A serpentine bone structure

Abstract

This application discloses a snake-bone structure, comprising two ends and multiple snake-bone joints disposed between the two ends. Each snake-bone joint includes a first joint and a second joint coaxially arranged, with a connecting portion between the first and second joints capable of restricting axial displacement of the first and second joints. One of the first and second joints is provided with multiple limiting beams, and the other joint is provided with a limiting groove adapted to the limiting beams. The multiple limiting beams are respectively located at the two ends of the first or second joint, and the multiple limiting beams located at the same end are arranged circumferentially along the first or second joint. There is a movement space between the end of the limiting beam and the bottom of the limiting groove. The multiple limiting beams and multiple limiting grooves cooperate to restrict the radial displacement of the first joint and the adjacent second joint. This application can restrict the snake-bone structure from radially detaching and reduce the angular deviation of the snake-bone structure after bending under stress.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and more specifically, to a snake-bone structure. Background Technology

[0002] An endoscope is a commonly used medical device. The endoscope's insertion tube has a flexible section at its tip that can be bent as needed. This flexible section is typically composed of a serpentine skeleton, which is made up of several specialized tubular joints. Currently, the serpentine skeletons used in common endoscopes are broadly classified into two structural types: riveted serpentine skeletons and metal-cut serpentine skeletons. Due to the significant price advantage of metal-cut serpentine skeletons, most manufacturers use them for disposable endoscopes.

[0003] Thinner snake bone walls mean a smaller outer diameter, allowing the endoscope to enter narrower body cavities (such as the bronchus and ureter), reducing the risk of tissue damage during insertion, minimizing trauma, and improving patient comfort. However, due to increasingly stringent size design requirements, snake bone walls are being designed to be thinner and thinner, resulting in a smaller contact area between the joints of the two segments. This makes the snake bone more prone to dislocation under radial force and causes angular deviations when bent under stress. Utility Model Content

[0004] This application provides a snake bone structure that can limit the separation of the first and second joints in the radial direction, so that each snake bone joint always maintains a stable connection, while reducing the angular deviation of the snake bone structure after bending under stress.

[0005] The snake-bone structure provided in this application adopts the following technical solution:

[0006] A snake-bone structure, comprising:

[0007] Two ends;

[0008] Multiple snake-bone joints are sequentially connected and disposed between two ends. Each snake-bone joint includes a first joint and a second joint arranged coaxially. A connecting portion is provided between the first joint and the second joint, and the connecting portion can restrict the axial displacement of the first joint and the second joint.

[0009] One of the first joint and the second joint is provided with a plurality of limiting beams, which are respectively located at both ends of the first joint or the second joint, and the plurality of limiting beams located at the same end are arranged along the circumference of the first joint or the second joint; the other of the first joint and the second joint is provided with a limiting groove adapted to the limiting beams, and the limiting beams and the limiting grooves extend along the axial direction of the snake joint;

[0010] The limiting beam is located within the limiting groove, and there is a movement space between the end of the limiting beam and the bottom of the limiting groove. The multiple limiting beams and multiple limiting grooves cooperate to limit the radial displacement of the first joint and the adjacent second joint.

[0011] In some technical solutions, the limiting beam is configured on the first joint, and multiple limiting beams are respectively disposed at both ends of the first joint, with multiple limiting beams disposed at the same end arranged along the circumference of the first joint; at least two limiting beams are respectively disposed at both ends of the first joint.

[0012] In some technical solutions, a plurality of limiting beams are provided at least one of the two ends of the first joint, and are evenly and spaced apart along the circumference of the first joint.

[0013] In some technical solutions, the number of limiting beams provided at the same end of each of the first joints is the same, and along the axial direction of the snake joint, the limiting beams of multiple first joints at the same position are located on the same straight line.

[0014] In some technical solutions, the plurality of limiting beams disposed at one end of the first joint are staggered with the plurality of limiting beams disposed at the other end of the first joint.

[0015] In some technical solutions, the limiting beam includes an outer peripheral surface and two limiting surfaces, the two limiting surfaces being configured as two sidewalls on both sides of the outer peripheral surface and disposed opposite to each other; the two limiting surfaces are parallel to each other, and the limiting surfaces intersect the normal direction of the outer peripheral surface.

[0016] In some technical solutions, the limiting surface structures of multiple limiting beams located at the same end of the first joint are the same, while the limiting surface structures of the limiting beams located at two different ends of the first joint are different.

[0017] In some technical solutions, the connecting part includes a connecting beam and a connecting groove adapted to the connecting beam. One of the first joint and the second joint is provided with multiple connecting beams, and the other joint is provided with a connecting groove adapted to the connecting beam. The multiple connecting beams are respectively located at both ends of the first joint or the second joint.

[0018] The connecting beam and the connecting groove extend along the axial direction of the snake joint, and the plurality of connecting beams and the plurality of connecting grooves cooperate to limit the axial displacement of the first joint and the adjacent second joint.

[0019] In some technical solutions, one of the two ends is connected to either the first joint or the second joint, and the other end is connected to either the first joint or the second joint.

[0020] In some technical solutions, the first joint and / or the second joint are provided with a mounting beam. In the radial direction, the mounting beam forms a mounting gap with the inner wall of the first joint and / or the second joint, and the mounting gap is used for the installation of other components.

[0021] As can be seen from the above technical solutions, this application has the following advantages:

[0022] One of the first and second joints is equipped with a limiting beam, and the other joint is equipped with a limiting groove corresponding to the limiting beam. The limiting beams are distributed on both sides of the first or second joint to limit the other joint on the adjacent sides. When the snake-bone structure is subjected to a radial force in a certain direction, multiple limiting beams arranged circumferentially along the first or second joint will be supported by the corresponding limiting grooves when moving in that radial direction, thereby restricting the separation of the first and second joints in the radial direction and ensuring that each snake-bone joint remains stably connected. When the snake-bone structure is bent under force, due to the existence of movement space, the limiting beams and limiting grooves can have a certain amount of movement space to undergo relative movement. The setting of the limiting beams and limiting grooves ensures that the centers of each snake-bone joint are always located in the same plane when the first and second joints deflect at an angle, thereby reducing the angular deviation of the snake-bone structure after bending under force. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0024] Figure 1 This is a schematic diagram of the overall structure of a snake-bone structure disclosed in this application;

[0025] Figure 2 This is an enlarged view of the snake bone structure disclosed in this application, showing the coordinated state of the first and second joints in the snake bone joint;

[0026] Figure 3 This is a schematic diagram of a snake-bone structure that highlights the first joint in a snake-bone joint, as disclosed in this application.

[0027] Figure 4This is a schematic diagram of a snake-bone structure that highlights the second joint in a snake-bone joint, as disclosed in this application.

[0028] Figure 5 This is a schematic diagram of a snake-bone structure with a prominent limiting surface disclosed in Embodiment 1 of this application;

[0029] Figure 6 This is a schematic diagram of a snake-bone structure with a prominent limiting surface disclosed in Embodiment 2 of this application.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. End; 2. Snake-bone joint; 21. First joint; 22. Second joint; 23. Limiting beam; 231. Outer circumferential surface; 232. Limiting surface; 24. Limiting groove; 25. Movement space; 26. Connecting beam; 261. First connecting part; 262. Second connecting part; 263. Accommodation space; 27. Connecting groove; 271. First groove body; 272. Second groove body; 273. Contact part; 28. Mounting beam; 281. Mounting gap. Detailed Implementation

[0032] The present application will be further described in detail below with reference to the accompanying drawings.

[0033] This application provides a snake bone structure that can limit the separation of the first and second joints in the radial direction, so that each snake bone joint always maintains a stable connection, while reducing the angular deviation of the snake bone structure after bending under stress.

[0034] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application. Furthermore, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0035] Please see Figure 1 This is one embodiment of the snake bone structure in this application. The snake bone structure includes two ends 1 and a plurality of snake bone joints 2, which are connected in sequence and disposed between the two ends 1.

[0036] Please see Figure 2Each snake-bone joint 2 includes a first joint 21 and a second joint 22 coaxially arranged, with the first joint 21 and the second joint 22 positioned opposite each other. To connect the first joint 21 and the second joint 22, a connecting portion is provided between them, which restricts the axial displacement of the first joint 21 and the second joint 22. In this embodiment, the connecting portion includes a connecting beam 26 and a connecting groove 27 adapted to the connecting beam 26. One of the first joint 21 and the second joint 22 is provided with multiple connecting beams 26, and the other is provided with a connecting groove 27 adapted to the connecting beam 26. The multiple connecting beams 26 are located at both ends 1 of the first joint 21 or the second joint 22. The connecting beams 26 and the connecting grooves 27 extend axially along the snake-bone joint 2. The multiple connecting beams 26 and the multiple connecting grooves 27 cooperate to restrict the axial displacement of the first joint 21 and the adjacent second joint 22, thereby preventing the first joint 21 and the second joint 22 from axially separating, and thus maintaining a stable connection between the snake-bone joints 2.

[0037] In some embodiments, the connecting beam 26 may be configured on the first joint 21; correspondingly, the connecting groove 27 may be configured on the second joint 22. In other embodiments, the connecting beam 26 may also be configured on the second joint 22, and correspondingly, the connecting groove 27 may be configured on the first joint 21. For ease of understanding, this embodiment will be described in detail with the connecting beam 26 configured on the first joint 21 and the connecting groove 27 configured on the second joint 22 as an example.

[0038] Specifically, the first joint 21 is provided with multiple connecting beams 26, and the second joint 22 is provided with connecting grooves 27 corresponding to the connecting beams 26, which are adapted to the connecting beams 26. The connecting beams 26 and the connecting grooves 27 extend along the axial direction of the snake-bone joint 2. The multiple connecting beams 26 are located at both ends of the first joint 21, and are used to adapt to the second joints 22 adjacent to the first joint 21. The multiple connecting beams 26 and the multiple connecting grooves 27 cooperate to limit the axial displacement of the first joint 21 and the adjacent second joint 22.

[0039] Understandably, the multiple connecting beams 26 provided at one end of the first joint 21 are correspondingly and compatible with the multiple connecting slots 27 of the second joint 22 in the same group of snake-bone joints 2, in order to maintain the installation stability of each snake-bone joint 2; the multiple connecting beams 26 provided at the other end of the first joint 21 are correspondingly and compatible with the multiple connecting slots 27 of the second joint 22 in the adjacent group of snake-bone joints 2, in order to maintain the installation stability of adjacent snake-bone joints 2. This process continues, thereby achieving a stable connection of the snake-bone structure.

[0040] Please see Figures 2 to 4Furthermore, the connecting beam 26 includes a first connecting portion 261 and a second connecting portion 262. The first connecting portion 261 is disposed in the internal region of the second connecting portion 262, and a receiving space 263 is formed between the first connecting portion 261 and the second connecting portion 262. Correspondingly, the connecting groove 27 includes a first groove body 271 adapted to the first connecting portion 261 and a second groove body 272 adapted to the second connecting portion 262. A contact portion 273 is formed between the first groove body 271 and the second groove body 272. The first connecting portion 261 is located in the first groove body 271, the second connecting portion 262 is located in the second groove body 272, and the contact portion 273 is located in the receiving space 263.

[0041] Specifically, the end 1 of the first connecting portion 261 facing the first groove 271 is disc-shaped, and the second connecting portion 262 is arc-shaped. Correspondingly, the first groove 271 is an arc-shaped portion with an opening, and the second groove 272 is an arc-shaped portion with an opening. The end of the contact portion 273 and the receiving space 263 have space for the first joint 21 and the second joint 22 to deflect at an angle. Similarly, the end of the second connecting portion 262 and the second groove 272 also have space for the first joint 21 and the second joint 22 to deflect at an angle. Since the maximum diameter of the first connecting portion 261 is larger than the opening of the first groove 271, the cooperation between the first connecting portion 261 and the first groove 271 along the axial direction of the snake joint 2 can restrict the disengagement between the first joint 21 and the second joint 22. Similarly, since the maximum diameter of the second connecting portion 262 is larger than the opening of the second groove 272, the cooperation between the second connecting portion 262 and the second groove 272 along the axial direction of the snake joint 2 can also restrict the disengagement between the first joint 21 and the second joint 22. A second groove 272 and a second connecting part 262 are added on the basis of the connection between the first groove 271 and the first connecting part 261 to further enhance the installation stability between the first joint 21 and the second joint 22.

[0042] To reduce the risk of tissue damage during insertion, thereby minimizing trauma and improving patient comfort, the wall thickness of existing snake bones is becoming increasingly thinner. This results in a smaller contact area between the joints of the two segments of the snake bone, making the snake bone prone to dislocation under radial force and causing angular deviations when the snake bone is bent under stress.

[0043] Please continue reading. Figures 2 to 4The snake-bone joint 2 of this application is provided with a plurality of limiting beams 23 in one of the first joint 21 and the second joint 22. The plurality of limiting beams 23 are respectively located at both ends of the first joint 21 or the second joint 22, and the plurality of limiting beams 23 located at the same end are arranged along the circumference of the first joint 21 or the second joint 22. The other of the first joint 21 and the second joint 22 is provided with a limiting groove 24 adapted to the limiting beams 23. The limiting beams 23 and the limiting grooves 24 extend along the axial direction of the snake-bone joint 2. The limiting beams 23 are partially located in the limiting grooves 24. There is a movement space 25 between the end of the limiting beams 23 and the bottom of the limiting grooves 24. The plurality of limiting beams 23 and the plurality of limiting grooves 24 cooperate to limit the radial displacement of the first joint 21 and the second joint 22.

[0044] In this embodiment, the size of the limiting beam 23 is preferably 0.3-0.5mm, and the gap between the end of the limiting beam 23 and the bottom of the limiting groove 24 is preferably 0.05-0.1mm, that is, the width of the movement space 25 along the axial direction of the snake joint is preferably 0.05-0.1mm.

[0045] It is understood that a limiting beam 23 is provided on one of the first joint 21 and the second joint 22, and a limiting groove 24 corresponding to the limiting beam 23 is provided on the other joint. The limiting beams 23 are distributed on both sides of the first joint 21 or the second joint 22 to limit the other joint on the adjacent sides. When the snake-bone structure is subjected to a radial force in a certain direction, when the multiple limiting beams 23 arranged circumferentially along the first joint 21 or the second joint 22 move in that radial direction, the remaining limiting beams 23 will be subject to the corresponding limiting grooves. The support of the groove 24 restricts the separation of the first joint 21 and the second joint 22 in the radial direction, ensuring that each snake joint 2 always maintains a stable connection. When the snake structure is bent under force, due to the existence of the movement space 25, the limiting beam 23 and the limiting groove 24 can have a certain movement space 25 to undergo relative movement. The setting of the limiting beam 23 and the limiting groove 24 ensures that the center of each snake joint 2 is always located in the same plane when the first joint 21 and the second joint 22 are deflected at an angle, thereby reducing the angle deviation of the snake structure after bending under force.

[0046] In some embodiments, the limiting beam 23 may be configured on the first joint 21; correspondingly, the limiting groove 24 may be configured on the second joint 22. In other embodiments, the limiting beam 23 may also be configured on the second joint 22, and correspondingly, the limiting groove 24 may be configured on the first joint 21. For ease of understanding, this embodiment will be described in detail with the limiting beam 23 configured on the first joint 21 and the limiting groove 24 configured on the second joint 22 as an example.

[0047] Please see Figure 3 and Figure 4A limiting beam 23 is disposed on the first joint 21. Multiple limiting beams 23 are respectively disposed at both ends of the first joint 21, and the multiple limiting beams 23 disposed at the same end are arranged circumferentially along the first joint 21. It should be noted that the multiple limiting beams 23 disposed at one end of the first joint 21 correspond one-to-one with and are adapted to the multiple limiting grooves 24 of the second joint 22 in the same group of snake-bone joints 2, to maintain the connection stability of the first joint 21 and the second joint 22 in each snake bone when subjected to radial force, and to ensure that the centers of the first joint 21 and the second joint 22 are always located in the same plane when the angle is deflected. The multiple limiting beams 23 disposed at the other end of the first joint 21 correspond one-to-one with and are adapted to the multiple limiting grooves 24 of the second joint 22 in the adjacent group of snake-bone joints 2, to maintain the connection stability of adjacent snake-bone joints 2 when subjected to radial force, and to ensure that the centers of adjacent snake-bone joints 2 are always located in the same plane when the angle is deflected.

[0048] In some embodiments, at least two limiting beams 23 are provided at both ends 1 of the first joint 21. It is understood that at least two limiting beams 23 can make the connection between the first joint 21 and the second joint 22 more stable. When the snake bone structure bends in different directions, at least two limiting beams 23 between the first joint 21 and the second joint 22 in adjacent snake bone joints 2, or between the first joint 21 and the second joint 22 in each snake bone joint 2, can provide constraint and guidance at the same time, preventing the first joint 21 and the second joint 22 from being misaligned or disengaged during movement.

[0049] In some embodiments, a plurality of limiting beams 23 provided at at least one of the two ends 1 of the first joint 21 are evenly and spaced apart along the circumference of the first joint 21. In an optional embodiment, a plurality of limiting beams 23 provided at one end of the first joint 21 are evenly and spaced apart along the circumference of the first joint 21; in another optional embodiment, a plurality of limiting beams 23 provided at one end of the first joint 21 are evenly and spaced apart along the circumference of the first joint 21, and a plurality of limiting beams 23 provided at the other end are also evenly and spaced apart along the circumference of the first joint 21. Further, the number of limiting beams 23 provided at the same end of each first joint 21 is the same, and along the axial direction of the snake-bone joint 2, the limiting beams 23 provided at the same location of the plurality of first joints 21 are located on the same straight line.

[0050] Understandably, the evenly distributed limiting beams 23 at the same end of the first joint 21 enable the adjacent second joints 22 to obtain balanced limiting and support in multiple directions, thereby improving the stability and alignment of the connection between the first joint 21 and the second joint 22. The limiting beams 23 at the same location of multiple first joints 21 are located on the same straight line, making the forces on both ends of the snake joint 2 more balanced when bending. The bending angles of adjacent snake joints are uniform and the movement consistency is high, so as to avoid deflection and further ensure that the centers of adjacent snake joints 2 are always located on the same plane after bending. Secondly, this layout can also disperse contact stress, which can distribute the contact force to multiple contact points, thereby reducing the wear of a single limiting beam 23, making the snake structure move more smoothly in repeated bending, and extending the life of the snake joint 2 and improving the durability of the snake joint 2.

[0051] In some embodiments, a plurality of limiting beams 23 disposed at one end of the first joint 21 are staggered with a plurality of limiting beams 23 disposed at the other end of the first joint 21. It is understood that this staggered arrangement allows the contact points of the limiting beams 23 disposed at the two ends to be subjected to forces at different angles when adjacent serpentine joints 2 are bent, thereby avoiding stress concentration at the same circumferential position and significantly improving the fatigue resistance and wear resistance of the joint; secondly, the staggered arrangement can expand the limiting coverage range of the serpentine joint 2 in multiple directions, reduce motion interference or jamming caused by the alignment of the limiting beams 23, and make the bending of the serpentine structure smoother and the bending angle more uniform.

[0052] Please continue reading. Figures 2 to 4 In this embodiment, four limiting beams 23 are respectively provided at both ends of the first joint 21. The four limiting beams 23 at the same end are evenly and spaced apart along the circumference of the first joint 21. The four limiting beams 23 at one end of the first joint 21 are staggered with the four limiting beams 23 at the other end of the first joint 21. Correspondingly, the second joint 22 in the same group of snake joints 2 is provided with four limiting grooves 24 corresponding to the limiting beams 23, and the second joint 22 in adjacent groups of snake joints 2 is provided with four limiting grooves 24 corresponding to the limiting beams 23. It can be understood that the four limiting beams 23 can enable the adjacent second joints 22 to obtain balanced limiting and support in multiple directions, making the connection between the first joint 21 and the second joint 22 more stable and preventing the first joint 21 and the second joint 22 from misaligning or separating during movement. Secondly, the four limiting beams 23 simultaneously provide constraint and guidance, avoiding stress concentration at the same circumferential position, making the force at both ends of the snake joint 2 more balanced when bending, and making the snake structure smoother during bending.

[0053] It should be noted that the snake-bone structure in this application is a metal-cut snake-bone structure, wherein the connecting beam 26, connecting groove 27, limiting beam 23, and limiting groove 24 are all formed by laser cutting. Please refer to [link / reference]. Figure 5 In some embodiments, the limiting beam 23 includes an outer peripheral surface 231 and a limiting surface 232. Two limiting surfaces 232 are provided, which are configured as two sidewalls on both sides of the outer peripheral surface 231 and opposite to each other. The two limiting surfaces 232 are parallel to each other, and the contact between the limiting beam 23 and the limiting groove 24 of the adjacent second joint 22 occurs on the parallel limiting surfaces 232, which can evenly disperse the lateral force generated during bending or torsion, and reduce local stress concentration and wear. The limiting surface 232 intersects the normal direction of the outer peripheral surface 231. When the first joint 21 and the second joint 22 rotate or swing relative to each other, the axial or lateral load is converted into a normal clamping force, so as to force the mating surface of the limiting groove 24 provided in the adjacent second joint 22 to automatically clamp, preventing the limiting beam 23 from slipping out of the mating groove, thereby enhancing the stability and centering of the snake joint 2 connection. Compared with the limiting surface 232 which is parallel to the normal direction of the outer peripheral surface 231, it is less likely to disengage or slip out, and is especially suitable for working conditions that need to withstand large bending moments or repeated swinging.

[0054] It should be noted that there are various ways to arrange the two limiting surfaces 232 to be parallel to each other and to intersect the normal direction of the outer peripheral surface 231. In some embodiments, the limiting surface 232 is parallel or perpendicular to the cross-section along the length direction of the snake joint 2, such as... Figure 5 As shown. In other embodiments, the limiting surface 232 intersects the cross-section along the radial direction of the snake joint 2, such as... Figure 6 As shown.

[0055] Please see Figure 2 and Figure 3 In this embodiment, the limiting surfaces 232 of the multiple limiting beams 23 located at the same end of the first joint 21 have the same structure, while the limiting surfaces 232 of the limiting beams 23 located at two different ends of the first joint 21 have different structures. When the limiting surfaces 232 of the multiple limiting beams 23 located at the same end have the same structure, the adjacent second joints 22 contact these limiting beams 23, and the constraint directions generated at each limiting beam 23 are basically consistent, and their stress distribution patterns are consistent. This ensures that when the snake-bone structure bends in different directions, its motion characteristics (such as stiffness, damping, and bending radius) remain symmetrical and uniform at each circumferential position.

[0056] Please continue reading. Figure 2The first joint 21 and / or the second joint 22 are provided with mounting beams 28. A receiving gap 281 is formed between the mounting beams 28 and the inner walls of the first joint 21 and / or the second joint 22 in the radial direction, and this mounting gap 281 is used for mounting other components. Specifically, in this embodiment, the mounting beam 28 is disposed on the first joint 21. The central region of the mounting beam 28 is arc-shaped and extends towards the central axis of the snake-bone joint 2, so that the central region of the mounting beam 28 is lower than the inner wall of the first joint 21, thereby forming a receiving gap. The setting of the receiving gap reduces the number of additional mounting components required for mounting other components. On the one hand, it avoids the space occupied by additional mounting components in the snake-bone structure, allowing the snake-bone structure to be more miniaturized; on the other hand, it avoids the weight of additional mounting components, thereby reducing the overall weight of the snake-bone structure.

[0057] Please see Figure 1 One of the two ends 1 is connected to either the first joint 21 or the second joint 22, and the other end 1 is connected to either the first joint 21 or the second joint 22. In some embodiments, when the two ends 1 have the same structure, one end 1 is connected to the first joint 21 of the first group of snake joints 2, and the other end 1 is connected to the first joint 21 of the tail end of the snake joint 2; or, one end 1 is connected to the second joint 22 of the first group of snake joints 2, and the other end 1 is connected to the second joint 22 of the tail end of the snake joint 2. When the two ends 1 have different structures, one end 1 is connected to the first joint 21 of the first group of snake joints 2, and the other end 1 is connected to the second joint 22 of the tail end of the snake joint 2. The connection between end 1 and the first joint 21 and the second joint 22 is the same as the connection between the first joint 21 and the second joint 22 in each group of snake bone joints 2. The connection between the first joint 21 or the second joint 22 is adaptively selected according to whether the structures of the two end 1 are the same. Therefore, it will not be described in detail here.

[0058] It should be noted that the addition of terms such as "first," "second," and "third" to some technical feature names in this application is merely to distinguish similar objects and is not intended to limit quantity, priority, or other limitations. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0059] The various embodiments in this specification are described in a progressive or parallel manner, with each embodiment focusing on its differences from other embodiments. Similar or undescribed parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A snake-bone structure, characterized in that, include: Two ends; Multiple snake-bone joints are sequentially connected and disposed between two ends. Each snake-bone joint includes a first joint and a second joint arranged coaxially. A connecting portion is provided between the first joint and the second joint, and the connecting portion can restrict the axial displacement of the first joint and the second joint. One of the first joint and the second joint is provided with a plurality of limiting beams, which are respectively located at both ends of the first joint or the second joint, and the plurality of limiting beams located at the same end are arranged along the circumference of the first joint or the second joint; the other of the first joint and the second joint is provided with a limiting groove adapted to the limiting beams, and the limiting beams and the limiting grooves extend along the axial direction of the snake joint; The limiting beam is located within the limiting groove, and there is a movement space between the end of the limiting beam and the bottom of the limiting groove. The multiple limiting beams and multiple limiting grooves cooperate to limit the radial displacement of the first joint and the adjacent second joint.

2. The snake-bone structure according to claim 1, characterized in that, The limiting beam is disposed on the first joint, and a plurality of the limiting beams are respectively disposed at both ends of the first joint, and the plurality of the limiting beams disposed at the same end are disposed along the circumference of the first joint; at least two of the limiting beams are respectively disposed at both ends of the first joint.

3. The snake-bone structure according to claim 2, characterized in that, The plurality of limiting beams provided at least one of the two ends of the first joint are evenly and spaced apart along the circumference of the first joint.

4. The snake-bone structure according to claim 3, characterized in that, The number of limiting beams provided at the same end of each of the first joints is the same, and the limiting beams provided at the same location of multiple first joints along the axial direction of the snake joint are located on the same straight line.

5. The snake-bone structure according to claim 2, characterized in that, The plurality of limiting beams disposed at one end of the first joint are staggered with the plurality of limiting beams disposed at the other end of the first joint.

6. The snake-bone structure according to claim 2, characterized in that, The limiting beam includes an outer peripheral surface and two limiting surfaces, which are configured as two sidewalls on both sides of the outer peripheral surface and arranged opposite to each other; the two limiting surfaces are parallel to each other and intersect the normal direction of the outer peripheral surface.

7. The snake-bone structure according to claim 5 or 6, characterized in that, The limiting beams located at the same end of the first joint have the same limiting surface structure, while the limiting beams located at two different ends of the first joint have different limiting surface structures.

8. The snake-bone structure according to claim 1, characterized in that, The connecting part includes a connecting beam and a connecting groove adapted to the connecting beam. One of the first joint and the second joint is provided with a plurality of connecting beams, and the other joint is provided with a connecting groove adapted to the connecting beams. The plurality of connecting beams are respectively located at both ends of the first joint or the second joint. The connecting beam and the connecting groove extend along the axial direction of the snake joint, and the plurality of connecting beams and the plurality of connecting grooves cooperate to limit the axial displacement of the first joint and the adjacent second joint.

9. The snake-bone structure according to claim 1, characterized in that, One of the two ends is connected to either the first joint or the second joint, and the other end is connected to either the first joint or the second joint.

10. The snake-bone structure according to claim 1, characterized in that, The first joint and / or the second joint are provided with a mounting beam in the radial direction, and the mounting beam forms a mounting gap with the inner wall of the first joint and / or the second joint, the mounting gap being used for the installation of other components.

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