Endoscope

Abstract

The utility model 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 utility model relates to detection equipment technical field, especially to a kind of endoscopes. BACKGROUND

[0002] Industrial endoscope is a kind of multi-disciplinary universal detection equipment, mainly used for nondestructive testing, can realize the detection and observation to the internal structure of object under the premise of not disassembling or destroying the object to be detected.

[0003] Traditional industrial endoscope mostly adopts manual knob operation, when knob rotates, the gear etc.

[0004] However, traditional industrial endoscope needs operator to manually twist knob to realize the bending action of snake bone section, the operation process is more laborious, it is difficult to accurately control the rotation angle and direction of snake bone section, greatly influence the accuracy and comprehensiveness of detection. SUMMARY

[0005] The utility model embodiment aims at providing a kind of endoscopes, to solve the technical problems of low control precision in the prior art of traditional industrial endoscope manual operation more laborious.

[0006] The utility model embodiment solves its technical problems using the following technical scheme: provide a kind of endoscopes, comprising:

[0007] Shell;

[0008] Drive module, the drive module is set in the shell;

[0009] Snake bone module, the snake bone module includes snake bone component and traction rope component, the snake bone component is set to the outside of the shell, one end of the traction rope component is inserted into the shell and is connected with the drive module transmission, the other end of the traction rope component is set in the snake bone component and along the extension direction of the snake bone component, the drive module can drive the traction rope component movement, to control the steering of the snake bone component;

[0010] Lens module, the lens module is set to the one end of the snake bone module away from the shell.

[0011] In some embodiments, the drive module includes first drive motor and first output gear, the first drive motor is connected with the first output gear transmission;

[0012] The traction rope assembly comprises oppositely arranged first and second traction ropes, both of which are arranged in the snakebone assembly and both of which are arranged around the first output gear;

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

[0014] In some embodiments, the driving module further comprises a second driving motor and a second output gear, and the second driving motor is in transmission connection with the second output gear;

[0015] The traction rope assembly further comprises oppositely arranged third and fourth traction ropes, both of which are arranged in the snakebone assembly and both of which are arranged around the second output gear;

[0016] The second driving motor can drive the third and fourth traction ropes to move, so as to adjust the lengths of the third and fourth traction ropes in the snakebone assembly, and the lengths of the third and fourth traction ropes in the snakebone assembly change in opposite directions.

[0017] In some embodiments, the first output gear is provided with a first annular groove in the circumferential direction thereof, and the end surface of the first output gear is provided with a first wire slot and a second wire slot, both of which are in communication with the first annular groove, the first traction rope is arranged around the first annular groove and fixed in the first wire slot, and the first traction rope is arranged around the first annular groove and fixed in the second wire slot;

[0018] The second output gear is provided with a second annular groove in the circumferential direction thereof, and the end surface of the second output gear is provided with a third wire slot and a fourth wire slot, both of which are in communication with the second annular groove, the third traction rope is arranged around the second annular groove and fixed in the third wire slot, and the fourth traction rope is arranged around the second annular groove and fixed in the fourth wire slot.

[0019] In some embodiments, the end surface of the first output gear is further provided with a limiting groove and a locking hole, and the limiting groove is in communication with the first wire slot;

[0020] The first traction rope is provided with a first limiting head at one end away from the snake bone assembly, the first limiting head is accommodated in the first limiting groove and limitedly matched with the first limiting groove;

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

[0022] In some embodiments, a mounting plate, an adjusting nut and a rope sleeve are further included, the mounting plate is fixedly mounted in the shell, the adjusting nut is mounted on the mounting plate, and the rope sleeve is sleeved on the first traction rope;

[0023] The adjusting nut is provided with a first through hole and a second through hole communicated in an axial direction thereof, a hole diameter of the first through hole is larger than that of the second through hole, one end of the rope sleeve towards the adjusting nut is inserted into the first through hole, and one end of the first traction rope away from the snake bone assembly is sequentially threaded through the first through hole and the second through hole and then connected with 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 comprises a plurality of snake bone pieces stacked and arranged, the snake bone pieces are provided with a first rope passing hole and a second rope passing hole arranged oppositely, and a third rope passing hole and a fourth rope passing hole arranged oppositely;

[0026] When the first traction rope and the second traction rope are threaded through the first rope passing hole and the second rope passing hole respectively, the third traction rope and the fourth traction rope are threaded through the third rope passing hole and the fourth rope passing hole respectively.

[0027] When the first traction rope and the second traction rope are threaded through the third rope passing hole and the fourth rope passing hole respectively, the third traction rope and the fourth traction rope are threaded through the first rope passing hole and the second rope passing hole respectively.

[0028] In some embodiments, the snake bone module further comprises a first limiting member, the first limiting member is arranged at one end of the snake bone segment towards the lens module, one end of the first limiting member towards the lens module is provided with a mounting cavity, the lens module is arranged in the mounting cavity, and a through hole is arranged at a cavity bottom of the mounting cavity;

[0029] One end of the first traction rope towards the lens module is provided with a second limiting head, the first traction rope is threaded through the through hole, and the second limiting head is located in the mounting cavity and limitedly matched with the through hole.

[0030] In some embodiments, a control module, a first angle sensor and a second angle sensor are further included, the control module is in communication connection with the driving module, the first angle sensor and the second angle sensor respectively, the first angle sensor is installed on a transmission shaft of the first output gear for detecting a rotation angle of the first output gear, and the second angle sensor is installed on a transmission shaft of the second output gear for detecting a rotation angle of the second output gear.

[0031] Compared with the prior art, in the endoscope provided in the embodiment of the utility model, the driving module can control the length of the traction rope assembly, when the driving module tightens the traction rope on one side of the traction rope assembly, the snake bone assembly bends to the side due to uneven force. Therefore, by controlling the length of each traction rope in the traction rope assembly through the driving module, 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, multi-angle observation and multi-directional observation of the lens module are realized, the accuracy and comprehensiveness of detection are ensured, and time and labor are saved. BRIEF DESCRIPTION OF DRAWINGS

[0032] One or more embodiments are illustrated by way of example in the drawings that are for illustrative purposes only, and these illustrative examples do not constitute a limitation on the embodiments, elements having the same reference numerals in the drawings represent similar elements, unless otherwise specified, the drawings do not constitute a proportional limit.

[0033] Figure 1 is a perspective structural schematic view of an endoscope in one embodiment of the utility model;

[0034] Figure 2 is an exploded schematic view of the internal structure of an endoscope shell in the embodiment of the utility model;

[0035] Figure 3 is a perspective structural schematic view of an endoscope after removing the upper shell in the embodiment of the utility model;

[0036] Figure 4 is an exploded structural schematic view of a snake bone module and a lens module in the embodiment of the utility model;

[0037] Figure 5 is a structural schematic view of the snake bone module in a vertical state in the embodiment of the utility model;

[0038] Figure 6 is a structural schematic view of the snake bone module in a bending state in the embodiment of the utility model;

[0039] Figure 7 is a cross-sectional structural schematic view of the assembly of the first output gear, the first steel wire rope, the mounting plate, the adjusting nut and the rope sleeve in the embodiment of the utility model;

[0040] Figure 8 is a three-dimensional structure schematic view of the first output gear in the embodiment of the utility model;

[0041] Figure 9 is a three-dimensional structure schematic view of the second output gear in the embodiment of the utility model;

[0042] Figure 10 is a three-dimensional structure schematic view of the first output gear, the first steel wire rope, the mounting plate, the adjusting nut and the rope sleeve after assembly in the embodiment of the utility model;

[0043] Figure 11 is a sectional structure schematic view of the adjusting nut in the embodiment of the utility model;

[0044] Figure 12 is a three-dimensional structure schematic view of the snake bone piece in the embodiment of the utility model;

[0045] Figure 13 is a three-dimensional structure schematic view of the first limiting piece in the embodiment of the utility model;

[0046] Figure 14 is a three-dimensional structure schematic view of the second limiting piece in the embodiment of the utility model

[0047] Figure 15 is an exploded structure schematic view of the first output gear and the first angle sensor in the embodiment of the utility model.

[0048] Explanation of reference signs:

[0049] 100, endoscope; 10, shell; 11, upper shell; 110, button slot; 111, opening; 12, lower shell; 20, drive module; 21, first drive motor; 22, first output gear; 220, first annular groove; 221, first wire slot; 222, second wire slot; 223, limiting groove; 224, locking hole; 23, second drive motor; 24, second output gear; 240, second annular groove; 241, third wire slot; 242, fourth wire slot; 25, first reduction gear; 26, second reduction gear; 27, locking piece; 30, snakebone module; 31, snakebone assembly; 310, snakebone piece; 311, first rope passing hole; 312, second rope passing hole; 313, third rope passing hole; 314, fourth rope passing hole; 32, traction rope assembly; 321, first traction rope; 3210, first limiting head; 3211, second limiting head; 322, second traction rope; 323, third traction rope; 324, fourth traction rope; 33, elastic sleeve; 34, first limiting piece; 340, mounting cavity; 341, communication hole; 35, second limiting piece; 350, accommodating cavity; 351, connecting hole; 40, lens module; 50, mounting plate; 60, adjusting nut; 61, first perforation; 62, second perforation; 63, third perforation; 70, rope sleeve; 80, snake tube; 90, control module; 901, main control board; 902, control board; 903, circuit board; 91, first angle sensor; 910, mounting groove; 92, second angle sensor; 93, battery. DETAILED DESCRIPTION

[0050] For the convenience of understanding the present application, the present application will be described in more detail below in conjunction with the drawings and specific embodiments. It should be noted that when an element is described as being "connected" to another element, it can be directly on the other element or one or more intervening elements can be present therebetween. The terms "upper", "lower", "left", "right", "upper end", "lower end", "top" and "bottom" and the like used in the specification indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting the device or element indicated or implied to have a specific orientation, to be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

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

[0052] The following will be described in conjunction with the drawingsFigures 1 to 15 The endoscope is described in detail.

[0053] Please refer to Figures 1 to 4 The utility model discloses an endoscope 100, including shell 10, drive module 20, snake bone module 30 and lens module 40, drive module 20 set up in shell 10, snake bone module 30 includes snake bone subassembly 31 and the traction rope subassembly 32 of setting in snake bone subassembly 31, snake bone subassembly 31 sets up at the outside of shell 10, and one end of traction rope subassembly 32 stretches into shell 10 and is transmission connection with drive module 20, and the other end of traction rope subassembly 32 sets up in snake bone subassembly 31 and along the extension direction of snake bone subassembly 31 is set up, drive module 20 can drive traction rope subassembly 32 movement to control the rotation direction and rotation angle of snake bone subassembly 31, and lens module 40 sets up at the one end of snake bone module 30 away from shell 10.

[0054] Specifically, the endoscope 100 can be used for detecting and observing the internal structure of the to-be-detected object, which can be a pipeline, an engine, a turbine, etc. The endoscope 100 includes a shell 10, a drive module 20, a snake bone module 30, and a lens module 40.

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

[0056] The drive module 20 is installed inside the shell 10, and is used to provide power for the steering of the snake bone module 30. By precisely controlling the length of the traction rope subassembly 32, the drive module 20 can realize the multi-degree-of-freedom bending movement of the snake bone module 30.

[0057] The snake bone module 30 includes a snake bone subassembly 31 and a traction rope subassembly 32 arranged in the snake bone subassembly 31. The snake bone subassembly 31 can be connected in series by a plurality of small joints or flexible metal sheets to improve its steering flexibility and bending resistance. The traction rope subassembly 32 can include a plurality of high-tension traction ropes, for example, the traction rope subassembly 32 can include four traction ropes, which are evenly distributed along the axial direction of the snake bone subassembly 31. Each traction rope is connected to the drive module 20, and the steering of the snake bone in a specific direction is realized by the coordinated tensioning or loosening.

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

[0059] In the embodiment, the driving module 20 can control the length of the traction rope assembly 32, when the driving module 20 pulls the traction rope on one side of the traction rope assembly 32, the snake bone assembly 31 bends to the side due to uneven force. Thus, by controlling the length of the 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, so as to realize the multi-degree-of-freedom movement of the lens module 40, and realize the multi-angle observation and multi-directional observation of the lens module 40.

[0060] In some embodiments, as shown in FIGS. 1, 2 and 3, the driving module 20 includes a first driving motor 21 and a first output gear 22, the first driving motor 21 is in transmission connection with the first output gear 22, the traction rope assembly 32 includes a first traction rope 321 and a second traction rope 322 arranged oppositely, the first traction rope 321 and the second traction rope 322 are both arranged in 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 length of the first traction rope 321 and the second traction rope 322 in the snake bone assembly 31 changes in opposite directions. Figure 2 Figure 3 In some embodiments, as shown in FIGS. 1, 2 and 3, the driving module 20 includes a first driving motor 21 and a first output gear 22, the first driving motor 21 is in transmission connection with the first output gear 22, the traction rope assembly 32 includes a first traction rope 321 and a second traction rope 322 arranged oppositely, the first traction rope 321 and the second traction rope 322 are both arranged in 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 length of the first traction rope 321 and the second traction rope 322 in the snake bone assembly 31 changes 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, so as to change 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 oppositely and wound around the first output gear 22, their length changes in opposite directions, that is, when the first traction rope 321 is pulled tight, the second traction rope 322 is loosened, at this time, the length of the first traction rope 321 in the snake bone assembly 31 is shortened, the length of the second traction rope 322 in the snake bone assembly 31 is lengthened, and the snake bone assembly 31 bends towards the direction of the first traction rope 321, when the second traction rope 322 is pulled tight, the first traction rope 321 is loosened, at this time, the length of the second traction rope 322 in the snake bone assembly 31 is shortened, the length of the first traction rope 321 in the snake bone assembly 31 is lengthened, and the snake bone assembly 31 bends towards the direction of the second traction rope 322.

[0062] ​It can be understood that, in actual use, the rotation angle and direction of the first output gear 22 can be accurately controlled by the first driving motor 21 according to the angle and direction in which the snake bone assembly 31 needs to rotate, so as to adjust the snake bone assembly 31 to a specific angle and direction.

[0063] In some embodiments, the driving module 20 further comprises a second driving motor 23 and a second output gear 24, the second driving motor 23 is in transmission connection with the second output gear 24, the traction rope assembly 32 further comprises a third traction rope 323 and a fourth traction rope 324 arranged oppositely, the third traction rope 323 and the fourth traction rope 324 are both arranged in 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 driving motor 23 can drive the third traction rope 323 and the fourth traction rope 324 to move, so as to adjust the lengths of the third traction rope 323 and the fourth traction rope 324 in the snake bone assembly 31, and the lengths of the third traction rope 323 and the fourth traction rope 324 in the snake bone assembly 31 change in opposite directions.

[0064] The driving module 20 further comprises a second driving motor 23 and a second output gear 24, the second driving motor 23 can be a servo motor, so as to improve the control precision. 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, so as to change the lengths 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 oppositely 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 is shortened, the length of the fourth traction rope 324 in the snake bone assembly 31 is lengthened, and the snake bone assembly 31 bends towards 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 is shortened, the length of the third traction rope 323 in the snake bone assembly 31 is lengthened, and the snake bone assembly 31 bends towards the direction of the fourth traction rope 324.

[0065] It can be understood that, in actual use, the rotation angle and direction of the second output gear 24 can be accurately controlled by the second driving motor 23 according to the angle and direction in which the snake bone assembly 31 needs to rotate, so as to adjust the snake bone assembly 31 to a specific angle and direction.

[0066] Further, it is to be noted that the first driving motor 21 and the second driving motor 23 can be operated simultaneously or individually. By operating the first driving motor 21 and the second driving 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 cooperated to realize more accurate 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 the other two traction ropes will be loosened and lengthened. For example, in the case that 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 loosened and lengthened, when the first traction rope 321 and the third traction rope 323 are shortened by the same length, the snake bone assembly 31 will be bent towards the direction between the first traction rope 321 and the third traction rope 323. When the first traction rope 321 and the third traction rope 323 are shortened by different lengths, the snake bone assembly 31 will be bent towards the direction of the side of the shorter traction rope between the two traction ropes. In this way, more accurate control of the snake bone assembly 31 in more directions can be realized.

[0067] Please refer to Figures 5 to 7 In some embodiments, the first output gear 22 and the second output gear 24 each have a middle angle, an upper limit angle and a lower limit angle. Taking the first output gear 22 as an example, the middle 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 bone assembly 31 are the same, i.e. the angle of the first output gear 22 when the snake bone assembly 31 is in a vertical state. The upper limit angle is the maximum angle of the first output gear 22 that can be rotated by the first driving motor 21 in the S1 (clockwise) direction, and the lower limit angle is the maximum angle of the first output gear 22 that can be rotated by the first driving motor 21 in the S2 (clockwise) direction.

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

[0069] When the first driving motor 21 drives the first output gear 22 to rotate in the S1 direction, first, the first output gear 22 rotates from the upper limit angle to the middle angle, so that the second traction rope 322 in the snake bone assembly 31 is gradually tightened, the length of the first traction rope 321 in the snake bone assembly 31 gradually becomes longer, and the bending angle of the snake bone assembly 31 gradually becomes smaller. 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 becomes shorter, and the length of the first traction rope 321 in the snake bone assembly 31 gradually becomes longer. At this time, the snake bone assembly 31 gradually bends towards the direction of the first traction rope 321, and the bending angle of the snake bone assembly 31 gradually increases as the first driving motor 21 continuously drives the first output gear 22 to rotate in the S2 direction. Until the first output gear 22 rotates to the lower limit angle, the first output gear 22 cannot continue to rotate in the S2 direction, and at this time, the bending angle of the snake bone assembly 31 towards the side of the second traction rope 322 reaches the maximum. Figure 6 ).

[0070] When the first driving motor 21 drives the first output gear 22 to rotate in the S1 direction, first, the first output gear 22 rotates from the upper limit angle to the middle angle, so that the second traction rope 322 in the snake bone assembly 31 is gradually tightened, the length of the first traction rope 321 in the snake bone assembly 31 gradually becomes longer, and the bending angle of the snake bone assembly 31 gradually becomes smaller. 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 becomes shorter, and the length of the first traction rope 321 in the snake bone assembly 31 gradually becomes longer. At this time, the snake bone assembly 31 gradually bends towards the direction of the first traction rope 321, and the bending angle of the snake bone assembly 31 gradually increases as the first driving motor 21 continuously drives the first output gear 22 to rotate in the S2 direction. Until the first output gear 22 rotates to the lower limit angle, the first output gear 22 cannot continue to rotate in the S2 direction, and at this time, the bending angle of the snake bone assembly 31 towards the side of the second traction rope 322 reaches the maximum.

[0071] The above describes the process of the first output gear 22 controlling the movement of the first traction rope 321 and the second traction rope 322. The process of the second output gear 24 controlling the movement of the third traction rope 323 and the fourth traction rope 324 is similar to the process of the first output gear 22 controlling the movement of the first traction rope 321 and the second traction rope 322, which 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. The rotation angle of the first output gear 22 and the second output gear 24 has a corresponding mapping relationship with the bending angle of the snake bone assembly 31. In this way, by controlling the rotation angle of the first output gear 22 and the second output gear 24, the snake bone assembly 31 can be controlled to freely bend to a specified angle in various directions.

[0073] In some embodiments, asFigure 2 and Figure 3 As shown in the figure, the drive module 20 further comprises 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 drive motor 21 and engaged with the first output gear 22. The number of teeth of the first reduction gear 25 is less than that of the first output gear 22. By engaging the first reduction gear 25 with the first output gear 22, the rotation speed of the first output gear 22 can be reduced, and the control precision of the first output gear 22 can be improved. The second reduction gear 26 is connected to the output shaft of the second drive motor 23 and engaged with the second output gear 24. The number of teeth of the second reduction gear 26 is less than that of the second output gear 24. By engaging the second reduction gear 26 with the second output gear 24, the rotation speed of the second output gear 24 can be reduced, and the control precision of the second output gear 24 can be improved.

[0074] Please refer to Figures 7 to 9 In some embodiments, the first output gear 22 is provided with a first annular groove 220 along the circumferential direction thereof. The end surface of the first output gear 22 is provided with a first wire slot 221 and a second wire slot 222, which are respectively communicated with the first annular groove 220. The first traction rope 321 is wound around the first annular groove 220 and fixed in the first wire slot 221. The first traction rope 321 is wound around the first annular groove 220 and fixed in the second wire slot 222. The second output gear 24 is provided with a second annular groove 240 along the circumferential direction thereof. The end surface of the second output gear 24 is provided with a third wire slot 241 and a fourth wire slot 242, which are respectively communicated with the second annular groove 240. The third traction rope 323 is wound around the second annular groove 240 and fixed in the third wire slot 241. The fourth traction rope 324 is wound around the second annular groove 240 and fixed in the fourth wire slot 242.

[0075] Specifically, when the first driving 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, so as to change the lengths of the first traction rope 321 and the second traction rope 322 in the snakebone 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 annular groove 220, 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 driving 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, the length of the first traction rope 321 in the snakebone assembly 31 is gradually shortened, 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 snakebone assembly 31 is gradually lengthened.

[0076] Similarly, when the second driving 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, so as to change the lengths of the third traction rope 323 and the fourth traction rope 324 in the snakebone assembly 31.

[0077] Optionally, the first routing groove 221 and the second routing groove 222 are arranged on the side end face of the first output gear 22 away from the second output gear 24, one end of the first traction rope 321 can be bent and clamped into the first routing groove 221, so as to achieve the limiting and fixing of the first traction rope 321, and one end of the second traction rope 322 can be bent and clamped into the second routing groove 222, so as to achieve the limiting and fixing of the second traction rope 322.

[0078] The third routing groove 241 and the fourth routing groove 242 are arranged on the side end face 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 clamped into the third routing groove 241, so as to achieve the limiting and fixing of the third traction rope 323, and one end of the fourth traction rope 324 can be bent and clamped into the fourth routing groove 242, so as to achieve the limiting and fixing of the fourth traction rope 324.

[0079] In some embodiments, the end surface of the first output gear 22 is further provided with a limiting groove 223 and a locking hole 224, the limiting groove 223 is in communication with the first routing groove 221, one end of the first traction rope 321 away from the snake assembly 31 is provided with a first limiting head 3210, the first limiting head 3210 is accommodated in the limiting groove 223 and limitedly matched with the limiting groove 223; the driving module 20 further comprises a locking piece 27, the rod part of the locking piece 27 is tightly matched with the locking hole 224, the head part of the locking piece 27 is tightly abutted with the first limiting head 3210 and covers the limiting groove 223.

[0080] Specifically, the first limiting head 3210 can be a cylindrical structure, the first limiting head 3210 is sleeved on the outer periphery of one end of the first traction rope 321, the diameter of the first limiting head 3210 is greater than the groove diameter of the first routing groove 221, by accommodating the first limiting head 3210 in the limiting groove 223, the accurate positioning of the first traction rope 321 can be realized, and the first traction rope 321 is prevented from being separated from the first routing groove 221. The locking piece 27 can be a locking screw, the locking hole 224 can be a threaded hole, when the rod part of the locking piece 27 is screwed into the locking hole 224, the head part of the locking piece 27 can press the first limiting head 3210, so that the first limiting head 3210 is deformed under pressure and clamps the first traction rope 321, the connection stability of the first limiting head 3210 and the first traction rope 321 is guaranteed, and the head part of the locking piece 27 covers the limiting groove 223, preventing the first traction rope 321 from being separated from the first routing groove 221 during use.

[0081] It can be understood that the positioning and fixing modes of the second traction rope 322, the third traction rope 323 and the fourth traction rope 324 can be the same as those of the first traction rope 321, which will not be described here.

[0082] Please refer to Figure 7 , Figure 10 and Figure 11 In some embodiments, the endoscope 100 further comprises a mounting plate 50, an adjusting nut 60 and a rope sleeve 70, the mounting plate 50 is fixedly installed in the shell 10, the adjusting nut 60 is installed on the mounting plate 50, and the rope sleeve 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 in communication in the axial direction thereof, the hole diameter of the first through hole 61 is greater than that of the second through hole 62, one end of the rope sleeve 70 towards the adjusting nut 60 is inserted into the first through hole 61, and one end of the first traction rope 321 away from the snake assembly 31 passes through the first through hole 61 and the second through hole 62 and is connected with the first output gear 22.

[0083] The mounting plate 50 is arranged inside the housing 10, and the mounting plate 50 can be integrally formed with the housing 10. The adjusting nut 60 is screwed on the mounting plate 50. Optionally, the mounting plate 50 is provided with mounting holes penetrating through opposite sides of the mounting plate 50, and the adjusting nut 60 is arranged in the mounting holes. The rope sleeve 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 S1 direction, the first traction rope 321 is tightened, and the first traction rope 321 moves in the S3 direction inside the rope sleeve 70. When the first gear rotates in the S2 direction, the first traction rope 321 is loosened, and the first traction rope 321 moves in the S4 direction inside the rope sleeve 70.

[0085] The adjusting nut 60 is provided with a first through hole 61 and a second through hole 62 along the axial direction of the adjusting nut 60. The first through hole 61 is used to fix and limit one end of the rope sleeve 70 towards the adjusting nut 60. By adjusting the position of the adjusting nut 60 on the fixing plate, the position of the rope sleeve 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 by using a wrench or the like.

[0086] The diameter of the first through hole 61 can be equal to or slightly larger than the outer diameter of the rope sleeve 70, so as to accommodate the rope sleeve 70 and limit the end of the rope sleeve 70. The diameter of the second through hole 62 is smaller than the outer diameter of the rope sleeve 70 and larger than the outer diameter of the first traction rope 321. When the one end of the rope sleeve 70 towards the adjusting nut 60 is inserted into the first through hole 61, the end face and the side face of the rope sleeve 70 are respectively in abutment with the hole bottom and the hole wall of the first through hole 61, so as to ensure that the first traction rope 321 does 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 adjusting nut 60.

[0087] Optionally, the adjusting nut 60 is further provided with a third through hole 63 connected to the end of the second through hole 62 away from the first through hole 61. 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 and wear between the first traction rope 321 and the adjusting nut 60, and avoids interference of the adjusting nut 60 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, the first traction rope 321 can move along the central axis direction of the adjusting nut 60, avoiding contact between the first traction rope 321 and 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, as to the second traction rope 322, the third traction rope 323 and the fourth traction rope 324, the corresponding adjusting nuts 60 and rope sleeves 70 are arranged, so the above technical effects can also be achieved, which will not be described here.

[0090] Please refer to Figures 12 to 14 , and refer to Figure 4 In some embodiments, the snake bone assembly 31 includes a plurality of snake bone pieces 310 arranged in layers, and the snake bone piece 310 is provided with a first rope hole 311 and a second rope hole 312 arranged opposite to each other, and a third rope hole 313 and a fourth rope hole 314 arranged opposite to each other; when the first traction rope 321 and the second traction rope 322 are respectively arranged in the first rope hole 311 and the second rope hole 312, the third traction rope 323 and the fourth traction rope 324 are respectively arranged in the third rope hole 313 and the fourth rope hole 314; when the first traction rope 321 and the second traction rope 322 are respectively arranged in the third rope hole 313 and the fourth rope hole 314, the third traction rope 323 and the fourth traction rope 324 are respectively arranged in the first rope hole 311 and the second rope hole 312.

[0091] As Figure 12 shown, the snake bone piece 310 is in a flat disc structure, and a hole is formed in the middle of the snake bone piece 310 for the data line (not shown) to pass through. Among the two adjacent snake bone pieces 310, one of the snake bone pieces 310 is arranged in layers with the other snake bone piece 310 after being rotated by 90 degrees. The four traction ropes (the first traction rope 321, the first traction rope 321, the first traction rope 321 and the first traction rope 321) are connected in series to form the snake bone assembly 31.

[0092] For each snake bone piece 310, the first rope hole 311 and the second rope hole 312 arranged opposite to each other, and the third rope hole 313 and the fourth rope hole 314 arranged opposite to each other are formed in the snake bone piece 310. Two traction ropes connected to the same output gear are arranged in the two rope holes arranged opposite to each other in 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 arranged in the first rope hole 311 and the second rope hole 312 arranged opposite to each other, respectively, and the third traction rope 323 and the fourth traction rope 324 connected to the second output gear 24 can be arranged in the third rope hole 313 and the fourth rope hole 314 arranged opposite to each other, respectively. In this way, the normal operation of the endoscope 100 can be ensured. Avoiding the two traction ropes connected to the same output gear from being arranged in the two adjacent rope holes of the snake bone piece 310, which can cause the endoscope 100 to be unable to operate normally.

[0093] In some embodiments, the outer periphery of the snake bone assembly 31 is provided with an elastic sleeve 33, which can be made of a metal woven mesh. The elastic sleeve 33 can serve to protect the snake bone assembly 31 and provide a force to restore the snake bone assembly 31 to an upright state.

[0094] In some embodiments, the snake bone module 30 further comprises a first limiting member 34, which is arranged at one end of the snake bone assembly 31 that faces the lens module 40. The first limiting member 34 is provided with a mounting cavity 340 at one end that faces the lens module 40. The lens module 40 is arranged in the mounting cavity 340. The bottom of the mounting cavity 340 is provided with a communication hole 341.

[0095] As shown in Figure 13 , the first limiting member 34 can have a cylindrical structure. The first limiting member 34 is provided with a mounting cavity 340 at one end that faces the lens module 40. The bottom of the mounting cavity 340 is provided with a hole in the middle for the data line to pass through.

[0096] The second limiting head 3211 can also have a generally cylindrical structure. The outer diameter of the second limiting head 3211 is greater than the hole diameter of the connecting hole 351, so as to achieve the limiting cooperation between the second limiting head 3211 and the connecting hole 351. When the first traction rope 321 is pulled tight, the second limiting head 3211 abuts against the bottom of the mounting cavity 340, so as to achieve the precise positioning of the first traction rope 321 and prevent the first traction rope 321 from being pulled out of the communication hole 341 towards the one end of the lens module 40.

[0097] It can be understood that the limiting and fixing modes of the second traction rope 322, the third traction rope 323, and the fourth traction rope 324 can be the same as those of the first traction rope 321, which will not be described here again.

[0098] In some embodiments, as shown in Figure 14 , the snake bone module 30 further comprises a second limiting member 35, which is arranged at one end of the snake bone assembly 31 that is away from the lens module 40. Optionally, the second limiting member 35 can have a cylindrical structure.

[0099] The second limiting member 35 is provided with a receiving cavity 350 at one end that faces away from the snake bone assembly 31. The bottom of the receiving cavity 350 is provided with a hole in the middle for the data line to pass through.

[0100] Optionally, the cavity bottom of the accommodating cavity 350 is further provided with four connecting holes 351, the connecting holes 351 have a diameter smaller than the outer diameter of the rope sleeve 70, the rope sleeve 70 is arranged in the accommodating cavity 350 and can abut against the cavity bottom of the accommodating cavity 350, and the first traction rope 321, the second traction rope 322, the third traction rope 323 and the fourth traction rope 324 can pass through the corresponding connecting holes 351 and be inserted into the corresponding rope sleeves 70.

[0101] In some embodiments, the shell 10 is further provided with a snake tube 80 at one end of the snake bone assembly 31, the snake tube 80 is hollow inside, the first traction rope 321, the second traction rope 322, the third traction rope 323, the fourth traction rope 324 and the data line are arranged in the snake tube 80, and the snake 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 line.

[0102] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 15 In some embodiments, the endoscope 100 further comprises a control module 90, a first angle sensor 91 and a second angle sensor 92, the control module 90 is in communication connection with the driving 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 and is used for detecting the rotation angle of the first output gear 22, and the second angle sensor 92 is installed on the transmission shaft of the second output gear 24 and is used for detecting the rotation angle of the second output gear 24.

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

[0104] The control module 90 stores a mapping relationship of 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 assembly 31; when the control module 90 receives a rotation instruction input by a user, the control module 90 calculates the angle value required for the rotation of the first output gear 22 and the second output gear 24 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 driving motor 21 and the second driving motor 23 to rotate, so that the first driving motor 21 and the second driving motor 23 drive the corresponding first output gear 22 and second output gear 24 to rotate by the corresponding angles, so as to tighten or loosen the corresponding steel wire rope, and realize the adjustment and control of the bending and rotating movement of the snake assembly 31.

[0105] Optionally, as shown in Figure 15 , the first angle sensor 91 can be installed on the transmission shaft of the first output gear 22 in a clamping manner, for example, the first angle sensor 91 is provided with a mounting groove 223, which can be a "D" shaped groove, and the transmission shaft of the first output gear 22 can be configured as a "D" shaped column, so that the assembly of the first angle sensor 91 on the first output gear 22 can be realized through the limiting cooperation of the "D" shaped groove and the "D" shaped column.

[0106] The assembly manner of the second angle sensor 92 and the second output gear 24 can be the same as that of the first angle sensor 91 and the first output gear 22, which will not be described here.

[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 with the first driving motor 21 and the second driving motor 23, and the control board 902 can be used for inputting corresponding rotation instructions by a user, for example, the control board 902 is provided with a plurality of keys, and the user can input different rotation instructions by pressing the corresponding keys, which is convenient and fast.

[0108] Optionally, the control module 90 further includes a circuit board 903 (see Figure 2 ), which can be a PCB board, the circuit board 903 is electrically connected with 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 with the first angle sensor 91 and the second angle sensor 92 respectively, and the circuit board 903 is used for receiving the angle information sent by the first angle sensor 91 and the second angle sensor 92 and sending the angle information to the main control board 901.

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

[0110] In some embodiments, a key slot 110 (see Figure 2 ), the main control board 901 and the control board 902 are installed in the key slot 110, so as to facilitate the user to control. Optionally, the bottom of the key slot 110 is provided with an opening 111, so as to facilitate the battery 93, the circuit board 903, the first driving motor 21 and the second driving motor 23 to be electrically connected with 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, and not to limit them; under the idea 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 of the different aspects of the present application as described above, in order to be simple, they are not provided in details; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An endoscope, characterized by, The utility model relates to a camera stabilizer, including: A shell; A drive module arranged in the shell; A snake bone module including a snake bone assembly and a traction rope assembly, the snake bone assembly is arranged outside the shell, one end of the traction rope assembly extends into the shell and is transmission connection with the drive module, the other end of the traction rope assembly is arranged in the snake bone assembly and along the extension direction of the snake bone assembly, the drive module can drive the traction rope assembly movement to control the steering of the snake bone assembly; A lens module arranged at the end of the snake bone module away from the shell.

2. The endoscope of claim 1, wherein, The drive module includes a first drive motor and a first output gear, the first drive motor is transmission connection with the first output gear; The traction rope assembly includes oppositely arranged first traction rope and second traction rope, the first traction rope and the second traction rope are all arranged in the snake bone assembly, and the first traction rope and the second traction rope are all arranged on the first output gear; The first drive motor can drive the first traction rope and the second traction rope to move to adjust the length of the first traction rope and the second traction rope in the snake bone assembly, and the length of the first traction rope and the second traction rope in the snake bone assembly changes in opposite directions.

3. The endoscope of claim 2, wherein, The drive module further includes a second drive motor and a second output gear, the second drive motor is transmission connection with the second output gear; The traction rope assembly further includes oppositely arranged third traction rope and fourth traction rope, the third traction rope and the fourth traction rope are all arranged in the snake bone assembly, and the third traction rope and the fourth traction rope are all arranged on the second output gear; The second drive motor can drive the third traction rope and the fourth traction rope to move 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 of claim 3, wherein, The first output gear is provided with a first annular groove along the circumferential direction thereof, the end surface of the first output gear is provided with a first wire slot and a second wire slot, the first wire slot and the second wire slot are respectively communicated with the first annular groove, the first traction rope is arranged in the first wire slot and fixed in the first annular groove, and the first traction rope is arranged in the second wire slot and fixed in the second annular groove; The second output gear is provided with a second annular groove along the circumferential direction thereof, the end surface of the second output gear is provided with a third wire slot and a fourth wire slot, the third wire slot and the fourth wire slot are respectively communicated with the second annular groove, the third traction rope is arranged in the second annular groove and fixed in the third wire slot, and the fourth traction rope is arranged in the second annular groove and fixed in the fourth wire slot.

5. The endoscope of claim 4, wherein, The end surface of the first output gear is further provided with a limiting groove and a locking hole, the limiting groove is communicated with the first wire slot; The first traction rope is provided with a first limiting head at one end away from the snake bone assembly, the first limiting head is accommodated in the first limiting groove and limitedly matched with the first limiting groove; The driving module further comprises a locking member, a rod portion of the locking member is fastened with the locking hole, a head portion of the locking member abuts against the first limiting head and covers the first limiting groove.

6. The endoscope of claim 4, wherein, Further comprising a mounting plate, an adjusting nut and a rope sleeve, the mounting plate is fixedly installed in the shell, the adjusting nut is installed on the mounting plate, and the rope sleeve is sleeved on the first traction rope; The adjusting nut is provided with a first through hole and a second through hole in communication in the axial direction thereof, a hole diameter of the first through hole is larger than that of the second through hole, one end of the rope sleeve towards the adjusting nut is inserted into the first through hole, and one end of the first traction rope away from the snake bone assembly is sequentially threaded through the first through hole and the second through hole and connected with the first output gear.

7. The endoscope of claim 6, wherein, The central axis of the adjusting nut is tangent to the first annular groove.

8. The endoscope of claim 3, wherein, The snake bone assembly comprises a plurality of snake bone pieces stacked and arranged, the snake bone pieces are provided with a first rope penetrating hole and a second rope penetrating hole arranged oppositely, and a third rope penetrating hole and a fourth rope penetrating hole arranged oppositely; When the first traction rope and the second traction rope are threaded in the first rope penetrating hole and the second rope penetrating hole respectively, the third traction rope and the fourth traction rope are threaded in the third rope penetrating hole and the fourth rope penetrating hole respectively; When the first traction rope and the second traction rope are threaded in the third rope penetrating hole and the fourth rope penetrating hole respectively, the third traction rope and the fourth traction rope are threaded in the first rope penetrating hole and the second rope penetrating hole respectively.

9. The endoscope of claim 3, wherein, The snake bone module further comprises a first limiting member, the first limiting member is arranged at one end of the snake bone segment towards the lens module, one end of the first limiting member towards the lens module is provided with a mounting cavity, the lens module is arranged in the mounting cavity, and a communicating hole is arranged at the bottom of the mounting cavity; One end of the first traction rope towards the lens module is provided with a second limiting head, the first traction rope is threaded in the communicating hole, and the second limiting head is located in the mounting cavity and limitedly matched with the communicating hole.

10. The endoscope of claim 3, wherein, Further comprising a control module, a first angle sensor and a second angle sensor, the control module is communicatively connected with the driving module, the first angle sensor and the second angle sensor, the first angle sensor is installed on a transmission shaft of the first output gear and used for detecting a rotation angle of the first output gear, and the second angle sensor is installed on a transmission shaft of the second output gear and used for detecting a rotation angle of the second output gear.

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