Endoscope

Abstract

The invention relates to the technical field of endoscopes, and discloses an endoscope which comprises a shell, a driving module, a snake bone module and a lens module, the driving module is arranged in the shell, the snake bone module comprises a snake bone assembly and a traction rope assembly arranged in the snake bone assembly in a penetrating mode, the snake bone assembly is arranged on the outer side of the shell, and the lens module is arranged in the shell. The traction rope assembly is arranged in the extending direction of the snake bone assembly, the end, close to the shell, of the traction rope assembly extends into the shell and is in transmission connection with the driving module, and the driving module can drive the traction rope assembly to move so as to control the rotating direction and the rotating angle of the snake bone assembly; the lens module is arranged at the end, away from the shell, of the snake bone module. In the embodiment of the invention, the driving module is used for controlling the winding and unwinding length of each traction rope in the traction rope assembly, and the bending direction and the bending angle of the snake bone assembly can be accurately controlled, so that the multi-degree-of-freedom movement of the lens module is realized, the multi-angle observation and the multi-azimuth observation of the lens module are realized, the accuracy and the comprehensiveness of detection are ensured, and time and labor are saved.

Description

Technical Field

[0001] The present application relates to the technical field of detection equipment, and in particular to an endoscope. Background Art

[0002] Industrial endoscope is a multidisciplinary general-purpose testing equipment, mainly used for non-destructive testing. It can detect and observe the internal structure of an object without disassembling or destroying the object being tested.

[0003] Most traditional industrial endoscopes are operated by manual knobs. When the knob is turned, the gears and other mechanical structures inside the endoscope convert the rotational force of the knob into a linear tension on the wire rope. Under the tension of the wire rope, the snake bone segment is driven to bend, causing the front end of the endoscope to bend to meet the purpose of observation at different angles.

[0004] However, traditional industrial endoscopes require operators to manually twist the knob to achieve the bending of the snake segment. The operation process is relatively laborious and it is difficult to accurately control the rotation angle and direction of the snake segment, which greatly affects the accuracy and comprehensiveness of the detection. Summary of the invention

[0005] The embodiment of the present application aims to provide an endoscope to solve the technical problems in the prior art that the manual operation of traditional industrial endoscopes is laborious and the control accuracy is low.

[0006] The embodiment of the present application solves the technical problem by adopting the following technical solution: an endoscope is provided, comprising:

[0007] case;

[0008] A driving module, wherein the driving module is disposed in the housing;

[0009] A snake bone module, the snake bone module comprises a snake bone component and a traction rope component, the snake bone component is arranged outside the shell, one end of the traction rope component extends into the shell and is transmission-connected with the driving module, the other end of the traction rope component is passed through the snake bone component and is arranged along the extension direction of the snake bone component, and the driving module can drive the traction rope component to move to control the steering of the snake bone component;

[0010] The lens module is arranged at one end of the snake bone module away from the shell.

[0011] In some embodiments, the driving module includes a first driving motor and a first output gear, and the first driving motor is drivingly connected to the first output gear;

[0012] The traction rope assembly includes a first traction rope and a second traction rope that are arranged opposite to each other, the first traction rope and the second traction rope are both inserted into the snake bone assembly, and the first traction rope and the second traction rope are both wound around the first output gear;

[0013] The first driving motor can drive the first traction rope and the second traction rope to move so as to adjust the lengths of the first traction rope and the second traction rope in the snake-bone assembly, and the lengths of the first traction rope and the second traction rope in the snake-bone assembly change in opposite directions.

[0014] In some embodiments, the driving module further includes a second driving motor and a second output gear, and the second driving motor is drivingly connected to the second output gear;

[0015] The traction rope assembly further includes a third traction rope and a fourth traction rope which are arranged opposite to each other, the third traction rope and the fourth traction rope are both passed through the snake bone assembly, and the third traction rope and the fourth traction rope are both wound around the second output gear;

[0016] The second driving motor can drive the third traction rope and the fourth traction rope to move so as to adjust the length of the third traction rope and the fourth traction rope in the snake bone assembly, and the length of the third traction rope and the fourth traction rope in the snake bone assembly changes in opposite directions.

[0017] In some embodiments, the first output gear is provided with a first annular groove along its circumferential direction, the end surface of the first output gear is provided with a first wiring groove and a second wiring groove, the first wiring groove and the second wiring groove are respectively connected to the first annular groove, the first traction rope is wound around the first annular groove and fixed in the first wiring groove, and the first traction rope is wound around the first annular groove and fixed in the second wiring groove;

[0018] The second output gear is provided with a second annular groove along its circumferential direction, and the end surface of the second output gear is provided with a third wiring groove and a fourth wiring groove, the third wiring groove and the fourth wiring groove are respectively connected with the second annular groove, the third traction rope is wound around the second annular groove and fixed in the third wiring groove, and the fourth traction rope is wound around the second annular groove and fixed in the fourth wiring groove.

[0019] In some embodiments, a limit groove and a locking hole are further provided on the end surface of the first output gear, and the limit groove is connected to the first wiring groove;

[0020] A first limiting head is disposed at one end of the first traction rope away from the snake bone assembly, and the first limiting head is received in the first limiting groove and is limitedly matched with the first limiting groove;

[0021] The driving module also includes a locking member, the rod portion of the locking member is tightly matched with the locking hole, and the head portion of the locking member is tightly abutted against the first limiting head and covers the first limiting groove.

[0022] In some embodiments, it further comprises a mounting plate, an adjusting nut and a rope loop, wherein the mounting plate is fixedly mounted in the housing, the adjusting nut is mounted on the mounting plate, and the rope loop is sleeved on the first traction rope;

[0023] The adjusting nut is provided with a first through hole and a second through hole which are connected along its axial direction, the aperture of the first through hole is larger than the aperture of the second through hole, the end of the rope loop facing the adjusting nut is inserted into the first through hole, and the end of the first traction rope away from the snake bone assembly passes through the first through hole and the second through hole in sequence and is connected to the first output gear.

[0024] In some embodiments, a central axis direction of the adjusting nut is tangent to the first annular groove.

[0025] In some embodiments, the snake bone assembly includes a plurality of stacked snake bone pieces, each of which is provided with a first rope threading hole and a second rope threading hole that are oppositely arranged, and a third rope threading hole and a fourth rope threading hole that are oppositely arranged;

[0026] When the first traction rope and the second traction rope are respectively inserted into the first rope insertion hole and the second rope insertion hole, the third traction rope and the fourth traction rope are respectively inserted into the third rope insertion hole and the fourth rope insertion hole;

[0027] When the first traction rope and the second traction rope are respectively inserted into the third rope insertion hole and the fourth rope insertion hole, the third traction rope and the fourth traction rope are respectively inserted into the first rope insertion hole and the second rope insertion hole.

[0028] In some embodiments, the snake bone module further includes a first stopper, the first stopper is arranged at one end of the snake bone segment facing the lens module, the first stopper is provided with an installation cavity at one end facing the lens module, the lens module is arranged in the installation cavity, and a connecting hole is provided at the bottom of the installation cavity;

[0029] A second limiting head is provided at one end of the first pulling rope facing the lens module, the first pulling rope is passed through the connecting hole, and the second limiting head is located in the installation cavity and cooperates with the connecting hole in a limiting manner.

[0030] In some embodiments, it also includes a control module, a first angle sensor and a second angle sensor. The control module is respectively communicated with the drive module, the first angle sensor and the second angle sensor. The first angle sensor is installed on the transmission shaft of the first output gear to detect the rotation angle of the first output gear. The second angle sensor is installed on the transmission shaft of the second output gear to detect the rotation angle of the second output gear.

[0031] Compared with the prior art, in the endoscope provided by the embodiment of the present application, the retracted and extended length of the traction rope assembly can be controlled by the driving module. When the driving module tightens the traction rope on one side of the traction rope assembly, the snake bone assembly bends toward that side due to uneven force. Therefore, by controlling the retracted and extended length of each traction rope in the traction rope assembly by the driving module, the bending direction and bending angle of the snake bone assembly can be accurately controlled, thereby realizing the multi-degree-of-freedom movement of the lens module, realizing the multi-angle observation and multi-directional observation of the lens module, ensuring the accuracy and comprehensiveness of the detection, and saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0033] Figure 1 is a schematic diagram of the three-dimensional structure of an endoscope in one embodiment of the present application;

[0034] Figure 2 is an exploded schematic diagram of the internal structure of the endoscope housing in an embodiment of the present application;

[0035] Figure 3 is a schematic diagram of the three-dimensional structure of the endoscope after the upper shell is removed in the embodiment of the present application;

[0036] Figure 4 It is a schematic diagram of the exploded structure of the snake bone module and the lens module in the embodiment of the present application;

[0037] Figure 5 This is a schematic diagram of the structure of the snake bone module in the embodiment of the present application when it is in a vertical state;

[0038] Figure 6 This is a schematic diagram of the structure of the snake bone module in the embodiment of the present application when it is in a bent state;

[0039] Figure 7 It is a schematic cross-sectional structure diagram of the first output gear, the first steel wire rope, the mounting plate, the adjusting nut and the rope sleeve after being assembled in the embodiment of the present application;

[0040] Figure 8 is a schematic diagram of the three-dimensional structure of the first output gear in an embodiment of the present application;

[0041] Fig. 9 is a schematic diagram of the three-dimensional structure of the second output gear in the embodiment of the present application;

[0042] Fig.10 It is a schematic diagram of the three-dimensional structure after the first output gear, the first steel wire rope, the mounting plate, the adjusting nut and the rope sleeve are assembled in the embodiment of the present application;

[0043] Fig.11 is a schematic diagram of the cross-sectional structure of the adjusting nut in the embodiment of the present application;

[0044] Fig.12 It is a schematic diagram of the three-dimensional structure of the snake bone piece in the embodiment of the present application;

[0045] Fig.13 is a schematic diagram of the three-dimensional structure of the first limiting member in the embodiment of the present application;

[0046] Fig.14 Schematic diagram of the three-dimensional structure of the second limiting member in the embodiment of the present application

[0047] Fig.15 It is a schematic diagram of the exploded structure of the first output gear and the first angle sensor in the embodiment of the present application.

[0048] Description of reference numerals:

[0049] 100, endoscope; 10, shell; 11, upper shell; 110, key slot; 111, opening; 12, lower shell; 20, drive module; 21, first drive motor; 22, first output gear; 220, first annular groove; 221, first wiring groove; 222, second wiring groove; 223, limit groove; 224, locking hole; 23, second drive motor; 24, second output gear; 240, second annular groove; 241, third wiring groove; 242, fourth wiring groove; 25, first reduction gear; 26, second reduction gear; 27, locking member; 30, snake bone module; 31, snake bone assembly; 310, snake bone piece; 311, first rope threading hole; 312, second rope threading hole; 313, third rope threading hole; 314, fourth rope threading hole ;32. Traction rope assembly;321. First traction rope;3210. First limit head;3211. Second limit head;322. Second traction rope;323. Third traction rope;324. Fourth traction rope;33. Elastic sleeve;34. First limit piece;340. Mounting cavity;341. Connecting hole;35. Second limit piece;350. Accommodating cavity;351. Connecting hole;40. Lens module;50. Mounting plate;60. Adjusting nut;61. First through hole;62. Second through hole;63. Third through hole;70. Rope loop;80. Coil;90. Control module;901. Main control board;902. Control board;903. Circuit board;91. First angle sensor;910. Mounting slot;92. Second angle sensor;93. Battery. DETAILED DESCRIPTION

[0050] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connected" to another element, it can be directly on another element, or there can be one or more centered elements therebetween. The terms "upper", "lower", "left", "right", "upper end", "lower end", "top" and "bottom" used in this specification indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0051] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0052] The following will be combined with the attached Figures 1 to 15The endoscope provided in the embodiments of the present application is described in detail.

[0053] See also Figures 1 to 4 The embodiment of the present application provides an endoscope 100, including a shell 10, a driving module 20, a snake bone module 30 and a lens module 40, wherein the driving module 20 is arranged in the shell 10, the snake bone module 30 includes a snake bone component 31 and a traction rope component 32 inserted into the snake bone component 31, the snake bone component 31 is arranged outside the shell 10, one end of the traction rope component 32 extends into the shell 10 and is transmission-connected with the driving module 20, the other end of the traction rope component 32 is inserted into the snake bone component 31 and is arranged along the extension direction of the snake bone component 31, the driving module 20 can drive the traction rope component 32 to move to control the rotation direction and rotation angle of the snake bone component 31, and the lens module 40 is arranged at one end of the snake bone module 30 away from the shell 10.

[0054] Specifically, the endoscope 100 can be used to detect and observe the internal structure of an object to be detected, and the object to be detected may be a pipe, an engine, a turbine, etc. The endoscope 100 includes a housing 10 , a drive module 20 , a snake module 30 , and a lens module 40 .

[0055] The housing 10 may be in a regular or irregular shape, for example, the housing 10 may be in a substantially rod-shaped structure. The housing 10 is hollow inside and forms a space for accommodating the drive module 20. Optionally, the housing 10 includes an upper shell 11 and a lower shell 12, and the upper shell 11 and the lower shell 12 are arranged to form a space for accommodating the drive module 20.

[0056] The driving module 20 is installed inside the shell 10. The driving module 20 is used to provide power for the snake-bone module 30 to turn. The driving module 20 accurately controls the retraction and extension length of the traction rope assembly 32 to achieve multi-degree-of-freedom bending movement of the snake-bone module 30.

[0057] The snake bone module 30 includes a snake bone component 31 and a traction rope component 32 disposed in the snake bone component 31. The snake bone component 31 may be composed of a plurality of small joints or flexible metal sheets connected in series to improve its steering flexibility and anti-bending ability. The traction rope component 32 may include a plurality of high-tension traction ropes, such as the traction rope component 32 may include four traction ropes, which are evenly distributed along the axial direction of the snake bone component 31, and each traction rope is connected to the driving module 20, and the deflection of the snake bone in a specific direction is achieved by coordinated tightening or loosening.

[0058] The lens module 40 may include a micro camera (such as a CMOS or CCD sensor), an illumination light source (such as an LED array), and a protective lens, etc. The micro camera captures the image inside the device through an optical lens and transmits it to an external display device, and the light source provides uniform illumination to enhance image clarity.

[0059] In this embodiment, the retracted length of the traction rope assembly 32 can be controlled by the driving module 20. When the driving module 20 tightens the traction rope on one side of the traction rope assembly 32, the snake bone assembly 31 bends toward that side due to uneven force. Therefore, by controlling the retracted length of each traction rope in the traction rope assembly 32 by the driving module 20, the bending direction and bending angle of the snake bone assembly 31 can be accurately controlled, thereby realizing the multi-degree-of-freedom movement of the lens module 40, and realizing the multi-angle observation and multi-directional observation of the lens module 40.

[0060] In some embodiments, Figure 2 and Figure 3 As shown, the driving module 20 includes a first driving motor 21 and a first output gear 22, the first driving motor 21 is drivingly connected to the first output gear 22, the traction rope assembly 32 includes a first traction rope 321 and a second traction rope 322 which are arranged opposite to each other, the first traction rope 321 and the second traction rope 322 are both passed through the snake bone assembly 31, and the first traction rope 321 and the second traction rope 322 are both wound around the first output gear 22; the first driving motor 21 can drive the first traction rope 321 and the second traction rope 322 to move, so as to adjust the length of the first traction rope 321 and the second traction rope 322 in the snake bone assembly 31, and the lengths of the first traction rope 321 and the second traction rope 322 in the snake bone assembly 31 change in opposite directions.

[0061] The driving module 20 includes a first driving motor 21 and a first output gear 22. The first driving motor 21 can be a servo motor to improve the control accuracy. The first traction rope 321 and the second traction rope 322 can be high-tension steel wire ropes or fiber ropes. When the first driving motor 21 is started, the first driving motor 21 drives the first output gear 22 to rotate, thereby changing the length of the first traction rope 321 and the second traction rope 322 in the snake bone assembly 31. Since the two traction ropes are arranged opposite to each other and are both wound around the first output gear 22, their lengths change in opposite directions, that is, when the first traction rope 321 is tightened, the second traction rope 322 is loosened, at this time the length of the first traction rope 321 in the snake bone assembly 31 becomes shorter, the length of the second traction rope 322 in the snake bone assembly 31 becomes longer, and the snake bone assembly 31 bends toward the first traction rope 321; when the second traction rope 322 is tightened, the first traction rope 321 is loosened, at this time the length of the second traction rope 322 in the snake bone assembly 31 becomes shorter, the length of the first traction rope 321 in the snake bone assembly 31 becomes longer, and the snake bone assembly 31 bends toward the second traction rope 322.

[0062] It is understandable that during actual use, the angle and direction of rotation of the snake bone component 31 can be precisely controlled by the first drive motor 21 according to the user's requirements, so as to adjust the specific angle and direction of the snake bone component 31.

[0063] In some embodiments, the drive module 20 also includes a second drive motor 23 and a second output gear 24, the second drive motor 23 is transmission-connected to the second output gear 24, the traction rope assembly 32 also includes a third traction rope 323 and a fourth traction rope 324 that are relatively arranged, the third traction rope 323 and the fourth traction rope 324 are both inserted into the snake bone assembly 31, and the third traction rope 323 and the fourth traction rope 324 are both wound around the second output gear 24; the second drive motor 23 can drive the third traction rope 323 and the fourth traction rope 324 to move to adjust the length of the third traction rope 323 and the fourth traction rope 324 in the snake bone assembly 31, and the length of the third traction rope 323 and the fourth traction rope 324 in the snake bone assembly 31 changes in opposite directions.

[0064] The driving module 20 also includes a second driving motor 23 and a second output gear 24. The second driving motor 23 can be a servo motor to improve the control accuracy. The third traction rope 323 and the fourth traction rope 324 can be high-tension steel wire ropes or fiber ropes. When the second driving motor 23 is started, the second driving motor 23 drives the second output gear 24 to rotate, thereby changing the length of the third traction rope 323 and the fourth traction rope 324 in the snake bone assembly 31. Since the two traction ropes are arranged opposite to each other and are both wound around the second output gear 24, their length changes are in opposite directions, that is, when the third traction rope 323 is tightened, the fourth traction rope 324 is loosened, at this time, the length of the third traction rope 323 in the snake bone assembly 31 becomes shorter, the length of the fourth traction rope 324 in the snake bone assembly 31 becomes longer, and the snake bone assembly 31 bends toward the direction of the third traction rope 323; when the fourth traction rope 324 is tightened, the third traction rope 323 is loosened, at this time, the length of the fourth traction rope 324 in the snake bone assembly 31 becomes shorter, the length of the third traction rope 323 in the snake bone assembly 31 becomes longer, and the snake bone assembly 31 bends toward the direction of the fourth traction rope 324.

[0065] It is understandable that during actual use, the angle and direction of rotation of the snake bone component 31 can be precisely controlled by the second drive motor 23 according to the user's requirements, so as to adjust the specific angle and direction of the snake bone component 31.

[0066] In addition, it should be noted that the first drive motor 21 and the second drive motor 23 can be operated simultaneously or separately. By operating the first drive motor 21 and the second drive motor 23 simultaneously, the first traction rope 321, the second traction rope 322, the third traction rope 323 and the fourth traction rope 324 can be coordinated to achieve precise control of the snake bone assembly 31 in more directions. Specifically, when the first output gear 22 and the second output gear 24 rotate simultaneously, two traction ropes will be tightened and shortened, and two traction ropes will be relaxed and lengthened. For example, when the first traction rope 321 and the third traction rope 323 are tightened and shortened, and the second traction rope 322 and the fourth traction rope 324 are relaxed and lengthened, when the lengths of the first traction rope 321 and the third traction rope 323 are shortened to the same length, the snake bone assembly 31 will bend in the direction between the angles of the first traction rope 321 and the third traction rope 323. When the first traction rope 321 and the third traction rope 323 are tightened and shortened to different lengths, the snake assembly 31 will bend toward the direction between the angles of the two traction ropes, which is biased toward the shorter traction rope. In this way, more precise control of the turning of the snake assembly 31 can be achieved.

[0067] See also Figures 5 to 7 In some embodiments, the first output gear 22 and the second output gear 24 have a median angle, an upper limit angle, and a lower limit angle, respectively. Taking the first output gear 22 as an example, the median angle is the angle of the first output gear 22 when the lengths of the first traction rope 321 and the second traction rope 322 in the snake assembly 31 are the same, that is, the angle of the first output gear 22 when the snake assembly 31 is in a vertical state. The upper limit angle is the maximum angle that the first drive motor 21 can drive the first output gear 22 to rotate in the S1 (clockwise) direction, and the lower limit angle is the maximum angle that the first drive motor 21 can drive the first output gear 22 to rotate in the S2 (clockwise) direction.

[0068] When the first output gear 22 and the second output gear 24 are both at a neutral angle, the first traction rope 321, the second traction rope 322, the third traction rope 323 and the fourth traction rope 324 have the same length in the snake assembly 31, and the snake assembly 31 is in a vertical state (see Figure 5 ).

[0069] When the first drive motor 21 drives the first output gear 22 to rotate in the S1 direction, the first traction rope 321 is gradually tightened, the length of the first traction rope 321 in the snake bone component 31 gradually shortens, and the length of the second traction rope 322 in the snake bone component 31 gradually lengthens. At this time, the snake bone component 31 gradually bends toward the direction of the first traction rope 321. As the first drive motor 21 continues to drive the first output gear 22 to rotate in the S1 direction, the bending angle of the snake bone component 31 gradually increases. Until the first output gear 22 rotates to the upper limit angle, the first output gear 22 can no longer continue to rotate in the S1 direction. At this time, the bending angle of the snake bone component 31 toward the first traction rope 321 side reaches the maximum (see Figure 6 ).

[0070] When the first drive motor 21 drives the first output gear 22 to rotate in the direction S2, first, the first output gear 22 rotates from the upper limit angle to the middle angle, so that the second traction rope 322 is gradually tightened in the snake bone assembly 31, and the length of the first traction rope 321 in the snake bone assembly 31 gradually increases, and the bending angle of the snake bone assembly 31 gradually decreases. When the first output gear 22 returns to the middle angle, the snake bone assembly 31 returns to the vertical state. Then, the first output gear 22 continues to rotate from the middle angle to the lower limit angle, the second traction rope 322 is gradually tightened, the length of the second traction rope 322 in the snake bone assembly 31 gradually shortens, and the length of the first traction rope 321 in the snake bone assembly 31 gradually lengthens. At this time, the snake bone assembly 31 gradually bends toward the direction of the first traction rope 321. As the first drive motor 21 continues to drive the first output gear 22 to rotate in the S2 direction, the bending angle of the snake bone assembly 31 gradually increases. Until the first output gear 22 rotates to the lower limit angle, the first output gear 22 can no longer continue to rotate in the S2 direction. At this time, the bending angle of the snake bone assembly 31 toward the second traction rope 322 side reaches the maximum.

[0071] The above describes the movement process of the first output gear 22 controlling the first traction rope 321 and the second traction rope 322. The movement process of the second output gear 24 controlling the third traction rope 323 and the fourth traction rope 324 is similar to the movement process of the first output gear 22 controlling the first traction rope 321 and the second traction rope 322, and will not be repeated here.

[0072] It can be understood that the rotation angle of the first output gear 22 and the second output gear 24 determines the bending angle of the snake bone assembly 31, and there is a corresponding mapping relationship between the rotation angles of the first output gear 22 and the second output gear 24 and the bending angle of the snake bone assembly 31. In this way, by controlling the rotation angles of the first output gear 22 and the second output gear 24, the snake bone assembly 31 can be controlled to bend freely in all directions to a specified angle.

[0073] In some embodiments, Figure 2 and Figure 3 As shown, the driving module 20 also includes a first reduction gear 25 and a second reduction gear 26. The first reduction gear 25 is connected to the output shaft of the first driving motor 21 and meshes with the first output gear 22. The number of teeth of the first reduction gear 25 is smaller than that of the first output gear 22. By meshing the first reduction gear 25 with the first output gear 22, the operating speed of the first output gear 22 can be reduced, and the control accuracy of the first output gear 22 can be improved. The second reduction gear 26 is connected to the output shaft of the second driving motor 23 and meshes with the second output gear 24. The number of teeth of the second reduction gear 26 is smaller than that of the second output gear 24. By meshing the second reduction gear 26 with the second output gear 24, the operating speed of the second output gear 24 can be reduced, and the control accuracy of the second output gear 24 can be improved.

[0074] See also Figures 7 to 9 In some embodiments, the first output gear 22 is provided with a first annular groove 220 along its circumferential direction, and the end surface of the first output gear 22 is provided with a first wiring groove 221 and a second wiring groove 222, the first wiring groove 221 and the second wiring groove 222 are respectively connected to the first annular groove 220, the first traction rope 321 is wound around the first annular groove 220 and fixed in the first wiring groove 221, and the first traction rope 321 is wound around the first annular groove 220 and fixed in the second wiring groove 222; the second output gear 24 is provided with a second annular groove 240 along its circumferential direction, and the end face of the second output gear 24 is provided with a third wiring groove 241 and a fourth wiring groove 242, the third wiring groove 241 and the fourth wiring groove 242 are respectively connected to the second annular groove 240, the third traction rope 323 is wound around the second annular groove 240 and fixed in the third wiring groove 241, and the fourth traction rope 324 is wound around the second annular groove 240 and fixed in the fourth wiring groove 242.

[0075] Specifically, when the first drive motor 21 drives the first output gear 22 to rotate, the first traction rope 321 and the second traction rope 322 can slide along the first annular groove 220, thereby changing the length of the first traction rope 321 and the second traction rope 322 in the snake bone assembly 31. It can be understood that the sliding directions of the first traction rope 321 and the second traction rope 322 relative to the first annular groove 220 are designed to be opposite to each other. In other words, when the first traction rope 321 slides clockwise relative to the first wiring groove 221, the second traction rope 322 slides counterclockwise relative to the first annular groove 220; when the first traction rope 321 slides counterclockwise relative to the first annular groove 220, the second traction rope 322 slides clockwise relative to the first annular groove 220. For example, when the first drive motor 21 drives the first output gear 22 to rotate in the S1 direction, the first traction rope 321 slides along the first annular groove 220 so that the second traction rope 322 is gradually tightened, and the length of the first traction rope 321 in the snake bone assembly 31 gradually shortens, and the second traction rope 322 slides along the first annular groove 220 so that the second traction rope 322 is gradually loosened, and the length of the second traction rope 322 in the snake bone assembly 31 gradually lengthens.

[0076] Similarly, when the second drive motor 23 drives the second output gear 24 to rotate, the third traction rope 323 and the fourth traction rope 324 can slide along the second annular groove 240, thereby changing the length of the third traction rope 323 and the fourth traction rope 324 in the snake bone assembly 31.

[0077] Optionally, the first wiring groove 221 and the second wiring groove 222 are provided on the side end surface of the first output gear 22 away from the second output gear 24, and one end of the first traction rope 321 can be bent and inserted into the first wiring groove 221, thereby realizing the limiting fixation of the first traction rope 321, and one end of the second traction rope 322 can be bent and inserted into the second wiring groove 222, thereby realizing the limiting fixation of the second traction rope 322.

[0078] The third wiring groove 241 and the fourth wiring groove 242 are provided on the end surface of the second output gear 24 away from the first output gear 22. One end of the third traction rope 323 can be bent and inserted into the third wiring groove 241, thereby realizing the limiting fixation of the third traction rope 323. One end of the fourth traction rope 324 can be bent and inserted into the fourth wiring groove 242, thereby realizing the limiting fixation of the fourth traction rope 324.

[0079] In some embodiments, a limiting groove 223 and a locking hole 224 are also provided on the end surface of the first output gear 22. The limiting groove 223 is connected to the first wiring groove 221. A first limiting head 3210 is provided at one end of the first traction rope 321 away from the snake bone assembly 31. The first limiting head 3210 is accommodated in the limiting groove 223 and is limitedly matched with the limiting groove 223. The driving module 20 also includes a locking piece 27. The rod of the locking piece 27 is tightly matched with the locking hole 224. The head of the locking piece 27 is tightly pressed against the first limiting head 3210 and covers the limiting groove 223.

[0080] Specifically, the first limit head 3210 can be a cylindrical structure, and the first limit head 3210 is sleeved on the outer periphery of one end of the first traction rope 321. The diameter of the first limit head 3210 is larger than the groove diameter of the first wiring groove 221. By accommodating the first limit head 3210 in the limit groove 223, the first traction rope 321 can be accurately positioned and prevented from escaping from the first wiring groove 221. The locking member 27 can be a locking screw, and the locking hole 224 can be a threaded hole. When the rod of the locking member 27 is screwed into the locking hole 224, the head of the locking member 27 can press the first limit head 3210, so that the first limit head 3210 is deformed under pressure and clamps the first traction rope 321, thereby ensuring the stability of the connection between the first limit head 3210 and the first traction rope 321, and the head of the locking member 27 is covered in the limit groove 223 to prevent the first traction rope 321 from escaping from the first wiring groove 221 during use.

[0081] It is understandable that the positioning and fixing methods of the second traction rope 322 , the third traction rope 323 and the fourth traction rope 324 may be the same as that of the first traction rope 321 , which will not be described in detail herein.

[0082] See also Figure 7 , Fig.10 and Fig.11 In some embodiments, the endoscope 100 further includes a mounting plate 50, an adjusting nut 60 and a rope loop 70. The mounting plate 50 is fixedly mounted in the housing 10, the adjusting nut 60 is mounted on the mounting plate 50, and the rope loop 70 is sleeved on the first traction rope 321; the adjusting nut 60 is provided with a first through hole 61 and a second through hole 62 which are connected along its axial direction, the aperture of the first through hole 61 is larger than the aperture of the second through hole 62, the rope loop 70 is inserted into the first through hole 61 at one end facing the adjusting nut 60, and the end of the first traction rope 321 away from the snake bone assembly 31 passes through the first through hole 61 and the second through hole 62 and is connected to the first output gear 22.

[0083] The mounting plate 50 is disposed inside the housing 10. Optionally, the mounting plate 50 and the housing 10 may be an integrally formed structure. The adjusting nut 60 is screwed onto the mounting plate 50. Optionally, the mounting plate 50 is provided with mounting holes penetrating opposite sides of the mounting plate 50, and the adjusting nut 60 is inserted into the mounting holes. The rope loop 70 is sleeved on the first traction rope 321 to protect and limit the first traction rope 321.

[0084] When the first gear rotates in the direction of S1, the first traction rope 321 is tightened, and the first traction rope 321 moves in the direction of S3 inside the rope loop 70. When the first gear rotates in the direction of S2, the first traction rope 321 is loosened, and the first traction rope 321 moves in the direction of S4 inside the rope loop 70.

[0085] The adjusting nut 60 is provided with a first through hole 61 and a second through hole 62 along its axial direction, wherein the first through hole 61 is used to fix one end of the limiting rope loop 70 toward the adjusting nut 60. By adjusting the position of the adjusting nut 60 on the fixing plate, the position of the rope loop 70 in the first through hole 61 can be controlled. Optionally, the adjusting nut 60 is a polygonal nut, which is convenient for adjusting the adjusting nut 60 using a tool such as a wrench.

[0086] The diameter of the first through hole 61 can be equal to or slightly larger than the outer diameter of the rope loop 70, so as to accommodate the rope loop 70 and limit the end of the rope loop 70. The diameter of the second through hole 62 is smaller than the outer diameter of the rope loop 70 and larger than the outer diameter of the first traction rope 321. When the end of the rope loop 70 facing the adjustment nut 60 is inserted into the first through hole 61, the end face and side face of the rope loop 70 respectively abut against the bottom and wall of the first through hole 61, ensuring that the first traction rope 321 will not contact the second through hole 62 when passing through the second through hole 62, thereby reducing the friction between the first traction rope 321 and the adjustment nut 60.

[0087] Optionally, the adjusting nut 60 is further provided with a third through hole 63 along its axial direction, and the third through hole 63 is connected to the end of the second through hole 62 away from the first through hole 61, wherein the diameter of the third through hole 63 is larger than the diameter of the second through hole 62. The larger diameter of the third through hole 63 further reduces the contact wear between the first traction rope 321 and the adjusting nut 60, thereby avoiding the adjusting nut 60 from interfering with the movement of the first traction rope 321.

[0088] In some embodiments, the central axis direction of the adjusting nut 60 is tangent to the first annular groove 220. When the first traction rope 321 is tightened, it is ensured that the first traction rope 321 can move along the central axis direction of the adjusting nut 60, avoiding the first traction rope 321 from contacting the second through hole 62 and the third through hole 63, further reducing the contact friction between the first traction rope 321 and the adjusting nut 60, and enhancing the operation stability and service life.

[0089] It can be understood that the second traction rope 322, the third traction rope 323 and the fourth traction rope 324 are all configured with corresponding adjustment nuts 60 and rope loops 70, so the above-mentioned technical effects can also be achieved, which will not be repeated here.

[0090] See also Figure 12 to Figure 14 , and refer back to Figure 4 In some embodiments, the snake bone component 31 includes a plurality of stacked snake bone pieces 310, and the snake bone pieces 310 are provided with a first rope threading hole 311 and a second rope threading hole 312, as well as a third rope threading hole 313 and a fourth rope threading hole 314, which are relatively arranged; when the first traction rope 321 and the second traction rope 322 are respectively inserted into the first rope threading hole 311 and the second rope threading hole 312, the third traction rope 323 and the fourth traction rope 324 are respectively inserted into the third rope threading hole 313 and the fourth rope threading hole 314; when the first traction rope 321 and the second traction rope 322 are respectively inserted into the third rope threading hole 313 and the fourth rope threading hole 314, the third traction rope 323 and the fourth traction rope 324 are respectively inserted into the first rope threading hole 311 and the second rope threading hole 312.

[0091] like Fig.12 As shown, the snake bone piece 310 is a flat disc-shaped structure, and a hole is opened in the middle of the snake bone piece 310 for a data line (not shown) to pass through. Among two adjacent snake bone pieces 310, one of the snake bone pieces 310 is rotated 90 degrees and then stacked with the other snake bone piece 310. Four traction ropes (a first traction rope 321, a first traction rope 321, a first traction rope 321, and a first traction rope 321) connect the multiple snake bone pieces 310 in series to form a snake bone assembly 31.

[0092] For each snake bone piece 310, the snake bone piece 310 is provided with a first rope threading hole 311 and a second rope threading hole 312, and a third rope threading hole 313 and a fourth rope threading hole 314, which are arranged oppositely. The two traction ropes connected to the same output gear are arranged in the two rope threading holes arranged oppositely on the snake bone piece 310. For example, the first traction rope 321 and the second traction rope 322 connected to the first output gear 22 can be respectively arranged in the first rope threading hole 311 and the second rope threading hole 312 arranged oppositely, and the third traction rope 323 and the fourth traction rope 324 connected to the second output gear 24 can be respectively arranged in the third rope threading hole 313 and the fourth rope threading hole 314 arranged oppositely. In this way, the normal operation of the endoscope 100 can be guaranteed. It is avoided that the two traction ropes connected to the same output gear are inserted into the two adjacent rope threading holes of the snake bone piece 310, which causes the endoscope 100 to fail to operate normally.

[0093] In some embodiments, an elastic sleeve 33 is disposed on the periphery of the snake bone component 31. The elastic sleeve 33 can be made of a metal woven mesh. The elastic sleeve 33 can protect the snake bone component 31 and provide a force to restore the snake bone component 31 to a vertical state.

[0094] In some embodiments, the snake bone module 30 also includes a first limiting member 34, which is arranged at one end of the snake bone segment facing the lens module 40, and an installation cavity 340 is opened at the end of the first limiting member 34 facing the lens module 40, the lens module 40 is arranged in the installation cavity 340, and a connecting hole 341 is opened at the bottom of the installation cavity 340; a second limiting head 3211 is arranged at one end of the first traction rope 321 facing the lens module 40, the first traction rope 321 is passed through the connecting hole 341, and the second limiting head 3211 is located in the installation cavity 340 and cooperates with the connecting hole 341 to limit the position.

[0095] like Fig.13 As shown, the first stopper 34 may be a cylindrical structure, and an installation cavity 340 is formed at one end of the first stopper 34 facing the lens module 40 , and a hole is formed in the middle of the bottom of the installation cavity 340 for the data line to pass through.

[0096] The second limit head 3211 can also be a roughly columnar structure, and the outer diameter of the second limit head 3211 is larger than the aperture of the connecting hole 351, so as to achieve the limiting cooperation between the second limit head 3211 and the connecting hole 351. When the first traction rope 321 is tightened, the second limit head 3211 is abutted against the bottom of the installation cavity 340, so as to achieve precise positioning of the first traction rope 321 and prevent the first traction rope 321 from escaping from the connecting hole 341 at one end toward the lens module 40.

[0097] It is understandable that the limiting and fixing methods of the second traction rope 322 , the third traction rope 323 , and the fourth traction rope 324 may be the same as that of the first traction rope 321 , which will not be described in detail herein.

[0098] In some embodiments, Fig.14 As shown, the snake bone module 30 further includes a second stopper 35, and the second stopper 35 is disposed at one end of the snake bone component 31 away from the lens module 40. Optionally, the second stopper 35 may be a cylindrical structure.

[0099] An accommodating cavity 350 is formed at one end of the second limiting member 35 away from the snake bone assembly 31 . A hole is formed in the middle of the bottom of the accommodating cavity 350 for the data line to pass through.

[0100] Optionally, four connecting holes 351 are further provided at the bottom of the accommodating cavity 350, and the aperture of the connecting hole 351 is smaller than the outer diameter of the rope loop 70. The end of the rope loop 70 facing away from the adjusting nut 60 is arranged in the accommodating cavity 350 and can be against the bottom of the accommodating cavity 350. The first traction rope 321, the second traction rope 322, the third traction rope 323, and the fourth traction rope 324 can respectively pass through the corresponding connecting holes 351 and be inserted into the corresponding rope loop 70.

[0101] In some embodiments, a coiled tube 80 is further provided at one end of the shell 10 facing the snake bone assembly 31. The interior of the coiled tube 80 is hollow, and the first traction rope 321, the second traction rope 322, the third traction rope 323, the fourth traction rope 324 and the data cable are passed through the coiled tube 80. The coiled tube 80 can protect the first traction rope 321, the second traction rope 322, the third traction rope 323, the fourth traction rope 324 and the data cable.

[0102] Please also read Figure 1 , Figure 2 , Figure 3 and Fig.15 In some embodiments, the endoscope 100 also includes a control module 90, a first angle sensor 91 and a second angle sensor 92. The control module 90 is respectively communicated with the drive module 20, the first angle sensor 91 and the second angle sensor 92. The first angle sensor 91 is installed on the transmission shaft of the first output gear 22 to detect the rotation angle of the first output gear 22. The second angle sensor 92 is installed on the transmission shaft of the second output gear 24 to detect the rotation angle of the second output gear 24.

[0103] Specifically, the control module 90 can be used to receive the rotation instruction input by the user (such as the rotation angle and rotation direction of the snake bone component 31). The first angle sensor 91 can feedback the current angle of the first output gear 22 at a certain sampling frequency and send it to the control module 90, and the second angle sensor 92 can feedback the current angle of the second output gear 24 at a certain sampling frequency and send it to the control module 90.

[0104] The control module 90 stores a mapping relationship between the rotation angle of the first output gear 22, the rotation angle of the second output gear 24 and the rotation angle of the snake bone assembly 31; when the control module 90 receives a rotation instruction input by the user, the control module 90 calculates the angle value required for the first output gear 22 and the second output gear 24 to rotate according to the rotation instruction input by the user, the current angles of the first output gear 22 and the second output gear 24 and the mapping relationship, and controls the first drive motor 21 and the second drive motor 23 to rotate. The first drive motor 21 and the second drive motor 23 respectively drive the corresponding first output gear 22 and the second output gear 24 to rotate the corresponding angles to tighten and loosen the corresponding steel wire rope, thereby realizing the adjustment and control of the bending and rotation movement of the snake bone assembly 31.

[0105] Alternatively, if Fig.15 As shown, the first angle sensor 91 can be installed on the transmission shaft of the first output gear 22 by snap-fitting. For example, a mounting groove 223 is provided on the first angle sensor 91, and the mounting groove 223 can be a "D"-shaped groove. The transmission shaft of the first output gear 22 can be configured as a "D"-shaped column. In this way, the first angle sensor 91 can be assembled on the first output gear 22 through the limiting cooperation between the "D"-shaped groove and the "D"-shaped column.

[0106] The assembly method of the second angle sensor 92 and the second output gear 24 may be the same as the assembly method of the first angle sensor 91 and the first output gear 22 , and will not be described in detail herein.

[0107] In some embodiments, the control module 90 includes a main control board 901 and a control board 902. The main control board 901 can be a PCB board. The main control board 901 is electrically connected to the first drive motor 21 and the second drive motor 23. The control board 902 can allow the user to input corresponding rotation instructions. For example, the control board 902 is configured with a number of buttons, and the user can input different rotation instructions by pressing the corresponding buttons, which is convenient and quick.

[0108] Optionally, the control module 90 further includes a circuit board 903 (see Figure 2 ), the circuit board 903 may be a PCB board, the circuit board 903 is electrically connected to the main control board 901, the circuit board 903 is installed between the first angle sensor 91 and the second angle sensor 92, and is electrically connected to the first angle sensor 91 and the second angle sensor 92 respectively, the circuit board 903 is used to receive the angle information sent by the first angle sensor 91 and the second angle sensor 92 and send it to the main control board 901.

[0109] In some embodiments, Figure 3 As shown, the endoscope 100 further includes a battery 93 , which is disposed in the housing 10 and electrically connected to the main control board 901 .

[0110] In some embodiments, a key slot 110 is provided on the upper shell 11 (see Figure 2 ), the main control board 901 and the control board 902 are both installed in the key slot 110 for user control. Optionally, an opening 111 is provided at the bottom of the key slot 110 to facilitate the electrical connection of the battery 93, the circuit board 903, the first drive motor 21 and the second drive motor 23 to the main control board 901 through wires.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application is described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An endoscope, characterized in that: include: case; A driving module, wherein the driving module is disposed in the housing; A snake bone module, the snake bone module comprises a snake bone component and a traction rope component, the snake bone component is arranged outside the shell, one end of the traction rope component extends into the shell and is transmission-connected with the driving module, the other end of the traction rope component is passed through the snake bone component and is arranged along the extension direction of the snake bone component, and the driving module can drive the traction rope component to move to control the steering of the snake bone component; The lens module is arranged at one end of the snake bone module away from the shell.

2. The endoscope according to claim 1, characterized in that The driving module comprises a first driving motor and a first output gear, wherein the first driving motor is drivingly connected to the first output gear; The traction rope assembly includes a first traction rope and a second traction rope that are arranged opposite to each other, the first traction rope and the second traction rope are both inserted into the snake bone assembly, and the first traction rope and the second traction rope are both wound around the first output gear; The first driving motor can drive the first traction rope and the second traction rope to move so as to adjust the lengths of the first traction rope and the second traction rope in the snake-bone assembly, and the lengths of the first traction rope and the second traction rope in the snake-bone assembly change in opposite directions.

3. The endoscope according to claim 2, characterized in that The driving module further includes a second driving motor and a second output gear, wherein the second driving motor is drivingly connected to the second output gear; The traction rope assembly further includes a third traction rope and a fourth traction rope which are arranged opposite to each other, the third traction rope and the fourth traction rope are both passed through the snake bone assembly, and the third traction rope and the fourth traction rope are both wound around the second output gear; The second driving motor can drive the third traction rope and the fourth traction rope to move so as to adjust the length of the third traction rope and the fourth traction rope in the snake bone assembly, and the length of the third traction rope and the fourth traction rope in the snake bone assembly changes in opposite directions.

4. The endoscope according to claim 3, characterized in that The first output gear is provided with a first annular groove along its circumferential direction, and the end surface of the first output gear is provided with a first wiring groove and a second wiring groove, the first wiring groove and the second wiring groove are respectively connected with the first annular groove, the first traction rope is wound around the first annular groove and fixed in the first wiring groove, and the first traction rope is wound around the first annular groove and fixed in the second wiring groove; The second output gear is provided with a second annular groove along its circumferential direction, and the end surface of the second output gear is provided with a third wiring groove and a fourth wiring groove, the third wiring groove and the fourth wiring groove are respectively connected with the second annular groove, the third traction rope is wound around the second annular groove and fixed in the third wiring groove, and the fourth traction rope is wound around the second annular groove and fixed in the fourth wiring groove.

5. The endoscope according to claim 4, characterized in that The end surface of the first output gear is also provided with a limit groove and a locking hole, and the limit groove is connected with the first wiring groove; A first limiting head is disposed at one end of the first traction rope away from the snake bone assembly, and the first limiting head is received in the first limiting groove and is limitedly matched with the first limiting groove; The driving module also includes a locking member, a rod portion of the locking member is tightly matched with the locking hole, and a head portion of the locking member is tightly abutted against the first limiting head and covers the first limiting groove.

6. The endoscope according to claim 4, characterized in that It also includes a mounting plate, an adjusting nut and a rope loop, wherein the mounting plate is fixedly mounted in the housing, the adjusting nut is mounted on the mounting plate, and the rope loop is sleeved on the first traction rope; The adjusting nut is provided with a first through hole and a second through hole which are connected along its axial direction, the aperture of the first through hole is larger than the aperture of the second through hole, the end of the rope loop facing the adjusting nut is inserted into the first through hole, and the end of the first traction rope away from the snake bone assembly passes through the first through hole and the second through hole in sequence and is connected to the first output gear.

7. The endoscope according to claim 6, characterized in that The central axis direction of the adjusting nut is tangent to the first annular groove.

8. The endoscope according to claim 3, characterized in that: The snake bone assembly comprises a plurality of stacked snake bone pieces, each of which is provided with a first rope threading hole and a second rope threading hole which are arranged opposite to each other, and a third rope threading hole and a fourth rope threading hole which are arranged opposite to each other; When the first traction rope and the second traction rope are respectively inserted into the first rope insertion hole and the second rope insertion hole, the third traction rope and the fourth traction rope are respectively inserted into the third rope insertion hole and the fourth rope insertion hole; When the first traction rope and the second traction rope are respectively inserted into the third rope insertion hole and the fourth rope insertion hole, the third traction rope and the fourth traction rope are respectively inserted into the first rope insertion hole and the second rope insertion hole.

9. The endoscope according to claim 3, characterized in that: The snake bone module further comprises a first stopper, which is arranged at one end of the snake bone segment facing the lens module, and the first stopper is provided with a mounting cavity at one end facing the lens module, the lens module is arranged in the mounting cavity, and a connecting hole is provided at the bottom of the mounting cavity; A second limiting head is provided at one end of the first pulling rope facing the lens module, the first pulling rope is passed through the connecting hole, and the second limiting head is located in the installation cavity and cooperates with the connecting hole in a limiting manner.

10. The endoscope according to claim 3, characterized in that: It also includes a control module, a first angle sensor and a second angle sensor. The control module is respectively communicated with the drive module, the first angle sensor and the second angle sensor. The first angle sensor is installed on the transmission shaft of the first output gear and is used to detect the rotation angle of the first output gear. The second angle sensor is installed on the transmission shaft of the second output gear and is used to detect the rotation angle of the second output gear.

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