal canal liquid through the water pump, the flow of the simulated intestinal canal liquid is supplemented in time, the contraction process of the simulated intestinal canal is simulated, and meanwhile, the crank sliding block mechanism is reset, and the peristaltic action of the simulated intestinal canal is completed once. The robot 2 is driven to move the mounting plate 12 to the next position, and the continuous contraction and transmission of the annular muscle on the intestinal tract 4 can be simulated by repeating the process, so that the peristaltic movement of the intestinal tract 4 is simulated, and the continuous contraction and transmission of the longitudinal muscle of the intestinal tract 4 and the movement state simulation of the capsule robot 5 are simulated.
The controller 8 can obtain the axial pressure of the capsule robot 5 relative to the magnetic suspension shaft 19 through a miniature strain sensor arranged on the end part of the capsule robot 5, thereby obtaining the movement resistance of the capsule robot 5; through the miniature target sensor that sets up on the surface of capsule robot 5, can obtain the rotatory relative liquid of capsule and rotate the moment of resistance, and then the motion parameter of measuring capsule robot 5 under the simulated intestinal 4 environment of peristaltic and shrink, be convenient for to the research and the improvement of capsule robot 5, provide data foundation for capsule robot 5 internal retention and walking problem, can reduce the damage to the intestinal through the experiment.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (7)
1. A magnetic suspension capsule robot test device is characterized in that: comprises a frame, a driving robot, a controller, an intestinal canal simulation mechanism, an intestinal canal tensioning mechanism, a permanent magnet, a first intestinal canal clamp holder and a second intestinal canal clamp holder; the simulated intestinal canal is used for filling simulated intestinal juice;
the frame is a rectangular frame, and the rectangular frame is provided with a top surface and a bottom surface; the upper end of the driving robot is hinged with the top surface, the lower end of the driving robot is connected with a mounting plate, and the driving robot can drive the mounting plate to translate and rotate;
the intestinal tensioning mechanism is arranged on the mounting plate and connected with the first intestinal clamp holder, and the intestinal tensioning mechanism can drive the first intestinal clamp holder to slide; the second intestinal canal holder is connected with the mounting plate, and the simulated intestinal canal is penetrated in the first intestinal canal holder and the second intestinal canal holder; the capsule robot is arranged in the simulated intestinal canal between the first intestinal canal holder and the second intestinal canal holder, and is provided with a sensor; the permanent magnet is respectively matched with the magnetic suspension shaft and the rotary magnet, and the permanent magnet can control the capsule robot to translate and rotate;
the permanent magnet comprises a rotary permanent magnet and a translational permanent magnet, the rotary permanent magnet is connected with a rotary motor, the rotating shaft of the rotary motor is rotationally connected with the connecting rod of the second intestinal clamp holder, and the rotary permanent magnet is matched with the rotary magnet in the middle of the capsule robot; the two pairs of translation permanent magnets are connected through a short shaft and fixed on the first intestinal canal clamp holder, and the translation permanent magnets are arranged between the first intestinal canal clamp holder and the second intestinal canal clamp holder and are matched with magnetic suspension shafts at two ends of the capsule robot; the first intestinal canal clamp holder and the second intestinal canal clamp holder comprise connecting rods and clamping parts which are connected with each other, the clamping parts comprise a cylindrical outer wall and an elastic inner wall, the two ends of the cylindrical outer wall and the two ends of the elastic inner wall are correspondingly and hermetically connected, and an air inlet and an air extraction opening are formed in the cylindrical outer wall; a miniature strain sensor is arranged at the end part of the magnetic suspension shaft, a miniature target sensor is arranged on the surface of the rotary magnet, and the miniature strain sensor and the miniature target sensor are connected with the controller;
the controller is arranged on the bottom surface, the controller is electrically connected with the capsule robot, the sensor and the driving robot, and the controller can control the movement of the capsule robot.
2. The magnetic levitation capsule robot test device of claim 1, wherein: the intestinal tensioning mechanism is a crank sliding block mechanism, the crank sliding block mechanism comprises a motor, a crankshaft, a connecting rod and a sliding block, the motor is arranged on the mounting plate, a shaft of the motor is connected with one end of the crankshaft, the other end of the crankshaft is hinged with one end of the connecting rod, the other end of the connecting rod is connected with the sliding block, the sliding block is matched with a sliding block groove arranged on the mounting plate, and the sliding block is connected with the first intestinal clamp holder.
3. The magnetic levitation capsule robot test device of claim 2, wherein: the crank slide block mechanism is replaced by an eccentric slide block mechanism, the eccentric slide block mechanism comprises a motor, an eccentric wheel, a connecting rod and a slide block which are sequentially connected, the slide block is matched with a slide block groove arranged on the mounting plate, and the slide block is connected with the first intestinal clamp holder.
4. A magnetic levitation capsule robot test device according to claim 3, characterized in that: the moving speed of the sliding block is 0.5-2.0cm/s.
5. The magnetic levitation capsule robot test device of claim 1, wherein: the driving robot is a six-degree-of-freedom parallel robot or a six-degree-of-freedom serial robot or a multi-degree-of-freedom rectangular coordinate robot.
6. The magnetic levitation capsule robot test device of claim 1, wherein: the two ends of the simulated intestinal canal respectively penetrate through a fixing seat and are communicated with a simulated intestinal canal liquid container, a one-way valve is arranged on the fixing seat, and the fixing seat and the simulated intestinal canal liquid container are both arranged on the bottom surface.
7. The magnetic levitation capsule robot test device of claim 1, wherein: one end of the simulated intestinal canal is connected with a water pump, and the water pump is electrically connected with the controller.
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| CN111351957A (en) * | 2020-05-04 | 2020-06-30 | 长沙学院 | Flow field PIV (particle image velocimetry) measuring platform of magnetic control capsule robot in conduit |
| CN112345284B (en) * | 2020-11-26 | 2021-07-27 | 吉林大学 | Device for testing reciprocating motion dynamic performance of magnetic field driven cableless pipeline robot |
| CN112852603A (en) * | 2020-12-31 | 2021-05-28 | 晓东宜健（苏州）仪器设备有限公司 | Bionic colon bioreactor |
| CN114176489A (en) * | 2021-12-27 | 2022-03-15 | 北京航空航天大学 | Magnetic control system of magnetic suspension capsule robot |
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