Direction-controllable flexible exploring tube, water absorption device, grabbing device and camera device

Abstract

The utility model relates to the technical field of detection equipment, in particular to a direction-controllable flexible probe tube, a water absorption device, a gripping device and a camera device, which comprises a fixed straight tube, a transition straight tube and a flexible hose which are sequentially arranged, and the transition straight tube is in running fit with the fixed straight tube; the fixed straight pipe is provided with a rotation adjusting assembly used for driving the flexible hose to rotate in the circumferential direction, and the transition straight pipe is provided with an angle adjusting assembly used for adjusting the bending angle of the flexible hose. The angle adjusting assembly comprises a controllable bone pipe, a pipe bending groove formed in the controllable bone pipe, at least two adjusting ropes arranged in the controllable bone pipe and limiting buckles for limiting the positions of the adjusting ropes, and the controllable bone pipe is arranged in the flexible hose; one end of the controllable bone tube is fixedly connected with the transition straight tube, and the bent tube grooves are staggered in the length direction of the controllable bone tube; and through cooperation of the angle adjusting assembly and the rotation adjusting assembly, the position of the tail end of the flexible hose in the working area can be changed, and therefore cleaning or other operation can be conducted on the interior of cleaned equipment more thoroughly.

Description

Technical Field

[0001] The utility model relates to the technical field of detection equipment, in particular to a flexible probe tube with controllable direction, a water absorption device, a grasping device and a camera device. Background Art

[0002] In the fields of detection and foreign object extraction inside industrial containers or pipelines, and geotechnical exploration operations in civil engineering, it is necessary to use equipment to extend into the containers or pipelines, including in water and underwater environments; for example: inside containers with complex structures, inside pipelines, advanced exploration holes in rock and soil, rock fractures, and rock cavities; for straight channels, straight rod-shaped equipment can be used for operations; however, for curved and non-straight channels, traditional straight rod-shaped equipment is difficult to operate, and there is a risk that the equipment will become stuck and cannot be safely withdrawn.

[0003] Furthermore, when large exploration equipment operates in deep water, liquid often seeps into the head of the exploration equipment, or sundries enter; if these liquids or sundries accumulate in the equipment for a long time, it is easy to cause the components inside the equipment to be corroded or affect the operation of the equipment, so it is necessary to take out the liquid or sundries; inside the containers or pipelines of industrial operating equipment, regular inspections, foreign object extraction, grinding and cutting, etc. are required. Therefore, it is necessary to take out the liquid or sundries. The suction pipes of traditional suction equipment are often straight, and due to the complex structure inside the equipment, it is difficult to suck the liquid clean; there are also some suction devices that use hoses, but the existing hoses are difficult to actively control the direction of the end of the hose, and it is also difficult to suck the liquid inside the equipment clean. Each joint in the traditional multi-joint robotic arm is rigidly connected, and when an accident occurs to the equipment, there is a risk of getting stuck inside the container or pipeline.

[0004] There is an urgent need to provide a flexible operation device to better adapt to a more complex operation environment and have higher operation safety. Summary of the Utility Model

[0005] Based on the above description, the utility model provides a flexible probe tube with controllable direction, a water absorption device, a grasping device and a camera device, so that the water absorption device, the grasping device and the camera device can adapt to a more complex operation environment.

[0006] On the one hand, the technical solution of the utility model to solve the above technical problems is as follows: A flexible probe tube with controllable direction, including a fixed straight tube, a transition straight tube and a flexible hose, the transition straight tube is arranged between the fixed straight tube and the flexible hose, and the transition straight tube is rotationally matched with the fixed straight tube;

[0007] A rotation adjustment component for driving the flexible hose to rotate in the circumferential direction is arranged on the fixed straight tube, and an angle adjustment component for adjusting the bending angle of the flexible hose is arranged on the transition straight tube;

[0008] The angle adjustment component includes a controllable bone tube, a bent tube groove formed in the controllable bone tube, at least two adjustment ropes disposed in the controllable bone tube, and a position-limiting buckle for limiting the positions of the adjustment ropes. The controllable bone tube is disposed inside the flexible hose.

[0009] One end of the controllable bone tube is fixedly connected to the transition straight tube. The bent tube groove circumferentially penetrates through the side wall of the bone tube. The circumferential cutting area of the bent tube groove is greater than 1 / 2 of the circumference of the controllable bone tube. The bent tube grooves are arranged staggeredly along the length direction of the controllable bone tube.

[0010] Through the above technical solution, the fixed straight tube is used for supporting to facilitate the installation of the transition straight tube; the rotation adjustment component is used for adjusting the angle of the transition straight tube rotating in the circumferential direction, that is, adjusting the angles of the flexible hose and the controllable bone tube rotating in the circumferential direction; the staggeredly arranged bent tube grooves enable the controllable bone tube to bend, and with the traction of the adjustment ropes, the bending angle of the controllable bone tube can be controlled; the rotation adjustment component is used for driving the controllable bone tube to rotate, thereby changing the position of the end of the flexible hose, and further being able to better adapt to complex working environments.

[0011] On the basis of the above technical solution, the present utility model can also be improved as follows.

[0012] Further, the distance between adjacent bent tube grooves is L; along the length direction of the controllable bone tube and towards the direction of the transition straight tube, the value of L gradually increases.

[0013] Further, circular transition grooves are provided at both ends of the bent tube groove.

[0014] Through the above technical solution, the transition is used to avoid the situation of cracking at both ends of the bent tube groove due to stress concentration or material extrusion when the bone tube bends; the distance between adjacent bent tube grooves gradually increases.

[0015] Further, the rotation adjustment component includes a driven gear, a driving gear, and an adjustment motor sleeved outside the transition straight tube. The adjustment motor is fixedly connected to the fixed straight tube. The output shaft of the adjustment motor is connected to the driving gear, and the driving gear meshes with the driven gear.

[0016] Through the above technical solution, the adjustment motor is used to drive the driving gear to rotate, thereby driving the driven gear to rotate, and further driving the transition straight tube to rotate; on the basis that the flexible hose bends at a certain angle, then rotating the transition straight tube, that is, rotating the flexible hose, can preferably enable the end of the flexible hose to accurately reach the working position.

[0017] Further, one end of the transition straight tube close to the fixed straight tube is connected to the fixed straight tube through a sealed bearing.

[0018] With the above technical solution, the sealed bearing enables the transition straight pipe to rotate stably and can prevent liquid from leaking between the transition straight pipe and the liquid inlet pipe of the suction pump.

[0019] Furthermore, the adjusting rope passes through the transition straight pipe. A through hole for the adjusting rope to pass through is formed in the side wall of one end of the transition straight pipe close to the fixed straight pipe, and a sealing ring is arranged between the inner wall of the through hole and the adjusting rope.

[0020] With the above technical solution, the through hole allows the adjusting rope to pass through, and the sealing ring is used to block the gap between the adjusting rope and the through hole, which can prevent liquid from leaking out through the through hole.

[0021] On the one hand, the technical solution of the present invention to solve the above technical problems is as follows: A directionally controllable flexible water suction device includes the above-mentioned directionally controllable flexible probe tube, and a suction elbow connected to the fixed straight pipe. A filter element and a suction pump are sequentially connected to one end of the suction elbow away from the fixed straight pipe.

[0022] It should be understood that the filter element is used to filter the liquid to prevent sundries from entering the suction pump and avoid damage to the suction pump caused by sundries; the suction pump is used to provide suction power to suck the liquid in the working area through the flexible hose.

[0023] Furthermore, an electric push rod is arranged outside the transition straight pipe, and the electric push rod is arranged corresponding to the adjusting rope;

[0024] The outer cylinder part of the electric push rod is fixedly connected to the transition straight pipe, and the rod part of the electric push rod is fixedly connected to the adjusting rope.

[0025] It should be understood that the electric push rod can pull the adjusting rope to move, so as to adjust the controllable bone tube by the traction rope to change the angle between the controllable bone tube and the flexible hose.

[0026] On the one hand, the technical solution of the present invention to solve the above technical problems is as follows: A directionally controllable flexible grasping device includes the above-mentioned directionally controllable flexible probe tube, as well as a connecting piece and a mechanical claw;

[0027] The connecting piece is connected to one end of the controllable bone tube away from the transition straight pipe, and the mechanical claw is connected to one end of the connecting piece away from the controllable bone tube;

[0028] An electric push rod is arranged inside the transition straight pipe, the electric push rod is arranged corresponding to the adjusting rope, the outer cylinder part of the electric push rod is fixedly connected to the transition straight pipe, and the rod part of the electric push rod is fixedly connected to the adjusting rope.

[0029] It should be understood that the connecting piece is used to connect the mechanical gripper and the controllable bone tube. The electric push rod is arranged inside the transition straight tube, making the overall diameter of the device smaller so that the device can better extend into the working area. The mechanical gripper can adopt the existing small electric mechanical gripper on the market, and the mechanical gripper can grasp the target object in the working area.

[0030] On the one hand, the technical solution of the present utility model to solve the above technical problems is as follows: A directionally controllable flexible camera device includes the above-mentioned directionally controllable flexible probe tube, as well as a connecting piece and a video head;

[0031] The connecting piece is connected to one end of the controllable bone tube away from the transition straight tube, and the video head is connected to one end of the connecting piece away from the controllable bone tube;

[0032] An electric push rod is arranged inside the transition straight tube. The electric push rod is correspondingly arranged with the adjusting rope. The outer cylinder part of the electric push rod is fixedly connected to the transition straight tube, and the rod body part of the electric push rod is fixedly connected to the adjusting rope.

[0033] It should be understood that the connecting piece is used to connect the video head and the controllable bone tube. The video head can adopt the camera unit in a special micro camera structure with the publication number of CN220858250U, and the camera can shoot and record the environment of the working area.

[0034] Compared with the prior art, the technical solution of the present application has the following beneficial technical effects:

[0035] 1. By adopting the angle adjustment component, the bending angle of the flexible hose can be better changed; at the same time, in cooperation with the rotation adjustment component, the position of the end of the flexible hose in the working area can be better changed, so as to more thoroughly clean the inside of the equipment to be cleaned or perform other operations;

[0036] 2. By adopting the suction pump and the filter element, and in cooperation with the flexible probe tube, the liquid in the working area can be better suctioned; by adopting the connecting piece and the mechanical gripper, and in cooperation with the flexible probe tube, the target object can be better grasped in the working area; by adopting the connecting piece and the camera, and in cooperation with the flexible probe tube, the target can be better photographed or video-recorded in the working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of a directionally controllable flexible probe tube provided in Embodiment 1 of the present utility model;

[0038] Figure 2 It is a schematic diagram of the structure of the rotation adjustment component of a directionally controllable flexible probe tube according to Embodiment 1 of the present utility model;

[0039] Figure 3Structural schematic diagram of the angle adjustment component of a directionally controllable flexible probe tube in Embodiment 1 of the present utility model

[0040] Figure 4 Bone tube structural schematic diagram of a directionally controllable flexible probe tube in Embodiment 1 of the present utility model;

[0041] Figure 5 End view of the angle adjustment component of a directionally controllable flexible probe tube in Embodiment 1 of the present utility model;

[0042] Figure 6 Overall structural schematic diagram of a directionally controllable flexible water absorption device in Embodiment 2 of the present utility model;

[0043] Figure 7 For Figure 6 Enlarged schematic diagram of part A;

[0044] Figure 8 Reference diagram of the usage state of a directionally controllable flexible water absorption device in Embodiment 2 of the present utility model;

[0045] Figure 9 Exploded state schematic diagram of a directionally controllable flexible grasping device in Embodiment 3 of the present utility model;

[0046] Figure 10 Exploded state schematic diagram of a directionally controllable flexible camera device in Embodiment 4 of the present utility model.

[0047] Reference numerals: 1, fixed straight tube; 2, transition straight tube; 3, flexible hose;

[0048] 4, rotation adjustment component; 41, driven gear; 42, driving gear; 43, adjustment motor;

[0049] 5, angle adjustment component; 51, controllable bone tube; 52, bending tube groove; 53, adjustment rope; 54, limit buckle; 55, electric push rod;

[0050] 6, transition groove; 7, sealing bearing; 8, through hole; 9, sealing ring; 10, filter element; 11, suction pump; 12, connecting piece; 13, mechanical claw; 14, video head; 15, suction elbow. Detailed implementation manners

[0051] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. Embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field 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.

[0053] Example 1:

[0054] Reference Figure 1 and Figure 2 , a direction-controllable flexible probe tube, including a fixed straight tube 1, a transition straight tube 2, and a flexible hose 3 arranged in sequence. The transition straight tube 2 is rotationally matched with the fixed straight tube 1, and one end of the transition straight tube 2 close to the fixed straight tube 1 is connected to the fixed straight tube 1 through a sealed bearing 7; the flexible hose 3 can be a flexible tube such as a silicone tube, a rubber tube, or a stainless steel wire braided tube.

[0055] Reference Figure 1 and Figure 2 , a rotation adjustment component 4 is arranged on the fixed straight tube 1, and the rotation adjustment component 4 is used to drive the flexible hose 3 to rotate circumferentially; an angle adjustment component 5 is arranged on the transition straight tube 2, and the angle adjustment component 5 is used to adjust the bending angle of the flexible hose 3;

[0056] Reference Figures 3 - 5 , the angle adjustment component 5 includes a controllable bone tube 51, a bending tube groove 52 opened on the controllable bone tube 51, and two adjustment ropes 53 and a limit buckle 54 arranged in the controllable bone tube 51. The limit buckle 54 is used to limit the position of the adjustment rope 53. A plurality of limit buckles 54 are arranged along the length direction of the bone tube. The adjustment rope 53 passes through the limit buckle 54. One end of the adjustment rope 53 away from the transition straight tube 2 is fixedly connected to the bone tube. The two adjustment ropes 53 are relatively arranged on the inner side of the controllable bone tube 51; one end of the controllable bone tube 51 is fixedly connected to the transition straight tube 2. By pulling the adjustment rope 53, the bending degree of the controllable bone tube 51 can be better changed.

[0057] Reference Figures 3 - 5 , the bending tube groove 52 circumferentially cuts through the side wall of the controllable bone tube 51. The circumferential cutting area of the bending tube groove 52 is greater than 1 / 2 of the circumference of the controllable bone tube 51. The bending tube grooves 52 are arranged staggered along the length direction of the controllable bone tube 51; the distance between adjacent bending tube grooves 52 is L; along the length direction of the controllable bone tube 51, in the direction towards the transition straight tube 2, the value of L gradually increases; the bending tube groove 52 enables the controllable bone tube 51 to bend, and the gradual increase of the value of L enables the curvature of different regions of the controllable bone tube 51 to be different. The closer the controllable bone tube 51 is to the transition straight tube 2, the smaller the curvature that can be bent, avoiding the situation where the angle deformation is too large and inconvenient to adjust.

[0058] Reference Figures 3 - 5, circular transition grooves 6 are provided at both ends of the elbow pipe groove 52. When the controllable bone pipe 51 is bent, there will be extrusion of materials at both ends of the elbow pipe groove 52, and the extrusion will cause stress concentration; the transition groove 6 can preferably avoid the cracking caused by material extrusion and stress concentration.

[0059] Reference Figure 1 and Figure 2 , the rotation adjustment assembly 4 includes a driven gear 41, a driving gear 42 and an adjustment motor 43 provided outside the transition straight pipe 2. The output shaft of the adjustment motor 43 is connected to the driving gear 42, the slave gear is fixedly connected to the transition straight pipe 2, and the driving gear 42 meshes with the driven gear 41; the adjustment motor 43 can drive the driving gear 42 to rotate, thereby driving the driven gear 41 to rotate, and then driving the transition straight pipe 2 to rotate; the cooperation of the angle adjustment assembly 5 and the rotation adjustment assembly 4 can preferably change the position of the end of the flexible hose 3 within the working area, so as to more thoroughly clean the inside of the equipment to be cleaned or perform other operations.

[0060] Reference Figure 1 and Figure 2 , the adjustment motor 43 can be a servo motor, so as to accurately control the angle of the transition straight pipe 22 rotating along its circumferential direction, that is, the end of the flexible hose 3 can be accurately adjusted to the specified working position, so that the flexible probe tube can perform operations more accurately.

[0061] Embodiment 2:

[0062] Reference Figure 3 and Figure 6 , a direction-controllable flexible water absorption device includes the direction-controllable flexible probe tube described in Embodiment 1, and a suction elbow 15 fixedly connected to the fixed straight pipe 1. A filter element 10 and a suction pump 11 are sequentially connected to the end of the suction elbow 15 away from the fixed straight pipe 1; the suction pump 11 is used to provide suction power to suck the liquid in the working area through the flexible hose 3; the filter element 10 is used to filter the liquid to prevent sundries from entering the suction pump 11 and avoid damage to the suction pump 11 caused by sundries.

[0063] Reference Figure 3 and Figure 6 , two electric push rods 55 are fixedly arranged outside the transition straight pipe 2, and the electric push rods 55 are arranged corresponding to the adjustment ropes 53; the outer cylinder part of the electric push rod 55 is fixedly arranged outside the transition straight pipe 2, and the rod body part of the electric push rod 55 is fixedly connected to the adjustment rope 53.

[0064] Reference Figure 3 、 Figure 6 and Figure 7, the adjusting rope 53 passes through the transition straight pipe 2, and a through hole 8 for the adjusting rope 53 to pass through is formed on the side wall of one end of the transition straight pipe 2 close to the flexible hose 3; a sealing ring 9 is arranged between the inner wall of the through hole 8 and the adjusting rope 53, and the sealing ring 9 seals the gap between the adjusting rope 53 and the through hole 8.

[0065] Brief description of the usage process:

[0066] When it is necessary to extract the liquid in the operation area, first, place the flexible water absorption device with controllable direction above the operation area; at this time, both the flexible hose 3 and the transition straight pipe 2 are in a vertical state, and the flexible hose 3 and the transition straight pipe 2 enter the operation area through the pores or grid holes in the equipment or area to be cleaned;

[0067] After determining the position that needs to be suction-cleaned, then use the adjusting rope 53 to adjust the angle of the controllable bone pipe 51, that is, adjust the angle of the flexible hose 3, and use the rotation adjustment assembly 4 to cooperate to adjust the position of the end of the flexible hose 3, so that the end of the flexible hose 3 reaches the position that needs to be suction-cleaned, so as to be able to suction-clean the equipment or operation area to be cleaned more thoroughly.

[0068] Embodiment 3:

[0069] Reference Figure 1 And Figure 9 , a flexible grasping device with controllable direction, including the flexible probing pipe with controllable direction described in Embodiment 1, as well as a connecting piece 12 and a mechanical claw 13; the connecting piece 12 is connected to one end of the controllable bone pipe 51 away from the transition straight pipe 2, and the mechanical claw 13 is connected to one end of the connecting piece 12 away from the controllable bone pipe 51. The connecting piece 12 connects the mechanical claw 13 and the controllable bone pipe 51, and the mechanical claw 13 can adopt a commercially available small electric mechanical claw 13, and the mechanical claw 13 can grasp the target item in the working area;

[0070] Reference Figure 1 And Figure 9 , an electric push rod 55 is arranged inside the transition straight pipe 2. There are two electric push rods 55, and the two electric push rods 55 are arranged in one-to-one correspondence with the two adjusting ropes 53. The outer cylinder part of the electric push rod 55 is fixedly connected to the transition straight pipe 2, and the rod body part of the electric push rod 55 is fixedly connected to the adjusting rope 53 (not shown in the figure); the electric push rod 55 is arranged inside the transition straight pipe 2, so that the overall diameter of the equipment is smaller, so that the equipment can better extend into the operation area.

[0071] Embodiment 4:

[0072] Reference Figure 1 And Figure 10, A directionally controllable flexible imaging device, comprising the flexible probe tube described in Embodiment 1, as well as a connecting member 12 and a video head 14; the connecting member 12 is connected to one end of the controllable bone tube 51 away from the transition straight tube 2, and the video head 14 is connected to one end of the connecting member 12 away from the controllable bone tube 51; an electric push rod 55 is arranged inside the transition straight tube 2, and there are two electric push rods 55, and the two electric push rods 55 are arranged in one-to-one correspondence with two adjusting ropes 53 (not shown in the figure); the outer cylinder part of the electric push rod 55 is fixedly connected to the transition straight tube 2, and the rod body part of the electric push rod 55 is fixedly connected to the adjusting rope 53.

[0073] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible probe with controllable direction, characterized in that, It includes a fixed straight pipe (1), a transition straight pipe (2) and a flexible hose (3). The transition straight pipe (2) is arranged between the fixed straight pipe (1) and the flexible hose (3), and the transition straight pipe (2) is rotationally matched with the fixed straight pipe (1); A rotation adjustment assembly (4) for driving the flexible hose (3) to rotate in the circumferential direction is arranged on the fixed straight pipe (1), and an angle adjustment assembly (5) for adjusting the bending angle of the flexible hose (3) is arranged on the transition straight pipe (2); The angle adjustment assembly (5) includes a controllable bone pipe (51), a bending pipe groove (52) opened on the controllable bone pipe (51), at least two adjustment ropes (53) arranged in the controllable bone pipe (51) and a position-limiting buckle (54) for limiting the position of the adjustment ropes (53). The controllable bone pipe (51) is arranged inside the flexible hose (3); One end of the controllable bone pipe (51) is fixedly connected to the transition straight pipe (2). The bending pipe groove (52) cuts through the side wall of the bone pipe in a circular shape. The circumferential cutting area of the bending pipe groove (52) is greater than 1 / 2 of the circumference of the controllable bone pipe (51), and the bending pipe grooves (52) are arranged staggered along the length direction of the controllable bone pipe (51).

2. The directionally controllable flexible probe tube according to claim 1, wherein The distance between adjacent bending pipe grooves (52) is L; along the length direction of the controllable bone pipe (51), towards the direction of the transition straight pipe (2), the value of L gradually increases.

3. The directionally controllable flexible probe tube according to claim 2, characterized in that, Both ends of the bending pipe groove (52) are provided with circular transition grooves (6).

4. The directionally controllable flexible probe tube according to claim 1, characterized in that, The rotation adjustment assembly (4) includes a driven gear (41), a driving gear (42) and an adjustment motor (43) sleeved outside the transition straight pipe (2). The adjustment motor (43) is fixedly connected to the fixed straight pipe (1), the output shaft of the adjustment motor (43) is connected to the driving gear (42), and the driving gear (42) is meshed with the driven gear (41).

5. The directionally controllable flexible probe tube according to claim 4, wherein One end of the transition straight pipe (2) close to the fixed straight pipe (1) is connected to the fixed straight pipe (1) through a sealing bearing (7).

6. A directionally controllable flexible water-absorbing device, characterized in that, It includes the direction-controllable flexible probe tube according to any one of claims 1-5, and a suction bending pipe (15) connected to the fixed straight pipe (1). One end of the suction bending pipe (15) far from the fixed straight pipe (1) is sequentially connected with a filter element (10) and a suction pump (11).

7. The directionally controllable flexible water-absorbing device according to claim 6, characterized in that, An electric push rod (55) is arranged outside the transition straight pipe (2), and the electric push rod (55) is arranged corresponding to the adjustment rope (53); The outer cylinder part of the electric push rod (55) is fixedly connected to the transition straight pipe (2), and the rod body part of the electric push rod (55) is fixedly connected to the adjustment rope (53).

8. The directionally controllable flexible water-absorbing device according to claim 7, characterized in that, The adjustment rope (53) passes through the transition straight pipe (2). A through hole (8) for the adjustment rope (53) to pass through is opened on the side wall of one end of the transition straight pipe (2) close to the fixed straight pipe (1). A sealing ring (9) is arranged between the inner wall of the through hole (8) and the adjustment rope (53).

9. A directionally controllable flexible grasping device, characterized in that, It includes the direction-controllable flexible probe tube according to any one of claims 1-5, as well as a connecting piece (12) and a mechanical claw (13); The connecting member (12) is connected to one end of the controllable bone tube (51) away from the transition straight tube (2), and the mechanical claw (13) is connected to one end of the connecting member (12) away from the controllable bone tube (51); An electric push rod (55) is arranged inside the transition straight tube (2), the electric push rod (55) is arranged corresponding to the adjusting rope (53), the outer cylinder part of the electric push rod (55) is fixedly connected to the transition straight tube (2), and the rod body part of the electric push rod (55) is fixedly connected to the adjusting rope (53).

10. A flexible imaging device with controllable direction, characterized in that, Comprising the flexible probe tube with controllable direction according to any one of claims 1-5, as well as a connecting member (12) and a video head (14); The connecting member (12) is connected to one end of the controllable bone tube (51) away from the transition straight tube (2), and the video head (14) is connected to one end of the connecting member (12) away from the controllable bone tube (51); An electric push rod (55) is arranged inside the transition straight tube (2), the electric push rod (55) is arranged corresponding to the adjusting rope (53), the outer cylinder part of the electric push rod (55) is fixedly connected to the transition straight tube (2), and the rod body part of the electric push rod (55) is fixedly connected to the adjusting rope (53).

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