Deflection joint structure, stapler and medical device

Abstract

The present disclosure provides a deflection joint structure, anastomosis device and medical equipment. The deflection joint structure realizes the deflection of the deflection assembly relative to the fixed assembly, and includes a first connection part, a second connection part and a joint part. The joint part is partially arranged in the first connection part, and the other part is arranged in the second connection part, wherein the joint part includes a plurality of rolling members. The plurality of rolling members are distributed along the middle space in the joint part to form a contact space for setting the operating assembly, and at least in the case of deflection, at least one of the plurality of rolling members causes rolling friction with the operating assembly in the contact space. Therefore, the deflection joint structure of the embodiment of the present disclosure can provide more effective support for the operating assembly under the premise of less energy loss when the operating assembly controls the deflection assembly to deflect relative to the fixed assembly, and prevent the operating assembly from failing such as instability and buckling.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a deflection joint structure, an anastomosis device and a medical device. Background Art

[0002] With the tremendous progress of science and technology, existing medical equipment is in the process of transformation to automation and even intelligence, and electronically controlled medical devices are increasingly used in actual medical operations, such as surgical operations and medical rehabilitation. Among them, most of the existing electronically controlled medical devices such as staplers require a deflection structure that can realize functions such as rotation or rotation in order to realize the corresponding medical operations. The power for the clamping, stapling and cutting operations of the stapler is provided by the motor in the handle of the stapler to drive the cutting knife forward. Since minimally invasive surgery requires a small opening in the patient's body and a complex internal structure of the human body, in order for the jaw assembly to smoothly reach the affected area and perform the surgical operation, the stapler jaw assembly is required to be able to achieve deflection within a certain angle range. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] In order to solve at least one of the technical problems existing in the deflection function of medical devices such as staplers in the above-mentioned prior art, the present disclosure provides a deflection joint structure, a stapler and a medical device.

[0005] (II) Technical solution

[0006] One aspect of the present disclosure provides a deflection joint structure to achieve deflection of a deflection assembly relative to a fixed assembly, wherein the structure includes a first connection portion, a second connection portion, and a joint portion. The first connection portion is disposed on the deflection assembly; the second connection portion is disposed on the fixed assembly; a portion of the joint portion is disposed in the first connection portion, and another portion is disposed in the second connection portion, wherein the joint portion includes a plurality of rolling elements. The plurality of rolling elements are distributed along the middle space in the joint portion to form a contact space for arranging an operating assembly, and at least in the case of deflection, at least one of the plurality of rolling elements generates rolling friction with the operating assembly in the contact space.

[0007] According to an embodiment of the present disclosure, the first connection part includes a deflection block and a deflection seat. The deflection block is arranged above a partial area of ​​the joint part; the deflection seat is arranged below a partial area of ​​the joint part; wherein a first arrangement space is formed between the deflection block and the deflection seat.

[0008] According to an embodiment of the present disclosure, the deflection block includes a block deflection hole, a block joint hole and a block connection column. The block deflection hole is provided at an end of the deflection block away from one end of the deflection assembly; the block joint hole is provided at the end and close to the deflection assembly; and the block connection column is provided at one side of the end relative to the block deflection hole.

[0009] According to an embodiment of the present disclosure, the deflection seat includes a seat deflection hole, a seat joint hole and a seat connection hole. The seat deflection hole is provided at an end of the deflection seat away from the deflection assembly; the seat joint hole is provided at the end and close to the deflection assembly; and the seat connection hole is provided at one side of the end relative to the seat deflection hole.

[0010] According to an embodiment of the present disclosure, the second connection part includes a block deflection member and a seat deflection member. The block deflection member corresponds to the deflection block and is vertically arranged on the end face of the end of the fixed component close to the deflection component; the seat deflection member corresponds to the deflection seat and is symmetrically arranged on the end face with respect to the end face and the block deflection member; wherein a second arrangement space is formed between the block deflection member and the seat deflection member.

[0011] According to an embodiment of the present disclosure, the block deflector includes a block deflection post disposed in a block deflection hole of the deflection block such that the block deflector is located outside the deflection block.

[0012] According to an embodiment of the present disclosure, the seat deflection member includes a seat deflection column, which is disposed in a seat deflection hole of the deflection seat, so that the seat deflection member is located outside the deflection seat.

[0013] According to an embodiment of the present disclosure, the joint part includes a block guard plate and a seat guard plate. The block guard plate is arranged on one side of the plurality of rolling elements; the seat guard plate is arranged on the other side of the plurality of rolling elements to form a middle space of the joint part.

[0014] According to an embodiment of the present disclosure, the block guard plate includes a first joint column and a second joint column. The first joint column corresponds to the block joint hole of the deflection block of the first connection part and is arranged on the end of the block guard plate close to one end of the first connection part; the second joint column corresponds to the first limiting groove of the block deflection member of the second connection part and is arranged on the end of the block guard plate close to the other end of the second connection part.

[0015] According to an embodiment of the present disclosure, the seat guard includes a third joint column and a fourth joint column. The third joint column corresponds to the seat joint hole of the deflection seat of the first connection part and is arranged on an end of the seat guard close to one end of the first connection part; the fourth joint column corresponds to the second limiting groove of the seat deflection member of the second connection part and is arranged on an end of the seat guard close to the other end of the second connection part.

[0016] According to an embodiment of the present disclosure, the deflection joint structure also includes a driving member, the end face of the driving member and the end portion of the fixed component close to the second connecting part are perpendicular to each other, and the driving member is movably connected to the first connecting part, so that when the deflection component is extended or retracted relative to the second connecting part, the driving member drives the deflection component to deflect relative to the fixed component.

[0017] According to an embodiment of the present disclosure, the driving member also includes a driving connecting hole, which forms a penetration relationship with the block connecting column of the deflection block of the first connecting part, so that the block connecting column is further penetrated into the seat connecting hole of the deflection seat of the first connecting part after passing through the driving connecting hole, thereby forming a rotating secondary structure between the first connecting part and the second connecting part.

[0018] According to an embodiment of the present disclosure, the plurality of rolling elements include at least one first rolling element and at least three second rolling elements. The at least one first rolling element corresponds to the rotational pair structure, and is disposed between the block guard plate and the seat guard plate and is located at the edge of the joint portion; the at least three second rolling elements cooperate with the at least one first rolling element, and are disposed between the block guard plate and the seat guard plate and are located at the edge of the joint portion; wherein the at least one first rolling element and the at least three second rolling elements form a contact space located in the middle of the joint portion, and the contact space is used to provide an action space for the operating component to pass through and to generate rolling friction with the plurality of rolling elements under deflection.

[0019] According to an embodiment of the present disclosure, the block guard plate includes a first notch, which is disposed on the block guard plate and can match the rotational pair structure in a deflected state. According to an embodiment of the present disclosure, the seat guard plate includes a second notch, which corresponds to the first notch and is disposed on the seat guard plate and can match the rotational pair structure in a deflected state.

[0020] According to an embodiment of the present disclosure, each of the at least one first rolling element comprises a block rolling element and a seat rolling element. The block rolling element is arranged on a block roller arranged on the inner surface of the block guard plate, and rotates relative to the block roller; the seat rolling element is arranged on a seat roller arranged on the inner surface of the seat guard plate, and rotates relative to the seat roller; wherein a clearance space is formed between the block rolling element and the seat rolling element, and the clearance space is used to accommodate the driving element to pass or stay in the case of deflection.

[0021] According to an embodiment of the present disclosure, each of the at least one second rolling element includes at least one middle roller element, and the at least one middle roller element is arranged on at least one corresponding middle roller arranged on the seat guard plate and rotates relative to the at least one middle roller.

[0022] According to an embodiment of the present disclosure, a plurality of rolling elements are arranged in an arc shape along the extension direction of the operating assembly in the contact space and on both sides of the contact space at the edges of both sides of the joint portion.

[0023] According to an embodiment of the present disclosure, the plurality of rolling elements include two third rolling elements and two fourth rolling elements. The two third rolling elements are arranged at one end of the joint portion close to the first connection portion and are arranged on both sides of one end of the contact space; and the two fourth rolling elements are arranged at the other end of the joint portion close to the second connection portion and are arranged on both sides of the other end of the contact space. According to an embodiment of the present disclosure, the plurality of rolling elements also include two fifth rolling elements, which are arranged in the middle of the joint portion and are arranged on both sides of the middle of the contact space; wherein a first spacing is formed between one of the two fifth rolling elements close to the rotating auxiliary structure and one of the two third rolling elements; a second spacing is formed between another of the two fifth rolling elements and another of the two third rolling elements, and the first spacing is smaller than the second spacing.

[0024] Another aspect of the present disclosure provides a stapler, which includes the above-mentioned deflection joint structure, a deflection assembly, a fixing assembly and an operating assembly. The deflection assembly is connected to the first connection portion of the deflection joint structure; the fixing assembly is connected to the second connection portion of the deflection joint structure; the operating assembly is arranged in a contact space formed between multiple rolling elements of the deflection joint structure; wherein, when the deflection assembly deflects relative to the fixing assembly, at least one of the multiple rolling elements causes rolling friction with the operating assembly in the contact space.

[0025] Yet another aspect of the present disclosure provides a medical device having the above-mentioned deflection joint structure.

[0026] (III) Beneficial effects

[0027] The present disclosure provides a deflection joint structure, anastomosis device and medical equipment. The deflection joint structure realizes the deflection of the deflection assembly relative to the fixed assembly, and includes a first connection part, a second connection part and a joint part. The joint part is partially arranged in the first connection part, and the other part is arranged in the second connection part, wherein the joint part includes a plurality of rolling parts. The plurality of rolling parts are distributed along the middle space in the joint part to form a contact space for setting the operating assembly, and at least in the case of deflection, at least one of the plurality of rolling parts generates rolling friction with the operating assembly in the contact space. Therefore, by providing a matching structure of the operating assembly and the rolling part with rolling friction, the deflection joint structure of the embodiment of the present disclosure can provide more effective support for the operating assembly under the premise of less energy loss when the operating assembly controls the deflection assembly to deflect relative to the fixed assembly, and prevent the operating assembly from failing such as instability and buckling. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematically shows an exploded perspective view of a deflection joint structure 100 according to an embodiment of the present disclosure;

[0029] Figure 2A Schematically shows a perspective view of a deflection block 110 of a first connection portion 101 according to an embodiment of the present disclosure;

[0030] Figure 2B Schematically shows a perspective view of a block deflector 210 of the second connecting portion 102 according to an embodiment of the present disclosure;

[0031] Figure 3 Schematically shows a perspective view of a deflection joint structure 100 according to an embodiment of the present disclosure;

[0032] Figure 4 Schematically shows a cross-sectional view of a deflection joint structure 100 according to an embodiment of the present disclosure;

[0033] Figure 5 Schematically shows a top plan view of the deflection joint structure 100 according to an embodiment of the present disclosure in a non-bending state (without the deflection seat 120, the seat deflection member 220 and the seat guard plate 320);

[0034] Figure 6 Schematically illustrates a perspective view of a deflection joint structure 100 (without the seat deflector 220 and the block deflector 210 ) according to an embodiment of the present disclosure;

[0035] Fig. 7A Schematically shows a top plan view of the deflection joint structure 100 according to an embodiment of the present disclosure in a state of bending in one direction (without the deflection seat 120, the seat deflection member 220 and the seat guard plate 320);

[0036] Figure 7B Schematically shows a top plan view of a deflection joint structure 100 according to an embodiment of the present disclosure in a state of bending in one direction (having a deflection seat 120, a seat deflection member 220 and a seat guard plate 320);

[0037] Fig. 8A Schematically shows a top plan view of the deflection joint structure 100 according to an embodiment of the present disclosure in a bending state in another direction (without the deflection seat 120, the seat deflection member 220 and the seat guard plate 320);

[0038] Figure 8B Schematically shows a top plan view of the deflection joint structure 100 according to an embodiment of the present disclosure in a state of bending in another direction (having a deflection seat 120, a seat deflection member 220 and a seat guard plate 320);

[0039] Fig.9A A perspective view of the joint portion 103 according to an embodiment of the present disclosure is schematically shown;

[0040] Fig. 9BSchematically shows a stereoscopic view of the joint part 103 from another perspective according to an embodiment of the present disclosure;

[0041] Fig.10 Schematically shows a three-dimensional diagram of the exploded structure of the joint part 103 according to an embodiment of the present disclosure; and

[0042] Fig.11 Another perspective view schematically shows the exploded composition of the joint part 103 according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0043] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0044] It should be noted that the implementation methods not shown or described in the drawings or the text of the specification are all forms known to ordinary technicians in the relevant technical field and are not described in detail. In addition, the above definitions of various elements and methods are not limited to the various specific structures, shapes or methods mentioned in the embodiments, and ordinary technicians in the field can simply change or replace them.

[0045] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure.

[0046] Moreover, the shapes and sizes of the components in the figures do not reflect the real size and proportion, but only illustrate the contents of the embodiments of the present disclosure. In addition, in the claims, any reference symbols between brackets shall not be constructed as limiting the claims.

[0047] Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

[0048] The ordinal numbers used in the specification and claims, such as "first", "second", "third", etc., to modify the corresponding elements, do not themselves mean that the elements have any ordinal numbers, nor do they represent the order of one element and another element or the order of manufacturing methods. The use of these ordinal numbers is only used to clearly distinguish a component with a certain name from another component with the same name.

[0049] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and set in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into multiple submodules or subunits or subcomponents. All features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose. Furthermore, in a unit claim that lists several devices, several of these devices may be embodied by the same hardware item.

[0050] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various disclosed aspects, in the above description of the exemplary embodiments of the present disclosure, the various features of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: the claimed disclosure requires more features than the features explicitly recited in each claim. More specifically, as reflected in the claims below, the disclosed aspects lie in less than all the features of the single embodiment disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present disclosure.

[0051] Staplers are often used in minimally invasive surgeries. During surgery, the stapler jaw assembly that directly performs the stapling and cutting actions passes through the inner hole of the puncture device fixed to the patient's body to reach the affected area, and clamps, staples, and cuts the patient's tissue. After the stapler jaw assembly is deflected, it still needs to meet the requirements of clamping, stapling, and cutting. Therefore, the stapler cutter generally has a flexible handle, which requires that the handle of the cutter can still transmit the force along the axial direction of the handle after the handle bends with the deflection joint.

[0052] If the handle of the cutting knife continues to transmit axial force after bending and deformation, without reliable wall support, the axial force required for the anastomosis and cutting operations can easily cause the cutting knife to fail, such as instability and buckling. After the handle of the cutting knife fails, bends or breaks, the blade loses power and cannot move, and the jaw assembly cannot open, resulting in the inability to remove tissue from the jaws, seriously damaging the patient's tissue, and the failed handle will impact the patient's tissue, causing secondary injury. After the above medical accidents occur, open surgery is required to remedy the situation, which greatly increases the difficulty and risk of the surgery.

[0053] Specifically, the deflection joint of the stapler in the prior art generally adopts a rigid integrated guard wall or a flexible spring sheet guard wall to support the handle of the cutting knife at the deflection joint. Among them, the two ends of the rigid integrated guard wall are respectively hinged to the fixed ends of the jaw assembly and the deflection joint, and the two ends of the flexible spring sheet guard wall are respectively completely fixed to the jaw assembly and the fixed end of the deflection joint, so as to realize the follow-up deflection of the guard wall during the deflection of the jaws. However, when the jaw assembly of the stapler is deflected for anastomosis and cutting, there is sliding friction between the guard wall and the handle of the cutting knife. Among them, the bending stress of the flexible spring sheet guard wall is large during the deflection process, and the supporting force that can be provided for the handle of the cutting knife is small; moreover, the sliding friction is adopted, resulting in a large friction between the guard wall and the handle of the cutting knife. Therefore, when the stapler in the prior art performs anastomosis and cutting operation, in order to overcome the large friction between the handle and the guard wall in the deflection structure, it is necessary to provide a larger axial force for the cutting knife at the handle end, which mainly causes the following problems: (1) The flexible handle of the existing cutting knife is relatively long and slender, and is more prone to instability and damage when subjected to large axial forces, and is not very safe; (2) The various force transmission components from the power assembly to the handle need to withstand a larger load and have higher strength requirements, which will increase the weight of the stapler or increase the production cost; (3) The electric stapler needs to provide a larger power motor, and the manual stapler requires the operator to provide a larger operating force, both of which increase energy consumption.

[0054] In order to solve at least one of the technical problems existing in the deflection function of medical equipment such as staplers in the above-mentioned prior art, the present disclosure provides a deflection joint structure, a stapler and a medical device, aiming to provide a deflection joint structure with a rolling friction cutting knife guard wall that can be applied to medical mechanical equipment such as staplers.

[0055] like Figure 1 As shown, one aspect of the present disclosure provides a deflection joint structure 100 for realizing the deflection of a deflection component A relative to a fixed component B, wherein the structure includes a first connection portion 101 , a second connection portion 102 and a joint portion 103 .

[0056] The first connection portion 101 is disposed on the deflection assembly A;

[0057] The second connection portion 102 is disposed on the fixing component B;

[0058] The joint portion 103 is partially disposed in the first connection portion 101, and the other part is disposed in the second connection portion 102, wherein the joint portion 103 includes a plurality of rolling elements 301. The plurality of rolling elements 301 are distributed along a middle space k1 in the joint portion 103 to form a contact space k2 for arranging the operating component C, and at least in the case of deflection, at least one of the plurality of rolling elements 301 generates rolling friction with the operating component C in the contact space k2.

[0059] The deflection assembly A can be used as the main operation contact part, and is used to cooperate with the operation assembly C to realize the operation of the operation assembly. The fixed assembly B can be used as the main operation control part, and is used to control the deflection action of the deflection assembly A and the operation action of the operation assembly C. The deflection assembly A deflects relative to the fixed assembly B, and the operation assembly C can be inserted into the deflection assembly A and the fixed assembly B, so that when the deflection assembly A deflects relative to the fixed assembly B, targeted operations can be realized, and the installation of the operation assembly C is also ensured.

[0060] The first connection part 101 and the deflection assembly A are mutually configured, and specifically, the first connection part 101 in part or in whole is fixedly connected to the deflection assembly A through a fixed connection method. The second connection part 102 and the fixed assembly B are mutually configured, and specifically, the second connection part 102 in part or in whole is fixedly connected to the fixed assembly B through a fixed connection method. The first connection part 101 and the second connection part 102 are fixed to the corresponding deflection assembly A and the fixed assembly B, respectively.

[0061] The joint portion 103 is located between the deflection component A and the fixed component B, and in the space formed between the first connection portion 101 and the second connection portion 102. The portion of the joint portion 103 close to the deflection component A is located in the internal space of the first connection portion 101, and the portion of the joint portion 103 close to the fixed component B is located in the internal space of the second connection portion 102.

[0062] A middle space k1 is formed in the middle of the joint part 103, and the middle space k1 is used to set a plurality of rolling elements 301, and provides a setting position for the rolling elements 301. The rolling elements 301 can generally be a spherical or cylindrical structure, which can spin around a fixed axis, and each rolling element 301 in the joint part 103 can perform an active spinning motion relative to the joint part 103. The rolling element 301 can specifically be a bearing structure. With the help of the distribution arrangement of a plurality of rolling elements 301 in the middle space k1 of the joint part 103, a contact space k2 through which the above-mentioned operating component C can pass can be formed in the middle space k1 of the joint part 103, that is, the operating component C extending from the fixed component B can pass through the contact space k2 of the joint part 103 and extend into the deflection component A. The operating component C can be a long strip of flexible component, such as a flexible cutting knife of an anastomosis device.

[0063] When the deflection component A deflects relative to the fixed component B, the flexible operating component C can be driven by the deflection component A to be flexibly bent in the contact space k2 of the joint part 103. The bent portion of the operating component C can come into contact with the corresponding rolling element 301 in the contact space k2 when the deflection angle is constant. Since the rolling element 301 can spin relative to the joint part 103, when the bent portion of the operating component C contacts the rolling element 301, an external force can be applied to the rolling element 301, causing the contacting rolling element 301 to spin.

[0064] In other words, compared with the sliding friction design between the operating component C and the joint part in the prior art, the above-mentioned deflection joint structure 100 of the embodiment of the present disclosure realizes the rolling friction between the curved part of the operating component C and the rolling component 301 in contact with each other by means of the design of the rolling element 301 of the joint part 103, thereby not only providing effective support to the operating component C, but also greatly reducing the contact friction between the operating component C and the joint part 103, so that during the operation process, the driving force required for the operating component C can be greatly reduced, providing reliable and stable structural support for the operating component C, improving the stability of the operating component C, and avoiding the instability and damage of the operating component C. Further, the deflection component A, the fixed component B, the operating component C and the joint part 103 can be made more secure and more stable, the requirements for the power system are further reduced, and the energy efficiency of the whole machine is improved.

[0065] Therefore, by providing a matching structure between the operating component C with rolling friction and the rolling element 301 of the joint part 103, the deflection joint structure 100 of the embodiment of the present disclosure can provide more effective support for the operating component under the premise of less energy loss when the operating component controls the deflection component A to deflect relative to the fixed component B, and prevent the operating component from failing such as instability and buckling. The overall structure is safer and controllable, and the rotation is flexible and free, which realizes further integration of the joint part 103 and is conducive to achieving deflection with a small turning radius.

[0066] like Figure 1-8B As shown, according to an embodiment of the present disclosure, the first connecting portion 101 includes a deflection block 110 and a deflection seat 120 .

[0067] The deflection block 110 is disposed above a partial area of ​​the joint portion 103;

[0068] The deflection seat 120 is disposed below a portion of the joint portion 103;

[0069] A first setting space is formed between the deflection block 110 and the deflection seat 120 .

[0070] The deflection block 110 is disposed above a portion of the joint portion 103, and the deflection seat 120 is disposed below another portion of the joint portion 103 corresponding to the deflection block 110. It should be understood that the deflection block 110 and the deflection seat 120, as the main components of the first connecting portion 101, can be symmetrically disposed on both sides of the structural portion of the joint portion 103 close to the deflection assembly A, that is, the joint portion 103 is partially located in the first setting space formed between the deflection block 110 and the deflection seat 120.

[0071] Thereby, the structural integration between the joint part 103 and the first connection part 101 can be ensured while ensuring the stable connection between the joint part 103 and the first connection part 101 .

[0072] like Figure 1-8B As shown, according to an embodiment of the present disclosure, the deflection block 110 includes a block deflection hole 111 , a block joint hole 112 and a block connection column 113 .

[0073] The block deflection hole 111 is provided through an end of the deflection block 110 away from the deflection assembly A;

[0074] The block joint hole 112 is provided on the end and near the deflection assembly A;

[0075] The block connection column 113 is provided on a side of the end portion opposite to the block deflection hole 111 .

[0076] The block deflection hole 111 can generally be a circular through hole, located at an end of the deflection block 110 close to one end of the fixing component B, and can penetrate the deflection block 110 to be movably connected to the block deflection member 210 of the second connection part 102 described below. In this way, the first connection part 101 and the second connection part 102 can be movably connected on one side of the joint part 103.

[0077] The block joint hole 112 is generally a circular hole, located at a portion of the deflection block 110 close to the deflection assembly A relative to the block deflection hole 111, and located above the end of one end of the joint part 103, and is used to be movably connected to the first joint column 311 of the joint part 103 described below. In this way, the first connection part 101 can be movably connected to one side of the joint part 103.

[0078] The block connection column 113 is disposed at the edge of the deflection block 110 on one side of the block deflection hole 111, and the block connection column 113 is protruded from the inner surface of the deflection block 110 and toward the direction of the joint portion 103. The block connection column 113 may have a column seat and a column tip, which is used to cooperate with the seat connection hole 123 of the deflection seat 120 described below to achieve the positioning connection of the driving member 104.

[0079] Therefore, with the help of the deflection block 110, the connection between the joint part 103 and the first connection part 101 and between the second connection part 102 and the first connection part 101 on one side of the joint part 103 can be achieved, thereby ensuring the basic connection structure of the first connection part 101, the second connection part 102 and the joint part 103.

[0080] like Figure 1-8B As shown, according to an embodiment of the present disclosure, the deflection seat 120 includes a seat deflection hole 121 , a seat joint hole 122 and a seat connection hole 123 .

[0081] The seat deflection hole 121 is provided through an end of the deflection seat 120 away from the deflection assembly A;

[0082] The seat joint hole 122 is provided on the end portion and close to the deflection assembly A;

[0083] The seat connecting hole 123 is disposed on one side of the end portion relative to the seat deflecting hole 121 .

[0084] The seat deflection hole 121 can generally be a circular through hole, located at the end of the deflection seat 120 close to one end of the fixing component B, and can penetrate the deflection seat 120 to be movably connected with the seat deflection member 220 of the second connection part 102 described below. In this way, the first connection part 101 and the second connection part 102 can be movably connected on the other side of the joint part 103.

[0085] The seat joint hole 122 can generally be a circular hole, which is located at the portion of the deflection seat 120 close to the deflection assembly A relative to the seat deflection hole 121, and is located below the end of one end of the joint part 103, and is used to be movably connected to the second joint column 312 of the joint part 103 described below. In this way, the first connection part 101 can be movably connected to the other side of the joint part 103.

[0086] The seat connection hole 123 is arranged at the edge of the deflection seat 120 on one side of the seat deflection hole 121, and the seat connection hole 123 is arranged on the inner surface of the fixing hole 110 and toward the joint portion 103. The seat joint hole 123 can be a cylindrical hole, that is, an outer convex column structure with a hollow in the middle, which is used to cooperate with the block connection column 113 of the deflection block 110 described above to achieve the positioning connection of the driving member 104.

[0087] Therefore, with the help of the deflection seat 120, the connection between the joint part 103 and the first connection part 101 and between the second connection part 102 and the first connection part 101 on the other side of the joint part 103 can be achieved, thereby further ensuring the basic connection structure of the first connection part 101, the second connection part 102 and the joint part 103.

[0088] like Figure 1-8BAs shown, according to an embodiment of the present disclosure, the second connecting portion 102 includes a block deflector 210 and a seat deflector 220 .

[0089] The block deflection member 210 corresponds to the deflection block 110 and is vertically arranged on the end surface of the end of the fixed component B close to the deflection component A;

[0090] The seat deflection member 220 corresponds to the deflection seat 120 and is symmetrically arranged on the end surface with respect to the end surface and the block deflection member 210;

[0091] A second setting space is formed between the block deflecting member 210 and the seat deflecting member 220 .

[0092] On the end surface of the fixed component B facing the deflection component A, a block deflection member 210 and a seat deflection member 220 are vertically arranged on the end surface, which are symmetrical in position to each other. The block deflection member 210 and the seat deflection member 220 are parallel to each other and protrude perpendicularly to the direction of the end surface facing the deflection component A. The block deflection member 210 is arranged above the joint part 103 of the other part relative to the deflection block 110, and the seat deflection member 220 is arranged below the joint part 103 of the other part corresponding to the block deflection member 210. It should be understood that the block deflection member 210 and the seat deflection member 220, as the main components of the second connecting part 102, can be symmetrically arranged on both sides of the structural part of the joint part 103 close to the fixed component B, that is, the other part of the joint part 103 is located in the second setting space formed between the block deflection member 210 and the seat deflection member 220.

[0093] Thereby, it is possible to ensure that the joint part 103 can be stably connected to the second connection part 102 while ensuring the structural integration between the joint part 103 and the second connection part 102 .

[0094] The block deflection member 210 is connected to the deflection block 110, and the seat deflection member 220 is connected to the deflection seat 120, so that the connection between the first connection part 101 and the second connection part 102 can be achieved. Moreover, the block deflection member 210 and the deflection block 110 can be relatively deflected, and the seat deflection member 220 and the deflection seat 120 can be relatively deflected. The joint part 103 and the first connection part 101 can be relatively deflected, and the joint part 103 and the second connection part 102 can also be relatively deflected. In this way, the deflection effect of the deflection joint of the joint part 103 can be achieved.

[0095] like Figure 1-8B As shown, according to an embodiment of the present disclosure, the block deflector 210 includes a block deflection column 211 , which is disposed in the block deflection hole 111 of the deflection block 110 , so that the block deflector 210 is located outside the deflection block 110 .

[0096] The block deflection column 211 is generally a cylindrical structure, and its shape matches that of the block deflection hole 111 of the deflection block 110. When the block deflection column 211 is inserted into the block deflection hole 111, the connection between the block deflection member 210 and the deflection block 110 can be achieved. At the same time, when the block deflection column 211 rotates relative to the block deflection hole 111, the relative rotation between the block deflection member 210 and the deflection block 110 can be achieved.

[0097] The block deflection column 211 protrudes from the inner surface of the block deflection member 210 toward the seat deflection member 220 toward the seat deflection member 220 to form a cylindrical structure. Therefore, the block deflection column 211 is connected and matched with the block deflection hole 111, so that the block deflection member 210 is located outside the deflection block 110. Among them, a yield structure for accommodating the block deflection member 210 is provided on the outer surface of the deflection block 110 at one end facing the block deflection member 210, so that the block deflection member 210 can rotate in the space of the yield structure, thereby meeting the requirements of miniaturization and integration of the structural volume.

[0098] Therefore, the block deflection column 211 and the block deflection hole 111 can be used to realize the connection between the first connection part 101 and the second connection part 102 on one side of the joint part, and the two can rotate relative to each other to realize the joint function.

[0099] According to an embodiment of the present disclosure, the seat deflector 220 includes a seat deflection column 221 , which is disposed in the seat deflection hole 121 of the deflection seat 120 , so that the seat deflector 220 is located outside the deflection seat 120 .

[0100] The seat deflection column 221 is generally a cylindrical structure, and its shape matches that of the seat deflection hole 121 of the deflection seat 120. When the seat deflection column 221 is inserted into the seat deflection hole 121, the connection between the seat deflection member 220 and the deflection seat 120 can be achieved. At the same time, when the seat deflection column 221 rotates relative to the seat deflection hole 121, the relative rotation between the seat deflection member 220 and the deflection seat 120 can be achieved.

[0101] The seat deflection column 221 protrudes outward from the seat deflection member 220 toward the block deflection member 210 on the inner surface thereof to form a cylindrical structure. Therefore, the seat deflection column 221 is connected and matched with the seat deflection hole 121, so that the seat deflection member 220 is located outside the deflection seat 120. A yield structure for accommodating the seat deflection member 220 is provided on the outer surface of the deflection seat 120 at one end thereof facing the seat deflection member 220, so that the seat deflection member 220 can rotate in the space of the yield structure, thereby satisfying the miniaturization and integration of the structural volume.

[0102] Therefore, the seat deflection column 221 and the seat deflection hole 121 can be used to realize the connection between the first connecting part 101 and the second connecting part 102 on the other side of the joint part. At the same time, the two can cooperate with the above-mentioned block deflection column 211 and the block deflection hole 111 to make relative rotation between the fixed component B and the deflection component A to realize the joint function.

[0103] It should be noted that the overall structure of the deflection block 110 and the overall structure of the deflection seat 120 can be basically symmetrically arranged, and the size and shape can be basically consistent; similarly, the overall structure of the block deflection member 210 and the seat deflection member 220 can also be basically symmetrically arranged, and the size and shape can also be basically consistent. Among them, the first connecting portion 101 can be fixedly connected to the deflection assembly A, and generally will not produce any movable movement relative to the deflection assembly A, and the second connecting portion 102 can be fixedly connected to the fixed assembly B, and generally will not produce any movable movement relative to the fixed assembly B.

[0104] like Figure 1-Figure 11 As shown, according to an embodiment of the present disclosure, the joint portion 103 includes a block guard plate 310 and a seat guard plate 320 .

[0105] The guard plate 310 is disposed on one side of the plurality of rolling elements 301;

[0106] The seat guard plate 320 is disposed on the other side of the plurality of rolling elements 301 to form a central space k1 of the joint portion 103 .

[0107] The block guard plate 310 is a plate-shaped structure, with part of its outer surface facing the deflection block 110 and the other part of its outer surface facing the block deflection member 210, and is arranged in the arrangement space formed by the first connection part 101 and the second connection part 102 (i.e., the composition of the first arrangement space and the second arrangement space). The inner surface of the block guard plate 310 is arranged toward the plurality of rolling elements 301, serving as a side edge of the middle space k1 where the rolling elements 301 are located.

[0108] The seat guard plate 320 is a plate-shaped structure, part of its outer surface faces the deflection seat 120, and the other part of its outer surface faces the seat deflection member 220, and is arranged in the arrangement space formed by the first connection part 101 and the second connection part 102 (i.e., the composition of the first arrangement space and the second arrangement space). The inner surface of the seat guard plate 320 is arranged toward the plurality of rolling elements 301, serving as the other side edge of the middle space k1 where the rolling elements 301 are located.

[0109] The shapes of the block guard plate 310 and the seat guard plate 320 may correspond to each other or may differ to some extent. Generally, the edges of the block guard plate 310 and the seat guard plate 320 may be designed in an arc shape for strengthening. The middle space k1 formed between the block guard plate 310 and the seat guard plate 320 may be used to set the rolling element 301. The inner surfaces of the block guard plate 310 and the seat guard plate 320 may be provided with corresponding mounting structures to position and distribute the rolling element 301 in the middle space k1.

[0110] Thereby, the block guard plate 310 and the seat guard plate 320 can provide a setting position and setting space for the rolling element 301 in the joint part 103, so as to prevent the deflection component A from affecting the rolling element 301 when it deflects relative to the fixed component B, and ensure that the rolling element 301 can generate stable contact rolling friction with the operating component C penetrated therein.

[0111] like Figure 1-Figure 11 As shown, according to an embodiment of the present disclosure, a block guard plate 310 includes a first joint column 311 and a second joint column 312 .

[0112] The first joint column 311 corresponds to the block joint hole 112 of the deflection block 110 of the first connection part 101 and is arranged on an end of the block guard plate 310 close to one end of the first connection part 101;

[0113] The second joint column 312 corresponds to the first limiting groove of the block deflecting member 210 of the second connecting portion 102 and is disposed on an end portion of the block guard plate 310 close to the other end of the second connecting portion 102 .

[0114] The first joint column 311 may be a cylindrical structure protruding from the outer surface of the block guard plate 310, and may be located at one end of the block guard plate 310 close to the deflection assembly A. The first joint column 311 may match the block joint hole 112, so that the first joint column 311 may rotate relative to the block joint hole 112, thereby realizing the relative rotation of the joint portion 103 relative to the first connection portion 101 on one side of the joint portion.

[0115] The second joint column 312 may be a cylindrical structure protruding from the outer surface of the block guard plate 310, and may be located at the other end of the block guard plate 310 close to the fixing assembly B. The second joint column 312 may match the first limiting groove formed on the inner surface of the block deflection member 210, so that the second joint column 312 may rotate relative to the first limiting groove, thereby realizing the relative rotation of the joint portion 103 relative to the second connecting portion 102 on one side of the joint portion.

[0116] Among them, Figure 1 , Figure 2B and Figure 4As shown, the first limiting groove k3 is located on the inner surface of the block deflection member 210, and is formed by two protruding structures 212 on the inner surface of the block deflection member 210, the edges of which protrude outwards from the seat deflection member 220 and are parallel to each other. Due to the limiting setting of the first joint column 311, the first limiting groove k3 only needs to limit the two sides of the second joint column 312.

[0117] In this way, a movable connection between the first connection part 101 and the joint part 103 on one side of the joint part 103, and a movable connection between the second joint part 102 and the joint part 103 can be achieved. The structural design is simple, and the effect of limiting the connection but not fixing it is achieved, so that the joint part 103 and the first connection part 101 and the second connection part 102 can rotate between each other.

[0118] like Figure 1-Figure 11 As shown, according to an embodiment of the present disclosure, the seat guard 320 includes a third joint column 321 and a fourth joint column 322 .

[0119] The third joint column 321 corresponds to the seat joint hole 122 of the deflection seat 120 of the first connection part 101 and is disposed on an end of the seat guard plate 320 close to one end of the first connection part 101;

[0120] The fourth joint column 322 corresponds to the second limiting groove of the seat deflecting member 220 of the second connecting portion 102 and is disposed on an end portion of the seat guard plate 320 close to the other end of the second connecting portion 102 .

[0121] The third joint column 321 may be a cylindrical structure protruding from the outer surface of the seat guard plate 320, and may be located at one end of the seat guard plate 320 close to the deflection assembly A. The third joint column 321 may match the seat joint hole 122, so that the third joint column 321 may rotate relative to the seat joint hole 122, thereby realizing the relative rotation of the joint portion 103 relative to the first connection portion 101 on the other side of the joint portion.

[0122] The fourth joint column 322 may be a cylindrical structure protruding from the outer surface of the seat guard plate 320, and may be located at the other end of the seat guard plate 320 close to the fixing assembly B. The fourth joint column 322 may match the second limiting groove formed on the inner surface of the seat deflection member 220, so that the fourth joint column 322 may rotate relative to the second limiting groove, thereby realizing the relative rotation of the joint portion 103 relative to the second connecting portion 102 on the other side of the joint portion.

[0123] Among them, Figure 1 , Figure 2B and Figure 4As shown, the second limiting groove is basically consistent with the first limiting groove k3 in structure setting, and the second limiting groove can be located on the inner surface of the seat deflection member 220, and is formed by two protruding structures on the inner surface of the seat deflection member 220, the edges of which protrude outwards from the block deflection member 210 and are parallel to each other. Due to the limiting setting of the third joint column 321, the second limiting groove only needs to limit the two sides of the fourth joint column 322.

[0124] In this way, a movable connection between the first connection part 101 and the joint part 103 on the other side of the joint part 103, and a movable connection between the second joint part 102 and the joint part 103 can be achieved. The structural design is simple, and the effect of limiting the connection but not fixing it is achieved, so that the joint part 103 and the first connection part 101 and the second connection part 102 can rotate between each other.

[0125] Therefore, the joint part 103 can be movably connected in the space formed between the first connection part 101 and the second connection part 102, realizing a highly integrated structure of the three, which is beneficial to the miniaturization of the overall structure of the joint part 103. In addition, the rotation effect between the joint part 103, the first connection part 101 and the second connection part 102 is guaranteed.

[0126] like Figure 1-Figure 11 As shown, according to an embodiment of the present disclosure, the deflection joint structure 100 also includes a driving member 104, which is perpendicular to the end surface of the end of the fixed component B on the side close to the second connecting part 102 and is movably connected to the first connecting part 101, so that when extending or retracting relative to the second connecting part 102, the deflection component A is driven to deflect relative to the fixed component B.

[0127] like Figure 5-8B As shown, the driving member 104 can be a long strip of plate-like structure, protruding from the space between the block deflection member 210 and the seat deflection member 220, and can be parallel to the block deflection member 210 and the seat deflection member 220. The driving member 104 can penetrate the end face of the fixed component B for setting the block deflection member 210 and the seat deflection member 220, and pass out or retract relative to the end face. That is, the driving member 104 can movably pass through the end face of the fixed component B, and perform a telescopic movement relative to the end face toward the deflection component A. The structure of the driving member 104 in the fixed component B can be connected to a driving device, and the driving device can be a stepping motor or the like for outputting a driving force. When the driving device outputs a driving force to the driving member 104, the driving member 104 can be extended or retracted relative to the end face of the fixed component B toward the deflection component A.

[0128] The driving member 104 can be movably connected to the first connecting portion 101, and the relative rotation between the two can be maintained. Thus, when the driving member 104 extends toward the deflection assembly A, the deflection assembly A can be deflected in a deflection direction relative to the fixed assembly B, and when the driving member 104 retracts toward the fixed assembly B, the deflection assembly A can be deflected in a deflection direction opposite to the above deflection direction relative to the fixed assembly B. Generally, when the angle between the deflection assembly A and the fixed assembly B is 180°, it can be said that the driving member 104 is in the initial state.

[0129] The driving member 104 can provide deflection drive for the deflection of the deflection assembly A, and can also control the deflection direction of the deflection action, thereby ensuring that the deflection control of the deflection joint structure 100 is more stable and controllable, with higher safety, and achieves coordination with the first connecting part 101, which is conducive to ensuring the stability and reliability of the joint part 103.

[0130] like Figure 1-Figure 11 As shown, according to an embodiment of the present disclosure, the driving member 104 also includes a driving connecting hole 401, and the driving connecting hole 401 and the block connecting column 113 of the deflection block 110 of the first connecting part 101 form a penetration relationship, so that the block connecting column 113 is further penetrated into the seat connecting hole 123 of the deflection seat 120 of the first connecting part 101 after penetrating the driving connecting hole 401, thereby forming a rotating secondary structure between the first connecting part 101 and the second connecting part 102.

[0131] like Figure 5-8B As shown, in order to ensure that the movable connection between the first connecting part 101 and the driving member 104 is more stable and reliable, a driving connection hole 401 is formed at the end of the driving member 104 facing the deflection assembly A. The driving connection hole 401 can be a circular through hole, and the block connection column 113 provided on the inner surface of the deflection block 110 can directly pass through the driving connection hole 401 and be inserted into the seat connection hole 123 provided on the inner surface of the deflection seat 120, thereby realizing the movable connection between the first connecting part 101 and the driving member 104.

[0132] The column base or the bottom part of the column base of the connected block connection column 113 can be located outside the drive connection hole 401, the column tip penetrates the drive connection hole 401 and is inserted into the seat connection hole 123, and the seat connection hole 123 is a cylindrical hole with a cylindrical shape, and the cylinder or the bottom part of the cylinder can be located outside the drive connection hole 401, thereby, the driving member 104 can be limited to a fixed position between the deflection block 110 and the deflection seat 120. Since the connection structure of the block connection column 113 and the seat connection hole 123 after the insertion connection is completed is generally fixed, the driving member 104 can make a relative rotation with the connection structure by means of the drive connection hole 401.

[0133] In this way, the rotational connection between the driving member 104 and the first connecting portion 101 is ensured, so that the driving member 104 can realize the deflection control of at least two directions of the deflection component A by telescoping relative to the fixed component B, thereby forming a rotation pair structure. When the first connecting portion 101 can generate a rotational motion relative to the deflection component A (i.e., the two are rotationally connected), and / or the second connecting portion 102 can also generate a rotational motion relative to the fixed component B (i.e., the two are rotationally connected), deflection in other directions can be realized.

[0134] like Figure 5-Figure 11 As shown, according to an embodiment of the present disclosure, the plurality of rolling elements 301 include at least one first rolling element and at least three second rolling elements.

[0135] At least one first rolling element corresponds to the rotational pair structure and is disposed between the block guard plate 310 and the seat guard plate 320 and is located at the edge of the joint portion 103;

[0136] At least three second rolling elements cooperate with at least one first rolling element and are disposed between the block guard plate 310 and the seat guard plate 320 and at the edge of the joint portion 103;

[0137] At least one first rolling element and at least three second rolling elements form a contact space k2 located in the middle of the joint portion 103, and the contact space k2 is used to provide an action space for the operating component C to pass through and generate rolling friction with the multiple rolling elements 301 under deflection.

[0138] The rolling elements 301 may be arranged along the edge of the joint portion 103 to form a contact space k2 in the middle space k1 of the joint portion 103. Figure 5 , Fig. 7A and Fig. 8A As shown, the first rolling elements b, c are arranged in the joint 103 corresponding to the rotational pair structure formed by the driving element 104. The second rolling elements a, d, e, f can be arranged in the joint 103 in a distributed manner relative to the contact space k2 and the first rolling elements b, c.

[0139] like Figure 5 As shown, in the initial state, the angle between the deflection assembly A and the fixed assembly B is 180°, that is, the two do not deflect each other, and the driving member 104 extends a certain length relative to the fixed assembly B. In this case, the operating assembly C enters the deflection assembly A from the fixed assembly B through the contact space k2, and may not contact the first rolling elements b, c and the second rolling elements a, d, e, f.

[0140] like Fig. 7AAs shown, during the deflection process in a deflection direction, when the driving member 104 retracts relative to the fixed component B, since the connection position between the driving member 104 and the first connecting portion 101 is located on one side of the operating component C, the driving member 104 can drive the deflection component A to generate a deflection in the deflection direction toward one side of the operating component C through the first connecting portion 101. In this case, the operating component C enters the deflection component A from the fixed component B through the contact space k2, and is driven by the deflection component A to bend, so that the operating component C can contact at least one of the second rolling elements a, d, e, and f. Since each rolling element can rotate in a fixed position, that is, fixed at a fixed position of the joint part 103, and can rotate by self-rotation, the friction between the operating component C and the contacting rolling element is rolling friction, rather than sliding friction.

[0141] like Fig. 8A As shown, during the deflection process in another deflection direction, when the driving member 104 extends relative to the fixed component B, since the connection position between the driving member 104 and the first connecting portion 101 is located on one side of the operating component C, the driving member 104 can drive the deflection component A to deflect in the deflection direction toward the other side of the operating component C through the first connecting portion 101. In this case, the operating component C enters the deflection component A from the fixed component B through the contact space k2, and is driven by the deflection component A to bend, so that the operating component C can contact with at least one of the second rolling members a, d and the first rolling members b, c. Since each rolling member can rotate in a fixed position, that is, fixed at a fixed position of the joint part 103, and can rotate by self-rotation, the friction between the operating component C and the contacting rolling member is rolling friction, rather than sliding friction.

[0142] In other words, with the aid of the design of the above-mentioned rolling element 301 in the joint part 103, rolling contact can be formed between the operating component C and the contacting rolling element 301. Compared with the sliding contact in the traditional technology, the contact friction between the two can be greatly reduced, and the driving force required for the operating component C can be further reduced, thereby avoiding the instability and damage of the operating component C, providing reliable and stable structural support for the operating component C, and making the entire deflection joint structure more stable and safe.

[0143] like Figure 5-Figure 11 As shown, according to an embodiment of the present disclosure, the block guard plate 310 includes a first notch r1, which is disposed on the block guard plate 310 and can match the rotational pair structure in a deflected state. The seat guard plate 320 includes a second notch r2, which corresponds to the first notch r1 and is disposed on the seat guard plate 320 and can match the rotational pair structure in a deflected state.

[0144] The first notch r1 and the second notch r2 cooperate to form a gap at the joint portion 103. Figure 5 , Fig. 7A , Fig. 8A as well as Fig.11 As shown in FIG. 1 , when the deflection assembly A deflects with the fixed assembly B, and the deflection direction of the deflection assembly A is toward the side of the operating assembly C of the clearance gap (such as Fig. 7A As shown in FIG. 1 , the rotational pair structure between the driving member 104 and the first connecting portion 101 can slide into the clearance gap along the arc-shaped opening of the clearance gap. Fig. 7A The deflection state shown is the initial state. When the deflection component A deflects with the fixed component B, and the deflection direction of the deflection component A is the side of the operating component C facing away from the clearance gap (such as Fig. 8A As shown in FIG. 1 , the rotating pair structure between the driving member 104 and the first connecting portion can slide out of the clearance gap and deflect in the reverse deflection direction, so that the driving member 104 is away from the clearance gap.

[0145] Therefore, the overall volume of the deflection joint structure 100 can be greatly reduced while ensuring the deflection stability, which is beneficial to the miniaturization and integration of the structure.

[0146] like Figure 5-Figure 11 As shown, according to an embodiment of the present disclosure, each of the at least one first rolling element includes a block rolling element and a seat rolling element.

[0147] The block roller element is arranged on the block roller arranged on the inner surface of the block guard plate and rotates relative to the block roller;

[0148] The seat roller element is arranged on a seat roller arranged on the inner surface of the seat guard plate and rotates relative to the seat roller;

[0149] A clearance space is formed between the block roller and the seat roller, and the clearance space is used to accommodate the driving member to pass through or stay in the case of deflection.

[0150] like Fig.10 and Fig.11 As shown, the first rolling element b may include a block rolling element b1 and a seat rolling element b2, and the first rolling element c may include a block rolling element c1 and a seat rolling element c2. The block rolling element b1 is arranged on the block roller 313b protruding on the inner surface of the block guard plate 310, and the block rolling element c1 is arranged on the block roller 313c protruding on the inner surface of the block guard plate 310; the seat rolling element b2 is arranged on the seat roller 323b protruding on the inner surface of the seat guard plate 320, and the seat rolling element c2 is arranged on the seat roller 323c protruding on the inner surface of the seat guard plate 320.

[0151] Among them, for the rolling element 301, each rolling element 301 can be composed of one or more rolling elements. Each rolling element, as a component unit of the rolling element 301, can be a cylindrical structure, specifically a bearing structure, and each rolling element can have a middle through hole. Among them, the rolling element can be a block rolling element that contacts the inner surface of the block guard plate 310, or a seat rolling element that contacts the inner surface of the seat guard plate 320, which is specifically related to the contact or connection correspondence between it and the block guard plate 310 and the seat guard plate 320. In addition, the roller is a cylinder that matches the rolling element of the rolling element 301, which is used to penetrate the middle through hole of the rolling element, position the distribution arrangement of the rolling element in the joint part 103, and at the same time, the rolling element can rotate relative to the roller. Among them, the rollers can be block rollers 313b, 313c protruding on the inner surface of the block guard plate 310, or seat rollers 323b, 323c protruding on the inner surface of the seat guard plate 320, which are specifically related to the contact or connection correspondence between them and the block guard plate 310 and the seat guard plate 320.

[0152] A gap is formed between the block rolling element b1 and the seat rolling element b2, and a gap is also formed between the block rolling element c1 and the seat rolling element c2. The two gaps correspond to each other to form a clearance space, which is used to provide a residual space for the structural interference between the driving member 104 and the joint part 103, to prevent deflection in a highly integrated structure or interference between the driving member 104 and the joint part 103 in the initial state, thereby avoiding the limitation of the deflection control function of the deflection joint structure, and ensuring that the deflection control can be stably realized in the miniaturized and integrated deflection joint structure 100. Figure 5 As shown, when the driving member 104 is in the initial state, the driving member 104 may interfere with the rolling members b and c, and the gap between the block rolling element b1 and the seat rolling element b2 and the gap between the block rolling element c1 and the seat rolling element c2 corresponding to the rolling members b and c. Fig. 7A As shown, when the driving member 104 is in the retracted state, the driving member 104 can interfere with the rolling member c, and the gap between the block rolling element c1 and the seat rolling element c2 corresponding to the rolling member c. Fig. 8A As shown, when the driving member 104 is in the extended state, the driving member 104 may interfere with the rolling member c, and the gap between the block rolling element c1 and the seat rolling element c2 corresponding to the rolling member c. The width of the gap (i.e., the distance between the block rolling element and the corresponding seat rolling element) may match the thickness of the driving member 104.

[0153] like Figure 5-Figure 11As shown, according to an embodiment of the present disclosure, each of the at least one second rolling element includes at least one middle roller element, and the at least one middle roller element is arranged on at least one corresponding middle roller arranged on the seat guard plate, and rotates relative to the at least one middle roller.

[0154] like Figure 9A-Figure 11 As shown, any of the second rolling elements (such as rolling elements a, d, e, f) may include one or more middle rolling elements. Each middle rolling element, as a component unit of the second rolling element, may be a cylindrical structure, specifically a bearing structure, and each middle rolling element may have a middle through hole. Among them, the multiple middle rolling elements may have the same structure as the block rolling element or seat rolling element of the above-mentioned first rolling element, and are only distinguished in words because of different settings and functions. Figure 9A-Figure 11 As shown, the second rolling element may have three middle roller elements, which are arranged in series on corresponding middle rollers using respective middle through holes. The middle roller may be longer than the block roller, and the length of the middle roller may specifically be the distance between the block guard plate 310 and the seat guard plate 320.

[0155] By means of the middle roller and the middle through hole of each middle roller element, the distribution of the middle roller elements in the joint part 103 can be positioned, and at the same time, the middle roller elements can rotate relative to the middle rollers arranged in series. Figure 10-11 As shown, multiple middle roller elements of the second rolling element a are arranged in series on the middle roller 323a, multiple middle roller elements of the second rolling element d are arranged in series on the middle roller 323d, multiple middle roller elements of the second rolling element e are arranged in series on the middle roller 323e, and multiple middle roller elements of the second rolling element f are arranged in series on the middle roller 323f.

[0156] Thereby, on the basis of the movable connection structure of the joint part 103 relative to the first connection part 101 and the second connection part 102, the high integration and structural miniaturization between the driving member 104 and the joint part 103 can be ensured, and it can be further ensured that when the operating component C contacts each rolling member in the joint part 103, rolling friction can be stably generated instead of sliding friction, thereby providing a more reliable bending space and contact structure for the flexible bending of the operating component C.

[0157] like Figure 5-Figure 11 As shown, according to an embodiment of the present disclosure, a plurality of rolling elements are arranged in an arc shape along the extension direction of the operating assembly in the contact space and on both sides of the contact space at the edges of both sides of the joint portion.

[0158] like Figure 5 A. Fig. 7A , Fig. 8AAs shown, rolling elements a, b, c are arranged on one side of the contact space k2 along the extension direction of the operating component C; rolling elements d, e, f are arranged on the other side of the contact space k2 along the extension direction of the operating component C. Among them, rolling elements a, b, c are arranged along an arc, that is, the centers of rolling elements a, b, c can be located in the same arc (such as three points in a circle); similarly, rolling elements d, e, f are also arranged along an arc, that is, the centers of rolling elements d, e, f can also be located in the same arc (such as three points in a circle). Among them, rolling elements a, b, c are arranged along the edge of the joint portion 103 on one side of the contact space k2, and rolling elements d, e, f are arranged along the edge of the joint portion 103 on the other side of the contact space k2. Moreover, as shown in Figure 5 In the initial state shown in A, the positions of the rolling elements distributed in the middle of the multiple rolling elements are farther from the operating component C than the positions of the rolling elements at the two ends. In other words, the edges of the two sides of the joint portion 103 are designed in an arc shape with the two ends being inward and the middle being outward. Thus, the contact space k2 also presents a structural design with narrow ends and wide middle along the extension direction of the operating component C.

[0159] Therefore, when the deflection action occurs, the inner edges of the multiple rolling elements d, e, and f on one side of the operating component C facing the contact space k2 can all come into tangential contact with the operating component C (such as Fig. 7A As shown), or the inner edges of the multiple rolling elements a, b, c on the other side of the operating component C facing the contact space k2 can come into tangential contact with the operating component C (as shown Fig. 8A As shown), during the flexible bending of the operating component C, multiple rolling elements on at least one side can simultaneously provide structural support with rolling friction effect for the operating component C, effectively preventing the operating component from failing, such as instability and buckling.

[0160] It should be noted that the number of rolling elements distributed in an arc shape on one side edge of the joint is not limited to 3, but may be 4 or more. In other words, the distribution of rolling elements is not limited to 3 points being cocircular, but may be multiple points being cocircular, and no specific limitation is made here.

[0161] like Figure 5-Figure 11 As shown, according to an embodiment of the present disclosure, the plurality of rolling elements include two third rolling elements and two fourth rolling elements.

[0162] Two third rolling elements are disposed at one end of the joint portion close to the first connecting portion and are arranged on both sides of one end of the contact space; and

[0163] The two fourth rolling elements are arranged at the other end of the joint portion close to the second connecting portion and are arranged at two sides of the other end of the contact space.

[0164] like Figure 5 A. Fig. 7A , Fig. 8A As shown, in order to balance the number and position of the rolling elements, so as to ensure that better contact between the operating component C and the rolling elements can be achieved with fewer rolling elements in a limited space, it is necessary to ensure that two third rolling elements a and d are provided at one end of the joint portion 103 close to the deflection component A, so as to limit the position of the operating component C entering the deflection component A. Similarly, it is necessary to ensure that two fourth rolling elements c and f are provided at the other end of the joint portion 103 close to the fixed component B, so as to limit the position of the operating component C entering from the fixed component B. Among them, the two third rolling elements a and d are respectively provided on both sides of the operating component C, and the two fourth rolling elements c and f are also respectively provided on both sides of the operating component C.

[0165] With the help of the two third rolling elements a, d and the two fourth rolling elements c, f, the operating component C in the contact space k2 of the joint portion 103 can be limited in bending at both ends to prevent the operating component C from bending abnormally when bending.

[0166] like Figure 5-Figure 11 As shown, according to an embodiment of the present disclosure, the plurality of rolling elements further include two fifth rolling elements, which are arranged in the middle of the joint portion and arranged on both sides of the middle of the contact space;

[0167] Among them, a first spacing is formed between one of the two fifth rolling elements close to the rotating auxiliary structure and one of the two third rolling elements; a second spacing is formed between the other fifth rolling element of the two fifth rolling elements and the other third rolling element of the two third rolling elements, and the first spacing is smaller than the second spacing.

[0168] like Figure 5 A. Fig. 7A , Fig. 8A As shown, in order to make the bending part of the operating component C to have stable rolling friction with the rolling element 301 when the operating component C is flexibly bent, a fifth rolling element b and a fifth rolling element e are respectively arranged on both sides of the operating component C, wherein one fifth rolling element b is located between the third rolling element a and the fourth rolling element c on the same side of the operating component C, and the other fifth rolling element e is located between the third rolling element d and the fourth rolling element f on the same side of the operating component C. That is, the fifth rolling elements b and e are located in the middle of the contact space k2 along the extension direction of the operating component C.

[0169] A first spacing is formed between the fifth rolling element b and the third rolling element a near the rotating pair structure, and a second spacing is formed between the fifth rolling element e and the third rolling element d, and the first spacing is smaller than the second spacing. The spacing between the fifth rolling element e and the fourth rolling element f is equivalent to the second spacing, and the spacing between the fifth rolling element b and the fourth rolling element c is generally larger than the third spacing, so as to provide a setting space for the above-mentioned clearance gap.

[0170] Therefore, with the help of the distribution of the third rolling element (a, d), the fourth rolling element (c, f) and the fifth rolling element (b, e) in the joint part 103, the operating component C can generate stable rolling contact with the various rolling elements 301 of the joint part 103 in the contact space, ensuring that the contact friction is rolling friction, thereby ensuring that the deflection joint structure of the embodiment of the present disclosure can achieve the above-mentioned beneficial effects.

[0171] It needs to be further explained that if Fig.9A , Fig.10 and Fig.11 As shown, in the embodiment of the present disclosure, each rolling element 301 can generally be provided with a spacing protrusion between the inner surface of the block guard plate 310 or the seat guard plate 320 which are arranged correspondingly to each other, such as an annular columnar protrusion 314 arranged on the inner surface of the block guard plate 310 and an annular columnar protrusion 324 arranged on the inner surface of the seat guard plate 320. With the help of the spacing protrusion, the rolling element 301 can be prevented from directly contacting the inner surface of the block guard plate 310 or the inner surface of the seat guard plate 320, thereby facilitating the self-rotation movement of the rolling element 301 to be more stable and free, preventing the generation of sliding friction, that is, spacing the rolling element 301 from the corresponding surface to avoid affecting the self-rotation of the rolling element 301.

[0172] Another aspect of the present disclosure provides a stapler, which includes the above-mentioned deflection joint structure, deflection assembly, fixing assembly and operation assembly.

[0173] The deflection assembly is connected to the first connection portion of the deflection joint structure;

[0174] The fixing assembly is connected to the second connection portion of the deflection joint structure;

[0175] The operating component is arranged in a contact space formed between a plurality of rolling elements of the deflection joint structure;

[0176] When the deflection component deflects relative to the fixed component, at least one of the plurality of rolling elements generates rolling friction with the operating component in the contact space.

[0177] The deflection assembly may be a jaw assembly of the stapler of the embodiment of the present disclosure, the fixing assembly may be a part of a hand-held structure fixed relative to the jaw assembly, and the operating assembly may be a cutting knife of the stapler, or may specifically refer to a long flexible bendable handle of the cutting knife. The rolling element may be a bearing.

[0178] Therefore, referring to the above embodiments of the present disclosure, Figure 1-Figure 11The deflection joint structure 100 shown shows that, compared with the conventional stapler jaw assembly, when the stapler of the present embodiment performs the stapler and the cutting action, the guard wall and the handle of the cutting knife are both in the sliding friction state. The rolling friction between the handle of the cutting knife and the rolling element of the joint can be realized, thereby greatly reducing the contact friction of the handle of the cutting knife during the deflection process. There is no need to provide a larger axial force for the cutting knife at the handle end. Even if the aspect ratio of the handle is large, reliable structural support can be provided to the handle, significantly reducing the axial force it bears, preventing instability and damage, and improving safety. Furthermore, the load borne by each component can be reduced, which is conducive to reducing the weight of the stapler, and there is no need to provide a high-power motor, thereby reducing production costs and energy consumption. The deflection joint structure 100 of the stapler has a reliable structure, high safety, flexible and controllable rotation, high integration, and can achieve deflection with a small turning radius, and has extremely high commercial utilization value.

[0179] Yet another aspect of the present disclosure provides a medical device having the above-mentioned deflection joint structure.

[0180] The medical device may be a medical robot or a medical prosthetic device, a medical joint device, or even a medical detection device, a treatment device, or any other device that has any rotation or deflection function. The applicant does not make any specific restrictions here.

[0181] So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings.

[0182] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A deflection joint structure, which realizes the deflection of the deflection component relative to the fixed component, in, include: A first connecting portion, disposed on the deflection assembly; A second connecting portion, disposed on the fixing assembly; A joint portion, part of which is disposed in the first connection portion and the other part of which is disposed in the second connection portion, wherein the joint portion comprises: A plurality of rolling elements are distributed along the middle space of the joint portion to form a contact space for arranging the operating component, and at least in the case of the deflection, at least one rolling element of the plurality of rolling elements generates rolling friction with the operating component in the contact space; a driving member movably connected to the first connecting portion, so that when the driving member is extended or retracted relative to the second connecting portion, the driving member drives the deflection assembly to deflect relative to the fixed assembly, and the end surfaces of the driving member and the end of the fixed assembly on the side close to the second connecting portion are perpendicular to each other; a guard plate, disposed on one side of the plurality of rolling elements; A seat guard plate, arranged on the other side of the plurality of rolling elements, forming a middle space of the joint portion; Wherein, the plurality of rolling elements include: at least one first rolling element, each first rolling element includes: A block rolling element and a seat rolling element, wherein a clearance space is formed between the block rolling element and the seat rolling element, and the clearance space is used to accommodate the driving member to pass or stay in the case of the deflection, wherein the gap between the block rolling element and the seat rolling element constitutes the clearance space, and the width of the gap matches the thickness of the driving member; The block roller element is arranged on a block roller arranged on the inner surface of the block guard plate and rotates relative to the block roller; The seat roller element is arranged on a seat roller arranged on the inner surface of the seat guard plate and rotates relative to the seat roller.

2. The deflection joint structure according to claim 1, in, The first connecting portion comprises: A deflection block is arranged above a partial area of ​​the joint portion; A deflection seat, arranged below a partial area of ​​the joint portion; Wherein, a first setting space is formed between the deflection block and the deflection seat.

3. The deflection joint structure according to claim 2, in, The deflection block comprises: A block deflection hole is formed through an end of the deflection block away from one end of the deflection assembly; a block joint hole disposed on the end portion and proximate to the deflection assembly; A block connecting column is arranged on the end portion at a side opposite to the block deflection hole.

4. The deflection joint structure according to claim 2, in, The deflection seat comprises: A seat deflection hole is formed through an end portion of the deflection seat away from one end of the deflection assembly; a seat joint hole disposed on the end portion and proximate to the deflection assembly; The seat connecting hole is arranged on one side of the end portion relative to the seat deflection hole.

5. The deflection joint structure according to claim 3, in, The second connecting portion comprises: A block deflection member, corresponding to the deflection block and vertically arranged on an end surface of an end portion of the fixed assembly close to one side of the deflection assembly; a seat deflection member, corresponding to the deflection seat and symmetrically arranged on the end surface with respect to the end surface and the block deflection member; Wherein, a second setting space is formed between the block deflecting member and the seat deflecting member.

6. The deflection joint structure according to claim 5, in, The block deflector comprises: A block deflection post is disposed in the block deflection hole of the deflection block so that the block deflection member is located outside the deflection block.

7. The deflection joint structure according to claim 5, in, The seat deflector comprises: The seat deflection column is arranged in the seat deflection hole of the deflection seat, so that the seat deflection member is located outside the deflection seat.

8. The deflection joint structure according to claim 1, in, The block guard plate comprises: A first joint column, corresponding to the block joint hole of the deflection block of the first connecting portion, and arranged on an end portion of the block guard plate close to one end of the first connecting portion; The second joint column corresponds to the first limiting groove of the block deflecting member of the second connecting portion and is arranged on the end of the block guard plate close to the other end of the second connecting portion.

9. The deflection joint structure according to claim 1, in, The seat guard comprises: A third joint column, corresponding to the seat joint hole of the deflection seat of the first connecting part, and arranged on an end portion of the seat guard plate close to one end of the first connecting part; The fourth joint column corresponds to the second limiting groove of the seat deflecting member of the second connecting portion and is arranged on the end portion of the seat guard plate close to the other end of the second connecting portion.

10. The deflection joint structure according to claim 1, in, The driving member also includes: The driving connection hole forms a penetration relationship with the block connection column of the deflection block of the first connection part, so that the block connection column is further penetrated into the seat connection hole of the deflection seat of the first connection part after penetrating the driving connection hole, thereby forming a rotating pair structure between the first connection part and the second connection part.

11. The deflection joint structure according to claim 10, in, The plurality of rolling elements include: At least one first rolling element, corresponding to the rotational pair structure, and disposed between the block guard plate and the seat guard plate and located at the edge of the joint portion; At least three second rolling elements, cooperating with the at least one first rolling element, and arranged between the block guard plate and the seat guard plate and at the edge of the joint portion; Wherein, the at least one first rolling element and the at least three second rolling elements form the contact space located in the middle of the joint portion, and the contact space is used to provide an action space for the operating component to pass through and generate rolling friction with the multiple rolling elements in the deflection condition.

12. The deflection joint structure according to claim 11, in, The block guard plate comprises: The first notch is arranged on the block guard plate and can match with the rotating pair structure in the deflection condition.

13. The deflection joint structure according to claim 12, in, The seat guard comprises: The second notch corresponds to the first notch and is disposed on the seat guard plate, and can be matched with the rotating pair structure in the deflection state.

14. The deflection joint structure according to claim 11, in, Each second rolling element comprises: At least one middle roller element is arranged on at least one corresponding middle roller arranged on the seat guard plate and rotates relative to the at least one middle roller.

15. The deflection joint structure according to claim 1, in, The plurality of rolling elements are arranged along the extending direction of the operating assembly in the contact space and are respectively arranged in an arc shape on both side edges of the joint portion at both sides of the contact space.

16. A stapler, in, include: The deflection joint structure according to any one of claims 1 to 15; a deflection assembly connected to the first connection portion of the deflection joint structure; A fixing assembly connected to the second connecting portion of the deflection joint structure; An operating component is arranged in a contact space formed between a plurality of rolling elements of the deflection joint structure; Wherein, when the deflection component is deflected relative to the fixed component, at least one rolling element among the plurality of rolling elements is caused to generate rolling friction with the operating component in the contact space.

17. A medical device having the deflection joint structure according to any one of claims 1 to 15.

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