A flexible joint

Abstract

The present invention discloses a flexible joint, comprising a joint head end (1), a joint tail end (2), a joint part, a driving line (6), and an outer layer (7). The joint head end (1), the joint part, and the joint tail end (2) are sequentially connected to complete a detachable movable connection through the cooperation of a head end groove (102), a boss, a groove, and a tail end boss (202), and the movable connection is limited by a head end limiting boss (103), a limiting boss, and an outer layer (7), so that the movable joint head end (1) and the joint part, the adjacent joint part, and the joint part and the joint tail end (2) can only move radially relative to the movable connection under the adjustment of the driving line (6), thereby completing the adjustment of the flexible joint. The flexible joint of the present invention can meet the requirements of a medical endoscope camera for shooting at different angles when moving in all directions.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a flexible joint. Background Art

[0002] Currently, flexible joints are widely used in minimally invasive surgeries. When the existing flexible joints are used to drive the front end of minimally invasive surgical forceps, since the front end of the chuck needs to be subjected to force, there are very high requirements for the bending strength of the entire flexible joint. At the same time, this section of the flexible joint must also meet the doctor's control, and there are also high requirements for the flexibility of the flexible joint. Currently, the flexible joints on the market cannot take into account both flexibility and bending strength. Summary of the invention

[0003] In view of this, it is necessary to provide a flexible joint to address the problems existing in the prior art.

[0004] A flexible joint of the present invention comprises:

[0005] A joint head end, wherein a positioning through hole is provided on the joint end; a head end groove is provided on the lower side surface of the joint head end, and a head end limiting boss is extended from the head end groove;

[0006] A joint tail end, wherein the outer surface of the joint tail end is provided with a tail end positioning groove corresponding to the positioning through hole; and the upper side surface of the joint tail end is provided with a tail end boss;

[0007] A joint part, wherein the outer surface of the joint part is provided with a joint part positioning groove corresponding to the positioning through hole, and the joint head end, the joint tail end and the joint part are provided with positioning grooves correspondingly; the upper surface of the joint part is provided with two bosses, and the lower surface is provided with two grooves, and the grooves extend to limit bosses; the line connecting the center points of the bosses and the line connecting the center points of the grooves are perpendicular to each other; the joint part is provided with at least two; adjacent joint parts are adapted to the grooves of another joint part through the boss of one joint part; the limiting boss is used to limit The head end groove is matched with the boss, and the head end limiting boss is used to limit the boss; the tail end boss is matched with the groove, and the limiting boss is used to limit the tail end boss; the upper and lower surfaces of the joint parts are provided with inclined slopes, and the adjacent joint parts are installed and matched to form a rotation adjustment gap; the upper or lower surface of the joint part has at least two inclined slopes, and the inclined slope forms an angle with the vertical or horizontal direction, and the angle is 0-15° or 180-195°;

[0008] A driving wire, which passes through the positioning through hole, the joint positioning groove, and the tail end positioning groove and is limited by the outer layer to be located in the positioning through hole, the joint positioning groove, and the tail end positioning groove; the driving wire pulls the flexible joint to move under the action of external force to complete the bending or resetting action;

[0009] An outer layer, the outer layer wraps around the outer surfaces of the joint head end, the joint tail end, the joint parts, and the driving wire;

[0010] The joint head end, joint part and joint tail end are respectively connected in a detachable movable connection through the cooperation of the head end groove, boss, groove and tail end boss, and the aforementioned movable connection is limited by the head end limiting boss, limiting boss and outer layer, so that the movable joint head end and joint part, adjacent joint parts, joint part and joint tail end can only rotate relative to the movable connection or the limiting boss under the adjustment of the driving line. The limiting boss includes a primary boss, a secondary boss and a tail end boss, so that the flexible joint completes the bending or resetting action. The angle of the rotational movement is 0-30°, and the rotational movement is limited by the inclined slopes of the upper and lower surfaces of the joint part.

[0011] The joint head end, joint part and joint tail end are detachably connected through the cooperation of the head end groove, boss, groove and tail end boss, and under the limitation of the outer layer, the joint head end, joint part and joint tail end are radially fixed to each other left and right, and are in an adjustable state in the front and rear radial directions.

[0012] As a further improvement of the present invention, at least three driving lines are provided, one end of the driving line is used for external force traction, and the other end is fixedly connected to the joint head end or the joint tail end;

[0013] As a further improvement of the present invention, the number of the driving lines matches the number of the positioning through holes.

[0014] As a further improvement of the present invention, the number of the driving lines matches the number of the positioning through holes, and the number of the driving lines is a multiple of 2.

[0015] As a further improvement of the present invention, the fixed connection includes welding or adhesive bonding.

[0016] As a further improvement of the present invention, at least two driving wires are provided, and driving wire clearance grooves are provided between adjacent positioning through holes; the two ends of the driving wire respectively pass through the positioning through hole, the joint positioning groove and the tail end positioning groove, and the middle section of the driving wire is adapted to the driving wire clearance groove, and the two ends of the driving wire pull the flexible joint to move under the action of external force to complete the bending or resetting action; the middle section of the driving wire and the driving wire clearance groove are fixed by welding or bonding glue.

[0017] As a further improvement of the present invention, the outer layer can be a spring or a sleeve, the outer layer is a sleeve, the sleeve is a braided sleeve, one end of the braided sleeve is fixedly connected to the outer surface of the joint head end, and the other end is fixedly connected to the outer surface of the joint tail end.

[0018] As a further improvement of the present invention, the lower surface of the joint head end or the upper surface of the joint tail end is provided with an inclined slope, and the inclined slope forms a rotation adjustment gap after the joint head end and the joint part are installed and matched; the lower surface of the joint part or the inclined slope forms a rotation adjustment gap after the joint part and the joint tail end are installed and matched, and the lower surface of the joint head end or the upper surface of the joint tail end is provided with at least two inclined slopes, and the inclined slopes form an angle with the vertical or horizontal direction.

[0019] As a further improvement of the present invention, the joint component includes a primary joint component and a secondary joint component; the primary joint component is provided with a primary boss on the upper surface, and a primary groove on the lower surface, and a primary limiting boss is extended from the primary groove; the secondary joint component is provided with a secondary boss on the upper surface corresponding to the primary groove or the head end groove, and a secondary groove is provided on the lower surface corresponding to the primary boss or the tail end boss, and a secondary limiting boss is extended from the secondary groove, and the secondary limiting boss is used to limit the primary boss or the tail end boss; the primary limiting boss or the head end limiting boss is used to limit the secondary boss.

[0020] As a further improvement of the present invention, the upper or lower surface of the first-level joint component is provided with at least two inclined slopes, and the upper or lower surface of the second-level joint component is provided with at least two inclined slopes, and the inclined slopes form an angle with the vertical or horizontal direction.

[0021] As a further improvement of the present invention, the shape of the head end groove, the tail end boss, the boss, the groove, the first-level boss, the first-level groove, the second-level boss or the second-level groove is cylindrical.

[0022] As a further improvement of the present invention, at least three positioning through holes are provided.

[0023] As a further improvement of the present invention, four positioning through holes are provided.

[0024] As a further improvement of the present invention, the upper surface or the lower surface of the joint component is provided with at least two inclined slopes, and the inclined slopes form an angle with the vertical or horizontal direction, and the angle is 14° or 194°.

[0025] As a further improvement of the present invention, the joint head end, the joint part, and the joint tail end

[0026] As a further improvement of the present invention, the rotation radius is 8.5 mm, the rotation angle is 280°, and the relative rotation angle is 28°.

[0027] As a further improvement of the present invention, the diameters of the joint component, the joint head end, and the joint tail end are 2.7 mm, so that the flexible joint can achieve omnidirectional movement on the basis of a diameter of less than 3 mm.

[0028] As a further improvement of the present invention, the outer layer is a sleeve, the sleeve is a braided sleeve, and the braided sleeve is a copper mesh braided tube or a tinned copper mesh braided tube.

[0029] As a further improvement of the present invention, the present invention has at least two driving wires, and driving wire clearance grooves are provided between adjacent positioning holes 101; the two ends of the first driving wire respectively pass through the adjacent positioning holes 101, the joint positioning groove 301 and the tail end positioning groove 201, the middle section of the first driving wire 6 is adapted to the driving wire clearance groove, and the middle section of the driving wire 6 is fixed to the driving wire clearance groove by welding or adhesive glue; the second driving wire passes through the positioning hole 101, the joint positioning groove 301 and the tail end positioning groove 201, one end is used for external force traction, and the other end is fixedly connected to the joint head end or the joint tail end. The two ends of the driving wire pull the flexible joint to move under the action of external force to complete the bending or resetting action.

[0030] Compared with the prior art, the present invention has the following advantages.

[0031] The joint head end, joint part and joint tail end of the present invention complete a detachable movable connection through the cooperation of the head end groove, boss, groove and tail end boss 2 in sequence, and the aforementioned movable connection is limited by the head end limiting boss, limiting boss and outer layer, so that the movable joint head end and joint part, adjacent joint parts, joint part and joint tail end can only perform radial movement relative to the movable connection under the adjustment of the driving line, thereby completing the adjustment activity of the flexible joint.

[0032] In the present invention, the joint head end and the joint parts, the adjacent joint parts, and the joint tail ends are installed and matched with each other orthogonally, and then combined with the inclined slope surface. Therefore, the inclined slope surface of the present invention and the adjacent joint parts are installed and matched to form a rotation adjustment gap that can determine the rotation angle of the overall flexible joint. Through the above-mentioned connection and the setting of the inclined slope surface, when the driving line in one direction is pulled, the flexible joint moves in the direction of the driving line.

[0033] The flexible joint of the present invention can meet the needs of driving the chuck at the front end of minimally invasive surgical forceps to move in various directions, and driving the camera of a medical endoscope to shoot at different angles. The flexible joint of the present invention can take into account both flexibility and bending strength, and can bear the chuck of minimally invasive surgical forceps while meeting the doctor's control. When the flexible joint of the present invention is used to drive the camera of a medical endoscope, it can cooperate with the endoscope that needs to enter different occasions. In addition to being able to move stably in both directions, the present invention can also meet the needs of omnidirectional movement, thereby increasing the flexibility of the endoscope camera and facilitating the doctor's operation.

[0034] The joint component of the present invention places the driving wire in the joint component positioning groove outside the joint component, thereby reducing the overall diameter of the flexible joint. The positioning groove of the present invention is used for the working channel and facilitates the routing of the medical endoscope. Furthermore, the joint head end, the joint component and the joint tail end are provided with through positioning grooves in the same direction to increase the space for internal routing, which is used for the working channel and facilitates the routing of the medical endoscope.

[0035] The outer layer of the present invention plays a flexible rebound role for the entire joint and can isolate the external interference with the internal circuit of the medical endoscope. The outer end of the entire joint needs to be covered with an outer layer, which is a flexible tube, such as a braided tube, to protect the entire joint and limit the driving line, so that the entire joint can achieve the desired movement by pulling the driving lines separately or in combination.

[0036] The present invention can also be provided with a plurality of inclined broken surfaces according to actual work needs, so as to meet the needs of movement in different directions and refined control of endoscopic surgery. For each additional inclined slope, two drive lines and two joint positioning grooves need to be added accordingly, and the number of limiting bosses and limiting grooves can be increased accordingly according to the stability requirements. Of course, the limiting bosses and limiting grooves can also be omitted.

[0037] The inclined slopes of the joint head end, joint member or joint tail end of the present invention are all for controlling the joint movement through the driving line, wherein the shapes of all the inclined slopes are for avoiding reaching a specific angle.

[0038] The joint part of the present invention is provided with at least two inclined slopes on the upper surface or the lower surface, and the inclined slopes form an angle with the vertical or horizontal direction, and the angle is 14° or 194°, which can further meet the stability of adjustment and operation in four directions of up, down, left and right, so as to ensure the stability of the flexible joint's movement in all directions.

[0039] The primary joint component and the secondary joint component of the present invention can be repeatedly connected in series to sequentially meet the length requirements of the flexible joint for different surgeries.

[0040] The shape of the head end groove, tail end boss, boss, groove, primary boss, primary groove, secondary boss or secondary groove of the present invention is not limited to a specific shape, and only needs to be orthogonally distributed or can be a point fit. A more stable choice is a cylindrical shape.

[0041] The present invention has at least four positioning through holes or at least four driving lines, corresponding to the four directions of up, down, left and right, so as to further realize the stable movement of the entire flexible joint in all directions.

[0042] The flexible joint of the present invention achieves a balance in its diameter and flexibility and is connected by a mechanical structure, so that the movement in each direction is very stable.

[0043] The setting of the head-end limiting boss, the limiting boss, the first-level limiting boss or the second-level limiting boss prevents the joint head end from loosening radially when connected with the joint part, the adjacent joint parts, and the joint part and the joint tail end. The first-level joint part and the second-level joint part are mainly connected by the mutual cooperation of the first-level groove and the second-level boss. Because the first-level groove and the first-level boss are orthogonally distributed, the adjacent first-level joint parts and the second-level joint parts are orthogonally distributed and connected in series in sequence, which plays an important role in the stability of the overall flexible joint and the all-round coordinated movement of the joint parts in the later stage. Of course, when the first-level joint part and the second-level joint part are connected in series, it is not necessary for the head and tail ends to cooperate with the cylindrical boss and the cylindrical groove; it only needs to be orthogonally distributed or it can be a point cooperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic structural diagram of the flexible joint of the present invention.

[0045] Figure 2 for Figure 1 Schematic diagram of the structure with the outer layer removed.

[0046] Figure 3 for Figure 2 Another working state diagram of .

[0047] Figure 4 This is a schematic diagram of the structure of the joint head.

[0048] Figure 5 for Figure 4 Schematic diagram of the structure in another direction.

[0049] Figure 6 This is a schematic diagram of the structure of the tail end of the joint.

[0050] Figure 7 It is a structural schematic diagram of a primary joint component or a secondary joint component.

[0051] Figure 8 Another structural schematic diagram of a primary joint or a secondary joint.

[0052] Fig. 9 for Figure 8 Schematic diagram of the lower side.

[0053] Fig.10 It is a schematic cross-sectional view of a primary joint component or a secondary joint component.

[0054] Fig.11 Schematic diagram of the coordination between the primary joint and the secondary joint.

[0055] Fig.12 It is a structural schematic diagram of the cooperation between the joint parts.

[0056] Fig.13 This is a schematic diagram of Example 14.

[0057] Fig.14 This is a structural diagram of Example 15.

[0058] Fig.15 for Fig.14 A schematic structural diagram of the other side.

[0059] Fig.16 for Fig.14 Schematic diagram of the lower side.

[0060] Fig.17 for Fig.15 Schematic diagram of the upper side.

[0061] In the figure: 1-joint head end, 101-positioning through hole, 102-head end groove, 103-head end limiting boss, 2-joint tail end, 201-tail end positioning groove, 202-tail end boss, 3-positioning groove, 301-joint part positioning groove, 4-first-level joint part, 401-first-level boss, 402-first-level groove, 403-first-level limiting boss, 5-second-level joint part, 501-second-level boss, 502-second-level groove, 503-second-level limiting boss, 6-driving line, 7-outer layer, 10, 11, 12, 20, 21, 22-joint part. DETAILED DESCRIPTION

[0062] The present invention is further explained below in conjunction with the accompanying drawings and embodiments.

[0063] Example 1

[0064] A flexible joint, comprising:

[0065] A joint head end 1, a positioning through hole 101 is provided on the joint end; a head end groove 102 is provided on the lower surface of the joint head end 1, and a head end limiting boss 103 extends from the head end groove 102;

[0066] A joint tail end 2, the outer surface of the joint tail end 2 is provided with a tail end positioning groove 201 corresponding to the positioning through hole 101; the upper side surface of the joint tail end 2 is provided with a tail end boss 202;

[0067] A joint part, the outer surface of the joint part is provided with a joint part positioning groove 301 corresponding to the positioning through hole 101, the joint head end 1, the joint tail end 2, and the joint part are provided with positioning grooves 3 accordingly; the upper surface of the joint part is provided with two bosses, and the lower surface is provided with two grooves, and the grooves extend to limit the bosses; the line connecting the center points of the bosses and the line connecting the center points of the grooves are perpendicular to each other; the joint part is provided with at least two; the adjacent joint parts are adapted to the grooves of the other joint parts through the boss of one joint part; the limiting boss is used to limit The head end groove 102 is matched with the boss, and the head end limiting boss 103 is used to limit the boss; the tail end boss 202 is matched with the groove, and the limiting boss is used to limit the tail end boss 202; the upper and lower surfaces of the joint parts are provided with inclined slopes, and the adjacent joint parts are installed and matched to form a rotation adjustment gap; the upper or lower surface of the joint part is provided with at least two inclined slopes, and the inclined slope forms an angle with the vertical or horizontal direction, and the angle is 0-15° or 180-195°

[0068] A driving wire 6, which is arranged through the positioning through hole 101, the joint positioning groove 301, and the tail end positioning groove 201 and is limited in the positioning through hole 101, the joint positioning groove 301, and the tail end positioning groove 201 by the outer layer 7; the driving wire 6 pulls the flexible joint to move under the action of external force to complete the bending or resetting action;

[0069] an outer layer 7, the outer layer 7 wraps around the outer surfaces of the joint head end 1, the joint tail end 2, the joint parts, and the driving wire 6;

[0070] The joint head end 1, the joint part, and the joint tail end 2 complete a detachable movable connection through the cooperation of the head end groove 102, the boss, the groove, and the tail end boss 202 in sequence, and the aforementioned movable connection is limited by the head end limiting boss 103, the limiting boss and the outer layer 7, so that the movable joint head end 1 and the joint part, the adjacent joint part, the joint part and the joint tail end 2 can only make rotational motion relative to the movable connection or the limiting boss under the adjustment of the driving line 6. The limiting bosses are the primary boss 401, the secondary boss 501 and the tail end boss 202, so that the flexible joint completes the bending or resetting action, and the angle of rotational motion is 0-30°, and the rotational motion is limited by the inclined slopes of the upper and lower surfaces of the joint part.

[0071] See also Fig.12 , the two bosses on the x1 axis at the upper end of the joint component 20 are embedded in the groove at the lower end of the joint component 10, and the joint component 20 or the joint component 10 can rotate around the x1 axis;

[0072] The two bosses on the y1 axis at the upper end of the joint component 11 are embedded in the groove at the lower end of the joint component 20, and the joint component 11 or the joint component 20 can rotate around the y1 axis;

[0073] In this way, several joints can be connected in series, and the upper ends of all joints 2n and the lower ends of joints 1n can rotate around the xn axis, and the upper ends of all joints 1n and the lower ends of joints 2n can rotate around the yn axis. The joints connected in series move in four directions respectively.

[0074] The method of wire control is: the driving wire is passed through the positioning hole 101 of the series rear joint, the joint component positioning groove 301, and the tail end positioning groove 201 respectively, and one end of the driving wire is fixed to the joint component positioning groove 301 or the positioning hole 101 of the first joint. At this time, the outer layer protects the entire joint and limits the driving wire. In this way, pulling the driving wires separately or in combination can make the entire joint get the desired movement.

[0075] Example 2

[0076] The rest is consistent with the scheme of Example 1. The joint head end 1, joint part and joint tail end 2 of the present invention complete a detachable movable connection through the cooperation of the head end groove 102, the boss, the groove and the tail end boss 202, and under the limitation of the outer layer 7, the joint head end 1, joint part and joint tail end 2 are radially fixed to each other left and right, and the front and rear radial directions are in an adjustable state.

[0077] Example 3

[0078] The rest is consistent with the scheme of Example 1 or 2. The present invention has at least three driving wires, one end of the driving wire is used for external force traction, and the other end is fixedly connected with the joint head end 1 or the joint tail end 2, and the fixed connection includes welding or adhesive bonding.

[0079] Example 4

[0080] The rest is consistent with any scheme of Examples 1-3. The present invention has at least two drive wires 6, and a drive wire clearance groove is provided between adjacent positioning through holes 101; the two ends of the drive wire 6 respectively pass through the positioning through hole 101, the joint positioning groove 301 and the tail end positioning groove 201, and the middle section of the drive wire 6 is adapted to the drive wire clearance groove. The two ends of the drive wire pull the flexible joint to move under the action of external force to complete the bending or resetting action; the middle section of the drive wire 6 is fixed to the drive wire clearance groove by welding or bonding glue.

[0081] Example 5

[0082] The rest is consistent with any scheme of Examples 1-4. The outer layer 7 of the present invention can be a spring or a sleeve. The outer layer 7 is a sleeve, and the sleeve is a braided sleeve. One end of the braided sleeve is fixedly connected to the outer surface of the joint head end 1, and the other end is fixedly connected to the outer surface of the joint tail end 2.

[0083] Example 6

[0084] The rest is consistent with any of the schemes of Examples 1-5. The lower surface of the joint head end 1 or the upper surface of the joint tail end 2 of the present invention is provided with an inclined slope, and the inclined slope forms a rotation adjustment gap after the joint head end 1 and the joint part are installed and matched; the lower surface of the joint part or the inclined slope forms a rotation adjustment gap after the joint part and the joint tail end 2 are installed and matched, and there are at least two inclined slopes on the lower surface of the joint head end 1 or the upper surface of the joint tail end 2, and the inclined slopes form an angle with the vertical or horizontal direction.

[0085] Example 7

[0086] The rest is consistent with any scheme of Examples 1-6. The joint parts of the present invention include a primary joint part and a secondary joint part; the primary joint part 4 is provided with a primary boss 401 on the upper surface, and a primary groove 402 on the lower surface, and a primary limiting boss 403 is extended from the primary groove 402; the secondary joint part 5 is provided with a secondary boss 501 on the upper surface corresponding to the primary groove 402 or the head end groove 102, and a secondary groove 502 is provided on the lower surface corresponding to the primary boss 401 or the tail end boss 202, and a secondary limiting boss 503 is extended from the secondary groove 502, and the secondary limiting boss 503 is used to limit the primary boss 401 or the tail end boss 202; the primary limiting boss 403 or the head end limiting boss 103 is used to limit the secondary boss 501.

[0087] Example 8

[0088] The rest is consistent with any scheme of Examples 1-7. The first-level joint part 4 of the present invention is provided with at least two inclined slopes on the upper surface or the lower surface, and the second-level joint part 5 is provided with at least two inclined slopes on the upper surface or the lower surface, and the inclined slopes form an angle with the vertical or horizontal direction.

[0089] Example 9

[0090] The rest is consistent with any of the schemes of Examples 1-8. The shape of the head end groove 102, the tail end boss 202, the boss, the groove, the first-level boss 401, the first-level groove 402, the second-level boss 501 or the second-level groove 502 of the present invention is cylindrical.

[0091] Example 10

[0092] The rest is consistent with any of the schemes of Examples 1-9. The diameters of the joint parts, the joint head end 1, and the joint tail end 2 of the present invention are 2.7 mm, so that the flexible joint can achieve omnidirectional movement based on a diameter of less than 3 mm.

[0093] Embodiment 11

[0094] The rest is consistent with any scheme of Examples 1-10. The outer layer of the present invention is a sleeve, the sleeve is a braided sleeve, and the braided sleeve is a copper mesh braided tube or a tinned copper mesh braided tube.

[0095] Example 12

[0096] The rest are consistent with any of the schemes of Examples 1-11. The present invention has at least 3 positioning through holes 101, and at least three driving wires. Both ends of the driving wire pass through the positioning through hole, the joint positioning groove and the tail end positioning groove respectively. One end is used for external force traction, and the other end forms a fixed connection with the joint head end or the joint tail end. The two ends of the positioning driving wire pull the flexible joint to move under the action of external force to complete the bending or resetting action.

[0097] Example 13

[0098] The rest is consistent with any one of the solutions of embodiments 1-12, and the driving lines 6 of the present invention are provided with at least 4.

[0099] Embodiment 14

[0100] like Fig.13 As shown, the rest of this embodiment is consistent with any one of the schemes of Embodiments 1-13. The rotation radius of the present invention is 8.5 mm, the rotation diameter is 17 mm, the rotation angle is 280°, and the relative rotation angle is 28°.

[0101] Embodiment 15

[0102] like Figure 14-17 As shown, the rest of this embodiment is consistent with any one of the schemes of Embodiments 1-14, and the number of positioning through holes 101 of the present invention is at least 3.

[0103] Example 16

[0104] The rest is consistent with any of the solutions of Examples 1-15, and the number of positioning through holes 101 of the present invention is 4.

[0105] Embodiment 17

[0106] The rest is consistent with any of the schemes of Examples 1-16, and there are at least two inclined slopes on the upper surface or the lower surface of the joint part, and the inclined slopes form an angle with the vertical or horizontal direction, and the angle is 14° or 194°.

[0107] Embodiment 18

[0108] The rest is consistent with any scheme of Examples 1-17. The present invention has at least two drive lines, three positioning through holes 101, and drive line clearance grooves are provided between adjacent positioning through holes 101; two ends of the first drive line respectively pass through the adjacent positioning through holes 101, the joint positioning groove 301 and the tail end positioning groove 201, the middle section of the first drive line 6 is adapted to the drive line clearance groove, and the middle section of the drive line 6 is fixed to the drive line clearance groove by welding or bonding adhesive;

[0109] The second driving line passes through the positioning through hole 101, the joint positioning slot 301 and the tail end positioning slot 201, one end of which is used for external force traction, and the other end forms a fixed connection with the joint head end or the joint tail end.

[0110] The two ends of the driving line pull the flexible joint to move under the action of external force to complete the bending or resetting action.

[0111] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A flexible joint, Features: include: A joint head end (1), wherein a positioning through hole (101) is provided on the joint head end; a head end groove (102) is provided on the lower surface of the joint head end (1), and a head end limiting boss (103) extends from the head end groove (102); A joint tail end (2), wherein the outer surface of the joint tail end (2) is provided with a tail end positioning groove (201) corresponding to the positioning through hole (101); and the upper side surface of the joint tail end (2) is provided with a tail end boss (202); A joint component, wherein the outer surface of the joint component is provided with a joint component positioning groove (301) corresponding to the positioning through hole (101), and the joint head end (1), the joint tail end (2), and the joint component are provided with positioning grooves (3) correspondingly; the upper surface of the joint component is provided with two bosses, and the lower surface is provided with two grooves, and the grooves extend to form a limiting boss; the line connecting the center points of the bosses and the line connecting the center points of the grooves are perpendicular to each other; the joint component is provided with at least two; adjacent joint components are adapted to the grooves of another joint component through the boss of one joint component; the limiting boss is used to limit The aforementioned boss; the head end groove (102) is matched with the boss, and the head end limiting boss (103) is used to limit the boss; the tail end boss (202) is matched with the groove, and the limiting boss is used to limit the tail end boss (202); the upper and lower surfaces of the joint parts are provided with inclined slopes, and adjacent joint parts are installed and matched to form a rotation adjustment gap; the upper or lower surface of the joint part has at least two inclined slopes, and the inclined slopes form an angle with the vertical or horizontal direction, and the angle is 0-15° or 180-195°; a driving wire (6), the driving wire (6) passing through the positioning through hole (101), the joint component positioning groove (301), and the tail end positioning groove (201) and being limited in the positioning through hole (101), the joint component positioning groove (301), and the tail end positioning groove (201) by the outer layer (7); the driving wire (6) pulls the flexible joint to move under the action of an external force, thereby completing a bending or resetting action; An outer layer (7), the outer layer (7) wrapping around the outer surfaces of the joint head end (1), the joint tail end (2), the joint parts, and the drive line (6); The joint head end (1), joint part, and joint tail end (2) are sequentially connected in a detachable movable manner through the cooperation of the head end groove (102), the boss, the groove, and the tail end boss (202), and the aforementioned movable connection is limited by the head end limiting boss (103), the limiting boss, and the outer layer (7), so that the movable joint head end (1) and the joint part, the adjacent joint parts, and the joint part and the joint tail end (2) can only perform rotational movement relative to the movable connection or the limiting boss under the adjustment of the driving line (6). The limiting boss is a primary boss (401), a secondary boss (501), and a tail end boss (202), so that the flexible joint completes a bending or resetting action. The angle of the rotational movement is 0-30°, and the rotational movement is limited by the inclined slopes of the upper and lower surfaces of the joint part.

2. The flexible joint according to claim 1, Features: At least three driving lines are provided, one end of each driving line is used for external force traction, and the other end is fixedly connected to the joint head end (1) or the joint tail end (2).

3. The flexible joint according to claim 1, Features: At least two driving wires (6) are provided, and driving wire clearance grooves are provided between adjacent positioning through holes (101); the two ends of the driving wire (6) respectively pass through the positioning through hole (101), the joint component positioning groove (301) and the tail end positioning groove (201), and the middle section of the driving wire (6) is adapted to the driving wire clearance groove. Under the action of an external force, the two ends of the driving wire pull the flexible joint to move, thereby completing a bending or resetting action.

4. The flexible joint according to claim 1, Features: The outer layer (7) may be a spring or a sleeve. The outer layer (7) is a sleeve. The sleeve is a braided sleeve. One end of the braided sleeve is fixedly connected to the outer surface of the joint head end (1), and the other end is fixedly connected to the outer surface of the joint tail end (2).

5. The flexible joint according to claim 1, Features: The lower surface of the joint head end (1) or the upper surface of the joint tail end (2) is provided with an inclined slope, and the inclined slope forms a rotation adjustment gap after the joint head end (1) and the joint part are installed and matched; the lower surface of the joint part or the inclined slope forms a rotation adjustment gap after the joint part and the joint tail end (2) are installed and matched, and the lower surface of the joint head end (1) or the upper surface of the joint tail end (2) is provided with at least two inclined slopes, and the inclined slopes form an angle with the vertical or horizontal direction.

6. The flexible joint according to claim 1, Features: The joint component comprises a primary joint component and a secondary joint component; the primary joint component (4) is provided with a primary boss (401) on its upper surface, and a primary groove (402) on its lower surface, and a primary limiting boss (403) is extended from the primary groove (402); the secondary joint component (5) is provided with a secondary boss (501) on its upper surface corresponding to the primary groove (402) or the head end groove (102), and a secondary groove (502) is provided on its lower surface corresponding to the primary boss (401) or the tail end boss (202), and a secondary limiting boss (503) is extended from the secondary groove (502), and the secondary limiting boss (503) is used to limit the primary boss (401) or the tail end boss (202); the primary limiting boss (403) or the head end limiting boss (103) is used to limit the secondary boss (501).

7. The flexible joint according to claim 6, Features: The first-level joint component (4) has at least two inclined slopes on its upper or lower surface, and the second-level joint component (5) has at least two inclined slopes on its upper or lower surface, and the inclined slopes form an angle with the vertical or horizontal direction.

8. The flexible joint according to claim 6, Features: The head end groove (102), the tail end boss (202), the boss, the groove, the primary boss (401), the primary groove (402), the secondary boss (501) or the secondary groove (502) are cylindrical in shape.

9. The flexible joint according to any one of claims 1 to 8, Features: At least three positioning through holes (101) are provided.

10. The flexible joint according to any one of claims 1 to 8, Features: The upper surface or the lower surface of the joint part is provided with at least two inclined slopes, and the inclined slopes form an angle with the vertical or horizontal direction, and the angle is 14° or 194°.

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