CN111772734A

CN111772734A - Flexible joint

Info

Publication number: CN111772734A
Application number: CN202010796895.XA
Authority: CN
Inventors: 李晓贞; 徐欣良宜; 王屹初; 禹久泓; 朱鸿
Original assignee: Jiangsu Puppet Medical Equipment Co ltd
Current assignee: Jiangsu Puppet Medical Equipment Co ltd
Priority date: 2020-08-10
Filing date: 2020-08-10
Publication date: 2020-10-16

Abstract

The invention discloses a flexible joint which comprises a joint head end (1), a joint tail end (2), joint pieces, a driving wire (6) and an outer layer (7), wherein the joint head end (1), the joint pieces and the joint tail end (2) are matched with a head end groove (102), a boss, a groove and a tail end boss (202) in sequence to complete detachable movable connection, and the movable connection part is limited by a head end limiting boss (103), a limiting boss and the outer layer (7), so that the movable joint head end (1), the joint pieces, adjacent joint pieces, the joint pieces and the joint tail end (2) can only move radially relative to the movable connection part under the adjustment of the driving wire (6), and the adjustment movement of the flexible joint is completed. The flexible joint can meet the requirements of the medical endoscope camera on shooting at different angles by moving in various directions.

Description

Flexible joint

Technical Field

The invention relates to the technical field of medical instruments, in particular to a flexible joint.

Background

At present, a large number of flexible joints are applied to minimally invasive surgery, when the existing flexible joints are used for driving the front end of a minimally invasive surgical forceps, due to the fact that the front end of a chuck of the existing flexible joints needs to be stressed, the bending strength of the whole flexible joint is very high, meanwhile, the section of flexible joint also needs to meet the control of a doctor and has very high requirements on the flexibility of the flexible joint, and the flexibility and the bending strength of the flexible joint in the current market are not considered by any method.

Disclosure of Invention

In view of the above, there is a need to provide a flexible joint that addresses the problems in the prior art.

The invention provides a flexible joint, comprising:

the joint end is provided with a positioning through hole; a head end groove is formed in the lower side surface of the joint head end, and a head end limiting boss extends from the head end groove;

the outer surface of the joint tail end is provided with a tail end positioning groove corresponding to the positioning through hole; the upper side surface of the joint tail end is provided with a tail end boss;

the outer surface of the joint piece is provided with a joint piece positioning groove corresponding to the positioning through hole, and the joint head end, the joint tail end and the joint piece are provided with positioning grooves corresponding to each other; the upper side surface of the joint piece is provided with two bosses, the lower side surface of the joint piece is provided with two grooves, and the grooves extend to form limiting bosses; the connecting line of the center points of the bosses is vertical to the connecting line of the center points of the grooves; the number of the joint parts is at least two; the adjacent joint pieces are matched with the groove of the other joint piece through the boss of one joint piece; the limiting boss is used for limiting the boss; the head end groove is matched with the boss, and the head end limiting boss is used for limiting the boss; the tail boss is matched with the groove, and the limiting boss is used for limiting the tail boss; the upper side surface and the lower side surface of each joint piece are provided with inclined slopes, and adjacent joint pieces are installed and matched to form a rotation adjusting gap; at least two inclined slopes are arranged on the upper side surface or the lower side surface of the joint piece, an included angle is formed between each inclined slope and the vertical direction or the horizontal direction, and the included angle is 0-15 degrees or 180-195 degrees;

the driving wire penetrates through the positioning through hole, the joint piece positioning groove and the tail end positioning groove and is limited in the positioning through hole, the joint piece positioning groove and the tail end positioning groove through the outer layer; the driving wire pulls the flexible joint to move under the action of external force to complete bending or resetting action;

the outer layer is wrapped on the outer side surfaces of the joint head end, the joint tail end, the joint piece and the driving wire;

the joint head end, the joint piece and the joint tail end sequentially pass through the matching of the head end groove, the boss, the groove and the tail end boss to complete detachable movable connection, and the movable connection part is limited through the head end limiting boss, the limiting boss and the outer layer, so that the movable joint head end, the joint piece, the adjacent joint piece, the joint piece and the joint tail end can only perform rotary motion relative to the movable connection part or the limiting boss under the regulation of the driving wire, the limiting boss is a first-stage boss, a second-stage boss and a tail end boss, the flexible joint completes bending or resetting actions, the angle of the rotary motion is 0-30 degrees, and the rotary motion is limited through the inclined slope surfaces of the upper side surface and the lower side surface of the joint piece.

The joint head end, the joint piece and the joint tail end are in detachable movable connection through the matching of the head end groove, the boss, the groove and the tail end boss, the joint head end, the joint piece and the joint tail end are fixed in a left-right radial mode under the limiting of the outer layer, and the front-back radial mode is in an adjustable state.

As a further improvement of the invention, at least three driving wires are arranged, one end of each driving wire is used for external force traction, and the other end of each driving wire is fixedly connected with the joint head end or the joint tail end;

as a further improvement of the invention, the number of the drive lines is matched with the number of the positioning through holes.

As a further improvement of the invention, the number of the driving wires is matched with the number of the positioning through holes, and the number of the driving wires is a multiple of 2.

As a further improvement of the present invention, the fixed connection includes welding or adhesive bonding.

As a further improvement of the invention, at least two driving wires are arranged, and a driving wire abdicating groove is arranged between adjacent positioning through holes; the two ends of the driving wire respectively penetrate through the positioning through hole, the joint part positioning groove and the tail end positioning groove, the middle section of the driving wire is matched with the driving wire abdicating groove, and the two ends of the driving wire draw the flexible joint to move under the action of external force to finish bending or resetting actions; the middle section of the driving wire and the driving wire abdicating groove are fixedly bonded through welding or adhesive glue.

As a further improvement of the invention, the outer layer can be a spring or a sleeve, the outer layer is a sleeve, the sleeve is a braided sleeve, one end of the braided sleeve is fixedly connected with the outer surface of the joint head end, and the other end of the braided sleeve is fixedly connected with the outer surface of the joint tail end.

As a further improvement of the invention, the lower side surface of the joint head end or the upper side surface of the joint tail end is provided with an inclined slope surface, and the inclined slope surface forms a rotation adjusting gap after the joint head end is installed and matched with the joint piece; the lower side surface of the joint piece or the inclined slope surface forms a rotation adjusting gap after the joint piece is installed and matched with the joint tail end, at least two inclined slope surfaces are arranged on the lower side surface of the joint head end or the upper side surface of the joint tail end, and an included angle is formed between each inclined slope surface and the vertical direction or the horizontal direction.

As a further improvement of the present invention, the joint member includes a primary joint member and a secondary joint member; the upper side surface of the first-stage joint part is provided with a first-stage boss, the lower side surface of the first-stage joint part is provided with a first-stage groove, the first-stage groove extends to form a first-stage limiting boss, the upper side surface of the second-stage joint part is provided with a second-stage boss corresponding to the first-stage groove or the head end groove, the lower side surface of the second-stage joint part is provided with a second-stage groove corresponding to the first-stage boss or the tail end boss, the second-stage groove extends to form a; the first-stage limiting boss or the head end limiting boss is used for limiting the second-stage boss.

As a further improvement of the invention, at least two inclined slopes on the upper side surface or the lower side surface of the primary joint part are provided, at least two inclined slopes on the upper side surface or the lower side surface of the secondary joint part are provided, and an included angle is formed between each inclined slope and the vertical direction or the horizontal direction.

As a further improvement of the invention, the shape of the head end groove, the tail end boss, the groove, the primary boss, the primary groove, the secondary boss or the secondary groove is cylindrical.

As a further improvement of the invention, at least 3 positioning through holes are provided.

As a further improvement of the invention, 4 positioning through holes are provided.

As a further improvement of the invention, at least two inclined slopes are arranged on the upper side surface or the lower side surface of the joint part, and the inclined slopes form an included angle with the vertical direction or the horizontal direction, wherein the included angle is 14 degrees or 194 degrees.

As a further improvement of the invention, the joint head end, the joint piece and the joint tail end

As a further improvement of the invention, the rotation radius is 8.5mm, the rotation angle is 280 degrees, and the relative rotation angle is 28 degrees.

As a further improvement of the invention, the diameters of the joint piece, the joint head end and the joint tail end are 2.7mm, so that the flexible joint can realize omnidirectional movement on the basis of the diameter being less than 3 mm.

As a further improvement of the invention, the outer layer is a sleeve, the sleeve is a braided sleeve, and the braided sleeve is a copper mesh braided tube or a tinned copper mesh braided tube.

As a further improvement of the invention, the number of the driving wires is at least two, and a driving wire abdicating groove is arranged between the adjacent positioning through holes 101; two ends of a first driving wire respectively penetrate through the adjacent positioning through hole 101, joint component positioning groove 301 and tail end positioning groove 201, the middle section of the first driving wire 6 is matched with the driving wire abdicating groove, and the middle section of the driving wire 6 is fixedly connected with the driving wire abdicating groove through welding or adhesive; the second driving wire passes through the positioning through hole 101, the joint component positioning groove 301 and the tail end positioning groove 201, one end of the second driving wire is used for external force traction, and the other end of the second driving wire is fixedly connected with the joint head end or the joint tail end. The two ends of the driving wire draw the flexible joint to move under the action of external force, so as to complete the bending or resetting action.

Compared with the prior art, the invention has the following advantages.

The joint head end, the joint piece and the joint tail end of the flexible joint are matched with the head end groove, the lug boss, the groove and the tail end lug boss 2 in sequence to complete detachable movable connection, and the movable connection part is limited by the head end limiting lug boss, the limiting lug boss and the outer layer, so that the movable joint head end and the joint piece, the adjacent joint piece, the joint piece and the joint tail end can only move radially relative to the movable connection part under the adjustment of the driving wire, and the adjustment movement of the flexible joint is completed.

The joint head end and the joint piece, the adjacent joint piece and the joint tail end are mutually orthogonally installed and matched, and then the inclined slope surface is combined, so that the inclined slope surface and the adjacent joint piece form a rotation adjusting gap after being installed and matched, and the rotation angle of the whole flexible joint can be determined.

The flexible joint can meet the requirements of driving the chuck at the front end of the minimally invasive surgical forceps to move in all directions and driving the camera of the medical endoscope to shoot at different angles, has high flexibility and bending strength, can bear the chuck of the minimally invasive surgical forceps and meet the control of a doctor at the same time, and can be matched with the endoscope in different occasions when the flexible joint is used for driving the camera of the medical endoscope.

The joint part of the invention reduces the overall diameter of the flexible joint by placing the driving wire in the joint part positioning groove at the periphery of the joint part. The positioning groove is used for a working channel and is convenient for routing of a medical endoscope, and the positioning grooves which are communicated in the same direction are arranged at the joint head end, the joint piece and the joint tail end so as to increase the space for internal routing and be used for the working channel and is convenient for routing of the medical endoscope.

The outer layer of the invention plays a role in flexible resilience of the whole joint and can isolate the interference of the outside on the internal circuit of the medical endoscope. An outer layer is sleeved at the outer end of the whole joint, the outer layer is a flexible pipe such as a braided pipe, the whole joint is protected, the driving wire is limited, and the whole joint can be moved as required by pulling the driving wire respectively or pulling the driving wire in a combined mode.

The invention can also be provided with a plurality of inclined broken surfaces according to the actual working requirements, thereby meeting the requirements of movement in different directions and fine control of endoscopic surgery, two driving wires and two joint positioning grooves are correspondingly required to be added when each inclined slope surface is added, the number of the limiting bosses and the limiting grooves can be correspondingly increased according to the stability requirement, and the limiting bosses and the limiting grooves can be needless to be added.

The inclined slopes at the joint head end, the joint piece or the joint tail end are all used for controlling joint movement through the driving wire, and the shapes of all the inclined slopes are used for avoiding at a specific angle.

At least two inclined slopes are arranged on the upper side surface or the lower side surface of the joint part, an included angle is formed between each inclined slope and the vertical direction or the horizontal direction, the included angle is 14 degrees or 194 degrees, the adjustment and operation stability in the up-down direction, the left-right direction and the operation stability can be further met, and the stability of the all-directional movement of the flexible joint is guaranteed.

The first-stage joint part and the second-stage joint part can be repeatedly connected in series, and the length requirements of different operations on the flexible joint are sequentially met.

The shapes of the head end groove, the tail end boss, the groove, the first-stage boss, the first-stage groove, the second-stage boss or the second-stage groove are not limited to specific shapes, only need to be in orthogonal distribution or be matched with one point, are more stably selected to be in a cylindrical shape,

the positioning through holes are provided with at least 4 or the driving wires are provided with at least 4, so that the positioning through holes correspond to the four directions of up, down, left and right, and further realize the omnidirectional stable motion of the whole flexible joint.

The flexible joint of the invention is balanced in self diameter and flexibility and is connected with the flexible joint by a mechanical structure, so that the movement in each direction is very stable.

Through the arrangement of the head end limiting boss, the first-level limiting boss or the second-level limiting boss, the joint head end and the joint piece, the adjacent joint piece, the joint piece and the joint tail end are prevented from being loosened in the radial direction when being connected. The one-level joint piece and the second-level joint piece are mainly connected through the mutual matching of the one-level groove and the second-level boss, and the one-level groove and the one-level boss are mutually orthogonally distributed, so that the adjacent one-level joint piece and the second-level joint piece are sequentially orthogonally distributed and serially connected, and the two-level joint piece plays an important role in the stability of the integral flexible joint and the all-dimensional matching movement of the later-stage joint piece. Certainly, when the first-stage joint part is connected with the second-stage joint part in series, the head end and the tail end of the first-stage joint part are not necessarily matched with the cylindrical groove through the cylindrical boss; only an orthogonal distribution is required, but also a point fit.

Drawings

Fig. 1 is a schematic structural view of a flexible joint of the present invention.

Fig. 2 is a schematic structural view of fig. 1 with an outer layer removed.

Fig. 3 is a schematic view of another operation state of fig. 2.

Fig. 4 is a schematic structural view of the joint tip.

Fig. 5 is a schematic structural view in another direction of fig. 4.

Fig. 6 is a schematic view of the structure of the tail end of the joint.

Fig. 7 is a schematic structural view of a primary or secondary joint member.

Figure 8 is another schematic view of a primary or secondary articular component.

Fig. 9 is a schematic view of the underside of fig. 8.

Figure 10 is a cross-sectional view of a primary or secondary articular component.

Figure 11 is a schematic view of the interfitting primary and secondary articular components.

Fig. 12 is a schematic view of the interfitting structures of the articular components.

FIG. 13 is a schematic view of example 14.

FIG. 14 is a schematic structural view of example 15.

Fig. 15 is a schematic view of the other side of fig. 14.

Fig. 16 is a schematic view of the underside of fig. 14.

Fig. 17 is a schematic upper side view of fig. 15.

In the figure: 1-joint head end, 101-positioning through hole, 102-head end groove, 103-head end limiting boss, 2-joint tail end, 201-tail end positioning groove, 202-tail end boss, 3-positioning groove, 301-joint part positioning groove, 4-first-stage joint part, 401-first-stage boss, 402-first-stage groove, 403-first-stage limiting boss, 5-second-stage joint part, 501-second-stage boss, 502-second-stage groove, 503-second-stage limiting boss, 6-driving wire, 7-outer layer, 10, 11, 12, 20, 21, 22-joint part.

Detailed Description

The invention is further explained below with reference to the figures and examples.

Example 1

A flexible joint, comprising:

a joint head end 1, a positioning through hole 101 is arranged on the joint end; a head end groove 102 is formed in the lower side surface of the joint head end 1, and a head end limiting boss 103 extends from the head end groove 102;

a joint tail end 2, the outer surface of the joint tail end 2 is provided with a tail end positioning groove 201 corresponding to the positioning through hole 101; the upper side surface of the joint tail end 2 is provided with a tail end boss 202;

the outer surface of the joint piece is provided with a joint piece positioning groove 301 corresponding to the positioning through hole 101, and the joint head end 1, the joint tail end 2 and the joint piece are provided with positioning grooves 3 corresponding to each other; the upper side surface of the joint part is provided with two bosses, the lower side surface of the joint part is provided with two grooves, and the grooves extend to form limiting bosses; the connecting line of the center points of the bosses is vertical to the connecting line of the center points of the grooves; the number of the joint parts is at least two; the adjacent joint pieces are matched with the groove of the other joint piece through the boss of one joint piece; the limiting boss is used for limiting the boss; the head end groove 102 is matched with the boss, and the head end limiting boss 103 is used for limiting the boss; the tail boss 202 is matched with the groove, and the limiting boss is used for limiting the tail boss 202; the upper side surface and the lower side surface of each joint piece are provided with inclined slopes, and adjacent joint pieces are installed and matched to form a rotation adjusting gap; at least two inclined slopes are arranged on the upper side surface or the lower side surface of the joint part, and the inclined slopes form an included angle with the vertical direction or the horizontal direction, wherein the included angle is 0-15 degrees or 180 degrees or 195 degrees

The driving wire 6 penetrates through the positioning through hole 101, the joint component positioning groove 301 and the tail end positioning groove 201 and is limited in the positioning through hole 101, the joint component positioning groove 301 and the tail end positioning groove 201 through the outer layer 7; the driving wire 6 pulls the flexible joint to move under the action of external force to complete the bending or resetting action;

the outer layer 7 is wrapped on the outer side surfaces of the joint head end 1, the joint tail end 2, the joint part and the drive wire 6;

joint head end 1, joint spare, joint tail end 2 loops through head end recess 102, the boss, a groove, detachable swing joint is accomplished in the cooperation of tail end boss 202, and carry on spacingly through the spacing boss 103 of head end, spacing boss and outer 7 to aforementioned swing joint department, thereby activity joint head end 1 and joint spare, adjacent joint spare, joint spare and joint tail end 2 are under the transfer of drive wire 6, only can carry out to be rotary motion for swing joint department or spacing boss each other, spacing boss is one-level boss 401, second grade boss 501 and tail end boss 202, thereby flexible joint accomplishes crooked or the action that resets, rotary motion's angle is 0-30, rotary motion accomplishes spacingly through the slope surface of the upside surface of joint spare and the downside surface.

Referring to fig. 12, two bosses on the x1 axis at the upper end of the joint element 20 are embedded in the grooves at the lower end of the joint element 10, and the joint element 20 or the joint element 10 can rotate around the x1 axis;

two bosses on the y1 shaft at the upper end of the joint part 11 are embedded into the grooves at the lower end of the joint part 20, and the joint part 11 or the joint part 20 can rotate around the y1 shaft;

in this way, a plurality of joint members may be connected in series, the upper ends of all the joint members 2n and the lower ends of the joint members 1n may rotate about the xn axis, and the upper ends of all the joint members 1n and the lower ends of the joint members 2n may rotate about the yn axis. The joint pieces connected in series respectively move in four directions.

The way for manipulating with wires is: the drive wire runs through articulated positioning hole 101, joint piece constant head tank 301, tail end constant head tank 201 after establishing ties respectively, and the one end of drive wire is fixed with first articular joint piece constant head tank 301 or positioning hole 101, and the skin protects whole joint this moment to spacing to the drive wire, draw the drive wire respectively like this or the combination pulling just can make whole joint obtain the motion of wanting.

Example 2

The rest is consistent with the scheme of the embodiment 1, the joint head end 1, the joint piece and the joint tail end 2 are in detachable movable connection through the matching of the head end groove 102, the boss, the groove and the tail end boss 202, the joint head end 1, the joint piece and the joint tail end 2 are fixed in the left-right radial direction under the limit of the outer layer 7, and the front-back radial direction is in an adjustable state.

Example 3

The rest of the driving wires are consistent with the scheme of the

embodiment

1 or 2, at least three driving wires are arranged, one end of each driving wire is used for external force traction, the other end of each driving wire is fixedly connected with the joint head end 1 or the joint tail end 2, and the fixed connection comprises welding or adhesive glue adhesion.

Example 4

The rest is consistent with any scheme of the embodiments 1-3, at least two driving wires 6 are arranged, and a driving wire abdicating groove is arranged between the adjacent positioning through holes 101; two ends of the driving wire 6 respectively penetrate through the positioning through hole 101, the joint component positioning groove 301 and the tail end positioning groove 201, the middle section of the driving wire 6 is matched with the driving wire abdicating groove, and the two ends of the driving wire draw the flexible joint to move under the action of external force to complete bending or resetting action; the middle section of the driving wire 6 is fixedly bonded with the driving wire abdicating groove through welding or adhesive glue.

Example 5

Otherwise, consistent with any of embodiments 1-4, the outer layer 7 of the present invention may be a spring or a sleeve, the outer layer 7 may be a sleeve, the sleeve may be a braided sleeve, one end of the braided sleeve is fixedly connected to the outer surface of the joint head end 1, and the other end of the braided sleeve is fixedly connected to the outer surface of the joint tail end 2.

Example 6

The rest is consistent with any scheme of the embodiment 1-5, the lower side surface of the joint head end 1 or the upper side surface of the joint tail end 2 is provided with an inclined slope, and the inclined slope forms a rotation adjusting gap after the joint head end 1 is installed and matched with a joint piece; the lower side surface or the slope surface of the joint piece forms a rotation adjusting gap after the joint piece is installed and matched with the joint tail end 2, at least two slope surfaces are arranged on the lower side surface of the joint head end 1 or the upper side surface of the joint tail end 2, and an included angle is formed between each slope surface and the vertical direction or the horizontal direction.

Example 7

Otherwise consistent with any of examples 1-6, the articular component of the present invention includes a primary articular component and a secondary articular component; the upper side surface of the first-stage joint part 4 is provided with a first-stage boss 401, the lower side surface is provided with a first-stage groove 402, the first-stage groove 402 extends to form a first-stage limiting boss 403, the upper side surface of the second-stage joint part 5 is provided with a second-stage boss 501 corresponding to the first-stage groove 402 or the head end groove 102, the lower side surface is provided with a second-stage groove 502 corresponding to the first-stage boss 401 or the tail end boss 202, the second-stage groove 502 extends to form a second-stage limiting boss 503, and the second-; the primary limiting boss 403 or the head end limiting boss 103 is used for limiting the secondary boss 501.

Example 8

Otherwise, the present invention is the same as any of embodiments 1 to 7, in which at least two inclined slopes are provided on the upper surface or the lower surface of the primary joint member 4, and at least two inclined slopes are provided on the upper surface or the lower surface of the secondary joint member 5, and the inclined slopes form an angle with the vertical or horizontal direction.

Example 9

Otherwise, the shape of the head end groove 102, the tail end boss 202, the boss, the groove, the first-stage boss 401, the first-stage groove 402, the second-stage boss 501, or the second-stage groove 502 is cylindrical, which is consistent with any of the embodiments 1 to 8.

Example 10

Otherwise, in accordance with any of embodiments 1 to 9, the diameters of the joint member, the joint head end 1, and the joint tail end 2 of the present invention are 2.7mm, so that the flexible joint can perform an omnidirectional movement on the basis of a diameter of less than 3 mm.

Example 11

Otherwise, the present invention is the same as any of the embodiments 1 to 10, wherein the outer layer is a sleeve, the sleeve is a braided sleeve, and the braided sleeve is a copper mesh braided tube or a tinned copper mesh braided tube.

Example 12

The other scheme is consistent with any scheme of the embodiments 1-11, at least 3 positioning through holes 101 are arranged, at least three driving wires are arranged, two ends of each driving wire respectively penetrate through the positioning through holes, the joint piece positioning grooves and the tail end positioning grooves, one end of each driving wire is used for external force traction, the other end of each driving wire is fixedly connected with the head end or the tail end of the joint, and two ends of each positioning driving wire draw the flexible joint to move under the action of external force to complete bending or resetting actions.

Example 13

Otherwise in accordance with any of the embodiments 1-12, the drive line 6 of the invention is provided with at least 4.

Example 14

As shown in FIG. 13, this example is otherwise identical to any of examples 1-13, with a radius of rotation of 8.5mm, a diameter of rotation of 17mm, a rotation angle of 280 °, and a relative rotation angle of 28 °.

Example 15

As shown in fig. 14 to 17, the present embodiment is otherwise identical to any of embodiments 1 to 14, and at least 3 positioning through holes 101 of the present invention are provided.

Example 16

Otherwise, in accordance with any of embodiments 1 to 15, the number of positioning through holes 101 of the present invention is 4.

Example 17

Otherwise, in accordance with any of embodiments 1 to 16, at least two inclined slopes are provided on the upper or lower side surface of the joint member, the inclined slopes forming an angle with the vertical or horizontal direction of 14 ° or 194 °.

Example 18

The rest of the driving wires are consistent with any scheme of the embodiments 1-17, at least two driving wires are arranged, three positioning through holes 101 are arranged, and driving wire abdicating grooves are arranged between the adjacent positioning through holes 101; two ends of a first driving wire respectively penetrate through the adjacent positioning through hole 101, joint component positioning groove 301 and tail end positioning groove 201, the middle section of the first driving wire 6 is matched with the driving wire abdicating groove, and the middle section of the driving wire 6 is fixedly connected with the driving wire abdicating groove through welding or adhesive;

the second driving wire passes through the positioning through hole 101, the joint component positioning groove 301 and the tail end positioning groove 201, one end of the second driving wire is used for external force traction, and the other end of the second driving wire is fixedly connected with the joint head end or the joint tail end.

The two ends of the driving wire draw the flexible joint to move under the action of external force, so as to complete the bending or resetting action.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A flexible joint, characterized by: the method comprises the following steps:

the joint comprises a joint head end (1), wherein a positioning through hole (101) is formed in the joint end; a head end groove (102) is formed in the lower side surface of the joint head end (1), and a head end limiting boss (103) extends from the head end groove (102);

the joint tail end (2) is provided with a tail end positioning groove (201) corresponding to the positioning through hole (101) on the outer surface of the joint tail end (2); the upper side surface of the joint tail end (2) is provided with a tail end boss (202);

the outer surface of the joint piece is provided with a joint piece positioning groove (301) corresponding to the positioning through hole (101), and the joint head end (1), the joint tail end (2) and the joint piece are provided with positioning grooves (3) correspondingly; the upper side surface of the joint piece is provided with two bosses, the lower side surface of the joint piece is provided with two grooves, and the grooves extend to form limiting bosses; the connecting line of the center points of the bosses is vertical to the connecting line of the center points of the grooves; the number of the joint parts is at least two; the adjacent joint pieces are matched with the groove of the other joint piece through the boss of one joint piece; the limiting boss is used for limiting the boss; the head end groove (102) is matched with the boss, and the head end limiting boss (103) is used for limiting the boss; the tail end boss (202) is matched with the groove, and the limiting boss is used for limiting the tail end boss (202); the upper side surface and the lower side surface of each joint piece are provided with inclined slopes, and adjacent joint pieces are installed and matched to form a rotation adjusting gap; at least two inclined slopes are arranged on the upper side surface or the lower side surface of the joint piece, an included angle is formed between each inclined slope and the vertical direction or the horizontal direction, and the included angle is 0-15 degrees or 180-195 degrees;

the driving wire (6) penetrates through the positioning through hole (101), the joint component positioning groove (301) and the tail end positioning groove (201) and is limited in the positioning through hole (101), the joint component positioning groove (301) and the tail end positioning groove (201) through the outer layer (7); the driving wire (6) pulls the flexible joint to move under the action of external force to complete bending or resetting action;

the outer layer (7) is wrapped on the outer side surfaces of the joint head end (1), the joint tail end (2), the joint part and the driving wire (6);

the joint head end (1), the joint piece and the joint tail end (2) are in detachable movable connection through the matching of the head end groove (102), the lug boss, the groove and the tail end lug boss (202), the movable connection part is limited by a head end limiting boss (103), a limiting boss and an outer layer (7), so that the head end (1) of the movable joint and the joint piece, the adjacent joint piece, the joint piece and the tail end (2) of the joint can only do rotary motion relative to the movable connection part or the limit lug boss under the regulation of the driving wire (6), the limiting boss is a primary boss (401), a secondary boss (501) and a tail end boss (202), thereby the flexible joint completes the bending or resetting action, the angle of the rotating motion is 0-30 degrees, and the rotating motion is limited by the inclined slopes of the upper side surface and the lower side surface of the joint piece.

2. The flexible joint of claim 1, wherein: the driving wires are at least three, one end of each driving wire is used for external force traction, and the other end of each driving wire is fixedly connected with the joint head end (1) or the joint tail end (2).

3. The flexible joint of claim 1, wherein: at least two driving wires (6) are arranged, and a driving wire abdicating groove is arranged between every two adjacent positioning through holes (101); drive line (6) both ends pass through positioning hole (101), joint spare constant head tank (301) and tail end constant head tank (201) respectively, and the interlude and the drive line of drive line (6) yield slot looks adaptation, the flexible joint activity is pull at the both ends of drive line under the exogenic action, accomplishes crooked or the action that resets.

4. The flexible joint of claim 1, wherein: the outer layer (7) can be a spring or a sleeve, the outer layer (7) is a sleeve, the sleeve is a braided sleeve, one end of the braided sleeve is fixedly connected to the outer surface of the joint head end (1), and the other end of the braided sleeve is fixedly connected to the outer surface of the joint tail end (2).

5. The flexible joint of claim 1, wherein: an inclined slope surface is arranged on the lower side surface of the joint head end (1) or the upper side surface of the joint tail end (2), and a rotation adjusting gap is formed after the joint head end (1) is installed and matched with a joint piece; the lower side surface of the joint piece or the inclined slope surface forms a rotation adjusting gap after the joint piece is installed and matched with the joint tail end (2), at least two inclined slope surfaces are arranged on the lower side surface of the joint head end (1) or the upper side surface of the joint tail end (2), and an included angle is formed between each inclined slope surface and the vertical direction or the horizontal direction.

6. The flexible joint of claim 1, wherein: the joint part comprises a primary joint part and a secondary joint part; the upper side surface of the primary joint part (4) is provided with a primary boss (401), the lower side surface of the primary joint part is provided with a primary groove (402), the primary groove (402) extends to form a primary limiting boss (403), the upper side surface of the secondary joint part (5) is provided with a secondary boss (501) corresponding to the primary groove (402) or the head end groove (102), the lower side surface of the secondary joint part corresponding to the primary boss (401) or the tail end boss (202) is provided with a secondary groove (502), the secondary groove (502) extends to form a secondary limiting boss (503), and the secondary limiting boss (503) is used for limiting the primary boss (401) or the tail end boss (202); the primary limiting boss (403) or the head end limiting boss (103) is used for limiting the secondary boss (501).

7. The flexible joint of claim 6, wherein: the inclined slope surfaces of the upper side surface or the lower side surface of the primary joint piece (4) are at least two, the inclined slope surfaces of the upper side surface or the lower side surface of the secondary joint piece (5) are at least two, and an included angle is formed between each inclined slope surface and the vertical direction or the horizontal direction.

8. The flexible joint of claim 6, wherein: the shape of the head end groove (102), the tail end boss (202), the boss, the groove, the first-stage boss (401), the first-stage groove (402), the second-stage boss (501) or the second-stage groove (502) is cylindrical.

9. The flexible joint according to any one of claims 1-8, wherein: the number of the positioning through holes (101) is at least 3.

10. The flexible joint according to any one of claims 1-8, wherein: at least two inclined slopes are arranged on the upper side surface or the lower side surface of the joint piece, an included angle is formed between each inclined slope and the vertical direction or the horizontal direction, and the included angle is 14 degrees or 194 degrees.