基于摩擦轮的自动推进系统的设计

Design of Automatic Pushing-system Based on Friction Wheel

介绍了一种利用摩擦轮作为传动部件来推进细径线状传感器的自动推进系统,传感器被夹持在两摩擦轮凹槽之间,依靠摩擦轮和传感器表面之间的摩擦力,利用摩擦和挤压的方式介入光纤光栅传感器。通过手柄上的弹簧调整两摩擦轮之间的间隙,还可以灵活改变介入力大小。在介绍了相应的安装了光电码盘的推进机构和工作原理之后给出了系统的电路设计和软件设计,并给出了推进实验结果。该自动推进系统具有结构简单、实现容易等特点,可以满足智能化渐进式内窥镜形状感知和重建的要求。

Pushing-system is designed in this paper which is based on friction wheel transfer for automatically pushing slim line-shape sensor. The sensor which is placed between two friction wheels is pushed by friction and extrusion,which are produced by interface of the sensor and two friction wheels.Pushing force is neatly changed by adjusting the distance of two friction wheels.After introducing the structure and principle of the system,the paper provides both circuit design and software design for the system of the pushing device.The test result is given in the end. This system has the features of simple framework and can meet the demands of deformation sensing and incremental shape reconstruction for intelligent endoscope.