TWI753763B - bendable nodules - Google Patents

Abstract

A bendable joint comprises a main body unit, at least one joint unit pivotally connected to the main body unit, a bending unit, and a power unit installed on the main body unit. The at least one joint unit includes several swingable joint groups connected in series in a row. The bending unit includes at least one reversing rib and at least one reinforcing rib installed between the body unit and the joint groups and having the same bending direction. The at least one reversing rib can be driven by the power unit to drive the joint groups to bend in the same direction. Thereby, the present invention makes these joint groups bend with a more bionic action through the flexible reversing ribs, and supports the joint groups through the flexible reinforcing ribs, and assists the repositioning of the joint groups, so that the The invention improves the flexibility and stability of the segment when it is bent with a more compact structure.

Description

bendable nodules

The present invention relates to a nodule, particularly a bendable nodule.

A crawling robot disclosed in Chinese Patent Publication No. 101913388 mainly includes a control segment, a number of telescopic segments connected in reverse series by the control segment, passing through the expansion segments and used to make the An upper flexible cable, a lower flexible cable, a left flexible cable, and a right flexible cable that are stretched by the telescopic section body, and four groups of worm gear and worm mechanisms installed on the control section body and used to control the tightening or loosening of the aforementioned flexible cables .

Thereby, when controlling the force of the flexible cable to be equal, the expansion joints are arranged in a straight line, and when the force of the flexible cable is controlled to be unequal, the expansion joints located on one side of the control section are upward or downward. The lower side is bent and lifted to achieve creeping crawling.

However, since the crawling robot uses up to four sets of worm gear mechanisms and four flexible cables, the structure is quite complicated, and since each set of telescopic joints only relies on the series connection of these flexible cables, when the When the expansion joints are arranged in a straight line, due to gravity, the telescopic joints that are farther away from the control section will deviate from the straight line, and there will be instability. Foot shortcomings.

Therefore, the object of the present invention is to provide a flexible segment with a compact structure and good stability.

Therefore, the bendable joint of the present invention includes a body unit, at least one joint unit, a bending unit, and a power unit.

The at least one joint unit is pivotally connected to the main body unit, and includes a plurality of swingable joint groups connected in series in a row.

The bending unit includes at least one flexible reversing rib and at least one flexible reinforcing rib, the at least one reversing rib is installed between the main body unit and the joint groups, and is in a position relative to the main body unit. moving between a first position and a second position, in the first position, the at least one reversing rib drives the joint groups to extend along an axis direction, and the at least one reversing rib protrudes out of the body along the axis direction The length of the unit is the longest. In the second position, the at least one reversing rib drives the joint groups to swing and bend in the same direction, and the length of the at least one reversing rib passing through the body unit along the axis direction is the shortest. At least one reinforcing rib is connected between the main body unit and the joint groups, and constantly generates an elastic force to move the at least one reversing rib to the first position.

The power unit is mounted on the body unit and is used for driving the at least one reversing rib.

The effect of the present invention lies in: the flexible reversing ribs are used to bend the joint groups in a more bionic motion, and the flexible reinforcing ribs are used to support the joint groups, and assist the joint groups to reset, so that The present invention improves the flexibility and stability of the segment when it is bent with a more compact structure.

1: main unit

101: accommodating space

102: Import Space

103: Powerhouse

11: Board seat

111: Lap joint

12: Rim

13: Cover

2: Joint unit

201: Rib cavity

202: cavity

21: Joint Group

211: Plate

212: Rim

213, 214: Joints

215: Lateral edge

216: Serial connection

217: Lap

218: Abutting Edge

3: Bending unit

31: Reversing Ribs

311: Linkage

312: Connector

313: convex part

32: Reinforcing ribs

321: perforation

4: Power unit

41: Transmission gear set

411: Gear

42: Motor group

421: Worm

43: Reduction gear set

5: Suction cup unit

51: Sucker

52: Air valve group

520: valve port

521: valve seat

522: valve plug

523: Stem

524: Elastic element

53: Air Pipe

6: plane

Y: diameter line

X: axis

L1: length

L2: length

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: FIG. 1 is a perspective view illustrating a first embodiment of the bendable segment of the present invention; FIG. 2 is the A perspective exploded view of a main body unit in the first embodiment; FIG. 3 is a perspective exploded view of several joint groups in the first embodiment; FIG. 4 is a front view of the first embodiment; FIG. 4 is a cross-sectional view taken along the line VV; FIG. 6 is a cross-sectional view illustrating that the two reversing ribs are located at a first position in the first embodiment; FIG. 7 is a cross-sectional view illustrating the first embodiment. The reversing ribs move from the first position to a second position respectively; FIG. 8 is a cross-sectional view illustrating that the reversing ribs are respectively located at the second position in the first embodiment; Fig. 9 is a sectional view similar to Fig. 7, but the bending directions of the reversing ribs are different; Fig. 10 is a perspective view illustrating a change of a valve block in the first embodiment; Fig. 11 is a perspective view illustrating the present invention A second embodiment of the inventive bendable segment; FIG. 12 is a partial cross-sectional view of the second embodiment; and FIG. 13 is a perspective view illustrating a variation of the second embodiment.

Referring to FIGS. 1 , 2 and 3 , a first embodiment of the bendable joint of the present invention includes a body unit 1 , two joint units 2 , a bending unit 3 , a power unit 4 , and a suction cup unit 5.

The main body unit 1 includes two plate bases 11 , four ring edges 12 , and a cover plate 13 , which are opposite to each other.

The plate bases 11 define an accommodating space 101 located in the middle, and two lead-in spaces 102 located on two sides of the accommodating space 101 at intervals along a radial line Y direction. Each of the plate bases 11 has two overlapping portions 111 formed on two sides and spaced apart along an axis X direction. The axis X intersects the radial line Y substantially perpendicularly.

Two of the rings 12 are a set of the overlapping portions 111 connected to the bases 11 and butted against each other, and the rings 12 on each base 11 are along the direction of the axis X interval.

The cover plate 13 is opposite to one of the plate bases 11 and is opposite to the other plate base 11 , and defines a power chamber 103 with the corresponding plate base 11 (as shown in FIG. 5 ).

The joint units 2 are pivotally pivoted on opposite sides of the main body unit 1 along the axis X direction, and include several joint groups 21 that are connected in series in a row and are swingable. Each of the joint sets 21 has two plates 211 which are mutually matched, two are a set of rings 212 connected to the plates 211 , and two joints 213 and 214 that are connected to each other.

The plates 211 define a rib cavity 201 in the middle, and two cavities 202 spaced apart along the radial direction Y and formed on both sides of the rib cavity 201 .

Each of the plates 211 has two opposite side edges 215, a series connection portion 216 protruding from one side edge 215 along a curve, an overlap portion 217 protruding from the other side edge 215, and formed on the outside Abutting edge 218 on the surface and concave along a curve. The connecting parts 216 of each joint group 21 are connected in series with the adjacent overlapping parts 217 and 111 , so that every two overlapping parts 217 or any overlapping part 111 is inserted into the adjacent joint group. 21 between the series connections 216 . The abutting edge 218 is adjacent to the overlapping portion 217 , and the connecting portion 216 of each plate 211 abuts against the abutting edge 218 of the adjacent plate 211 .

The rings 212 of each group are connected to the overlapping portions 217 of the plates 211 and are butted against each other.

The engaging members 213 and 214 are connected to the serial connection portions 216 of the plates 211 and are spaced apart from the rings 212 of the plates 211 along the axis X direction. In this implementation In an example, the engaging member 213 is a protruding post, and the engaging member 214 is a bolt and is screwed to the engaging member 213 through the respective sets of the rims 12 or the respective sets of the rims 212 .

The bending unit 3 includes two flexible reversing ribs 31 and two flexible reinforcing ribs 32 . In this embodiment, the reversing ribs 31 and the reinforcing ribs 32 are made of plastic material that can be flexibly deformed, but it is not limited thereto, and other flexible materials may also be used.

The reversing ribs 31 are spaced apart along the radial Y direction and oppositely disposed along the axis X direction. Each reversing rib 31 has an introduction space 102 inserted through the body unit 1 and passes through the corresponding joint group 21 The linkage portion 311 of the cavity 202 , a connecting portion 312 opposite to the linkage portion 311 and passing through the cavity 202 of the corresponding joint group 21 , and a convex portion 313 . The connecting portion 312 is connected to the joint group 21 farthest from the main body unit 1 in the respective joint units 2 .

Each of the reversing ribs 31 moves relative to the main body unit 1 between a first position (as shown in FIG. 4 and FIG. 6 ) and a second position (as shown in FIG. 8 ). The rib 31 drives the joint groups 21 to extend along the axis X direction, and the length L1 (as shown in FIG. 6 ) passing through the main body unit 1 along the axis X direction is the longest. The rib 31 drives the joint groups 21 to swing and bend in the same direction, and the length L2 (as shown in FIG. 8 ) passing through the main body unit 1 along the axis X direction is the shortest.

Each of the reinforcing ribs 32 is connected between the main body unit 1 and the joint groups 21 , and has a plurality of through holes 321 arranged in a row. Each of the through holes 321 is sleeved on The respective sets of rims 212, 12. Each of the reinforcing ribs 32 constantly generates an elastic force to move the at least one reversing rib 31 to the first position.

Referring to FIG. 2 , FIG. 4 and FIG. 5 , in this embodiment, the power unit 4 includes a transmission gear set 41 pivoted in the accommodating space 101 of the main body unit 1 , a transmission gear set 41 installed in the power chamber 103 and used for generating The motor set 42 for power, and a reduction gear set 43 installed in the power chamber 103 for transmitting power to the transmission gear set 41 .

The transmission gear set 41 has two gears 411 that mesh with each other and rotate in opposite directions. The gears 411 are engaged with the interlocking portions 311 of the reversing ribs 31. When one of the gears 411 is rotated forward and the other gear 411 is reversed, it will simultaneously drive the reversing ribs 31 to move from the first position to The second position drives the joint units 2 to bend in the same direction. When one of the gears 411 is reversed and the other gear 411 is rotated forward, the reversing ribs 31 are simultaneously driven to move from the second position to the the first position, and drive the joint units 2 to extend toward the axis X direction.

The motor group 42 has a worm 421 that can rotate forward or reverse.

The reduction gear set 43 is engaged with the worm 421 and drives one of the gears 411 to rotate.

Referring to FIG. 1 and FIG. 6 , the suction cup unit 5 includes two soft and deformable suction cups 51 , two air valve groups 52 , and two air pipes 53 .

Each of the suction cups 51 is connected to the joint group 21 farthest from the body unit 1 in the respective joint unit 2. Each of the suction cups 51 is used for exhausting gas during deformation and is suitable for working with the joint unit 2. A negative pressure state is formed between a plane 6 to be adsorbed on the plane 6 , and the plane 6 is separated from the plane 6 after the negative pressure state is destroyed.

Each of the gas valve groups 52 has a mounted on the body unit 1 and is configured to flow gas. In this embodiment, each of the gas valve groups 52 has a valve seat 521 connected to the main body unit 1 and defining a valve port 520 , a valve plug 522 detachably closing the valve port 520 , and a valve plug 522 connected to the valve port 520 . The valve plug 522 passes through the valve stem 523 of the valve seat 521 through the valve port 520 , and a valve stem 523 that presses between the valve seat 521 and the valve plug 522 and constantly generates the elastic force that makes the valve plug 522 close the valve port 520 Elastic element 524 . The valve stem 523 can be pushed up by the convex portion 311 of the corresponding reversing rib 31 to push the valve plug 522 away from the valve port 520 , and release gas from the outside through the valve seat 521 and the gas delivery pipe 53 into the respective inside the suction cup 51 .

Referring to FIG. 2 , FIG. 3 and FIG. 6 , between the body unit 1 and the joint groups 21 of the joint units 2 , a group of rings 112 or a group of rings 212 are connected in series through the joints 213 Then, after passing through the plates 211 through the joints 214 , they are screwed with the joints 213 , thereby connecting the plates 211 of each joint group 21 as a whole.

At this time, except that the first joint group 21 in each joint unit 2 is connected in series with the lap joints 111 of the main body unit 1 by the series connection parts 216 , each of the other joint groups The series connection parts 216 of the 21 are connected in series to the overlapping parts 217 of the adjacent joint groups 21, and each joint group 21 swings around the axis X as the center. , except that the first joint group 21 in each joint unit 2 is blocked by the side edges 215 on the plate bases 11 , each of the other joint groups 21 is blocked by the plates 211 The series connection portion 216 abuts against the abutting edges 218 of the adjacent plates 211 , until the side edges 215 of the two adjacent plates 211 block each other.

4 , 6 and 7 and 8 , the joint disclosed in the first embodiment of the present invention is a wall-climbing creeping toy. When the suction cup 51 on the left side of FIG. 6 is compressed and deformed to discharge air, When a negative pressure state is formed between the planes 6 and the planes 6 are adsorbed on the planes 6 , the gears 411 can be driven to rotate in opposite directions only by starting the motor group 42 , whereby the gears 411 will drive the reversing ribs. 31 is moved in the same direction from the first position in FIG. 6 through the half-bent position in FIG. 7 to the second position in FIG. 8, because in the second position, the reversing ribs 31 substantially penetrate the body The length L2 of the unit 1 is the shortest. Therefore, under the condition that the lengths of the joint units 2 do not change, as shown in FIG. 7 and FIG. 8 , the reversing rib 31 located at the lower right corner drives the corresponding joint group with a small arc. 21 and the corresponding reinforcing rib 32 are bent in the direction of the plane 6. At the same time, although the length of the reversing rib 31 located at the upper left of the main body unit 1 is substantially extended, it will drive the corresponding joint group with a larger arc. 21 and the corresponding reinforcing rib 32 are bent in the direction of the plane 6, and during the bending process, the suction cup 51 on the left side of FIG. The suction cup 51 is bent in the direction of the plane 6 with the swinging end, forming an arch with the opening facing the plane 6 as shown in FIG. 8 .

During the movement of the reversing ribs 31 from the first position to the second position During the process, the convex portion 313 of the reversing rib 31 located at the lower right of FIG. 6 will move toward the valve stem 523 on the left as shown in FIG. 7 . When the reversing ribs 31 are shown in FIG. In the position, the convex part 313 on the left pushes the valve stem 523 on the left side, so that the valve stem 523 on the left side pushes the valve plug 522 on the left side away from the valve port 520 of the valve seat 521 on the left side, and the gas is released from the outside through the valve seat 521 on the left side. , The left air pipe 53 enters the upper suction cup 51, and destroys the negative pressure state between the upper suction cup 51 and the plane 6, so that the upper suction cup 51 releases the adsorption relationship with the plane 6.

At the same time, as shown in FIG. 7 , the convex portion 313 of the reversing rib 31 located at the upper left of FIG. 6 will move in the opposite direction to the right valve stem 523 and be farther and farther away from the right valve stem 523 . Because the valve plug 522 keeps closing the valve port 520 on the right side, the air valve group 52 cannot make the outside air flow to the lower suction cup 51 . When the reversing ribs 31 are moved to the second position as shown in FIG. 8 , the suction cups 51 located below will be soft and deformable when they are close to the plane 6 , and the corresponding joint unit 2 will bend when it is bent. The pressing force pushes the lower suction cup 51 toward the flat surface 6 , so that the gas can be exhausted during deformation, and a negative pressure state is formed between the flat surface 6 and the flat surface 6 to be adsorbed on the flat surface 6 .

When the motor set 42 drives each gear 411 to rotate in the opposite direction, it will drive the reversing ribs 31 to move from the second position to the first position again, because in the first position, the reversing ribs 31 The length L1 of the rib 31 extending substantially through the body unit 1 will be extended. Therefore, under the condition that the lengths of the joint units 2 will not change, as shown in FIG. 8 and FIG. And the suction cup 51 above is the swing end reverse Swing in the direction of the plane 6 to form a linear shape as shown in FIG. 6 , and at the same time, the reinforcing ribs 32 also generate elastic forces that assist the reversing ribs 31 to extend along the axis X direction and stabilize at the first position, Make the whole substantially equivalent to a straight line.

During the movement of the reversing ribs 31 from the second position to the first position, the convex portion 313 of the reversing ribs 31 on the left side of FIG. 8 will be opposite to the upper valve stem 523 as shown in FIG. 9 . Moving, the convex portion 313 of the reversing rib 31 located on the right side of FIG. 8 will move toward the valve stem 523 below as shown in FIG. 9 . In this way, it is only necessary to repeatedly drive the reversing ribs 31 to move from the first position to the second position, and then drive the reversing ribs 31 to move from the second position to the first position, so that the present invention can be implemented. The nodules repeatedly change between linear and arched shapes, and in the process of sucking and releasing the suction cups 51, a bionic creeping effect is produced.

When releasing the negative pressure state of the suction cups 51, it is not limited to use the gas valve group 52 to make the gas flow, but also, as shown in FIG. , to make the gas flow. In this way, when the joint units 2 are bent, the pump-type air valve group 52 can be compressed to generate gas, and the negative pressure state of the corresponding suction cups 51 can be released.

Referring to FIG. 11 and FIG. 12 , a second embodiment of the present invention discloses a knuckle that can crawl or walk on a flat surface. The second embodiment also includes the body unit 1 , the bending unit 3 , and the power unit 4 . The difference is that the second embodiment also includes a four-joint unit 2, and the suction cup unit 5 shown in FIG. 8 is omitted.

The bending unit 3 includes four reversing ribs 31 and four reinforcing ribs 32 .

The power unit 4 includes four motor sets 42 , the transmission gear set 41 has four gears 411 , each of the gears 411 is engaged with a respective reversing rib 31 , and each of the motor sets 42 is used to drive each of the gears 411 to rotate forward or reverse. When each gear 411 rotates forward, it drives the respective reversing rib 31 to move from the first position to the second position, and when each gear 411 rotates reversely, it drives the respective reversing rib 31 to move from the first position to the second position. The second position is moved towards the first position.

In this way, when each reversing rib 31 drives the respective joint unit 2 to bend or straighten, the shape of the animal's limbs being bent or straightened is simulated, so that the toy itself walks or crawls in a bionic motion. Since the actions are substantially the same as those of the first embodiment, those with ordinary knowledge in the art can infer the extended details according to the above description, so no further description is given.

It should be noted that the number of these joint units 2 is not limited to four, and may also be three or more than four in other variations of this embodiment. At this time, the purpose of driving the respective joint units 2 to bend or straighten can also be achieved by matching the number of increasing and decreasing reversing ribs 31 , reinforcing ribs 32 , gears 411 and motor groups 42 .

In addition, the segment disclosed in the second embodiment of the present invention is not limited to a toy, and in other variations of this embodiment, it can also be a mechanical arm as shown in FIG. 13 , whereby the main body unit 1 Substantially equivalent to the palm, these joint units 2 are equivalent to fingers, since each joint unit 2 can bend or stretch with bionic movements Straight, better fidelity, and more accurate grasping and gripping movements.

Through the above description, the advantages of the foregoing embodiments can be summarized as follows:

1. Due to the flexibility of the reversing ribs 31 and the reinforcing ribs 32, the joint groups 21 can be bent or straightened in a more bionic motion, so as to improve the movement of the joints. Realism and flexibility.

2. In addition to assisting the repositioning of the joint groups 21, the reinforcing ribs 32 can also support the joint groups 21, so that when the joint extends in the direction of the axis X, it can be substantially equivalent to a straight line, and lift the joint group 21. The stability of the nodule.

3. Each joint unit 2 of the present invention only needs to be equipped with a reversing rib 31 and a reinforcing rib 32 to achieve the purpose of bending or straightening during the movement of the reversing rib 31, not only the cost is low, And the structure is quite simple.

However, the above are only examples of the present invention, and should not limit the scope of the present invention. All simple equivalent changes and modifications made according to the scope of the application for patent of the present invention and the contents of the patent specification are still within the scope of the present invention. within the scope of the invention patent.

1: main unit

11: Board seat

101: accommodating space

102: Import Space

201: Rib cavity

202: cavity

21: Joint Group

211: Plate

212: Rim

213, 214: Joints

3: Bending unit

31: Reversing Ribs

311: Linkage

312: Connector

313: convex part

32: Reinforcing ribs

411: Gear

5: Suction cup unit

51: Sucker

52: Air valve group

520: valve port

521: valve seat

522: valve plug

523: Stem

524: Elastic element

53: Air Pipe

6: plane

Y: diameter line

X: axis

L2: length

Claims (9)

A bendable joint, comprising: a main body unit; at least one joint unit pivotally connected to the main body unit, and including several joint groups connected in series and oscillating in a row; a bending unit, including at least one flexible joint unit The reversing rib, and at least one flexible reinforcing rib, the at least one reversing rib is installed between the main body unit and the joint groups, and relative to the main body unit between a first position and a second position When moving, in the first position, the at least one reversing rib drives the joint groups to extend along an axis direction, and the length of the at least one reversing rib passing through the main body unit along the axis direction is the longest, in the second When in position, the at least one reversing rib drives the joint groups to swing and bend in the same direction, and the length of the at least one reversing rib passing through the main body unit along the axis direction is the shortest, and the at least one reinforcing rib is connected to the main body unit Between the joint groups, a constant elastic force is generated to move the at least one reversing rib to the first position; and a power unit is installed on the main body unit and includes a power unit pivoted on the main body unit and engaged with the at least one A transmission gear set of the reversing rib, and at least one motor set for driving the transmission gear set to rotate. The bendable joint as claimed in claim 1 includes several joint units pivotally connected to the body unit in a swingable manner, the bending unit includes a plurality of reversing ribs and a plurality of reinforcing ribs, and the power unit includes A number of motor sets, the transmission gear set has a number of gears, each of the gears is engaged with a respective reversing rib, and each of the motor sets is used to drive each gear to rotate forward or reversely When each gear rotates forward, it drives the respective reversing rib to move from the first position to the second position, and when each gear rotates reversely, it drives the respective reversing rib from the second position move towards the first position. The bendable joint as claimed in claim 1 includes two joint units, the joint units are pivotally pivoted on opposite sides of the body unit along the axis direction, and the bending unit includes two joint units along the axis direction. The reversing ribs are spaced apart in the radial direction and oppositely arranged along the axis direction, the transmission gear set of the power unit has two gears that mesh with each other and rotate in opposite directions, and a motor set for driving one of the gears. When one gear rotates forward and the other gear rotates reversely, it drives the reversing ribs to move from the first position to the second position at the same time, and drives the joint units to bend in the same direction. When the one gear rotates reversely, the other When a gear rotates forward, it simultaneously drives the reversing ribs to move from the second position to the first position, and drives the joint units to extend toward the axis, and the radial line intersects the axis substantially vertically. The bendable segment as claimed in claim 3, further comprising a suction cup unit, the suction cup unit comprising two soft and deformable suction cups, two air valve groups, and two air pipes, each of the suction cups is connected to a respective In the joint unit, the joint group farthest from the body unit, each suction cup is used for exhausting gas when deformed, and is suitable for forming a negative pressure state with a plane to be adsorbed on the plane, and detached after the negative pressure state is destroyed On the plane, each gas valve group is mounted on the body unit and is configured to flow gas, each of the gas delivery pipes is connected to a respective suction cup and a respective gas valve group, and is used for guiding the flowing gas into the respective suction cups to destroy the respective suction cups negative pressure state. The bendable segment as claimed in claim 4, wherein each of the reversing ribs has a convex portion, and each of the air valve groups of the suction cup unit has a valve that is connected to the body unit and defines a valve port. a valve seat, a valve plug that detachably closes the valve port, a valve stem connected to the valve plug and passing through the valve seat through the valve port, and a valve stem that is forced between the valve seat and the valve plug and is constantly generated The elastic element of the elastic force of the valve plug to close the valve port, the valve stem can be pushed up by the convex part of the corresponding reversing rib to push the valve plug away from the valve port, and release the gas from the outside through the valve seat, the valve The air tubes enter into the respective suction cups. The bendable segment as claimed in claim 1, wherein the main body unit comprises two mutually opposing plate seats, and the plate seats define an accommodating space located in the middle, and two accommodating spaces located on both sides of the accommodating space. an introduction space, the accommodating space is used for accommodating the power unit, and each of the joint sets has two mutually matching plates, and the plates of each joint set define a middle for the at least one reinforcing rib passing through the rib cavity, and two cavities formed on both sides of the rib cavity, and the at least one reversing rib has a linkage part which is penetrated in the corresponding introduction space and is driven by the power unit, and a link opposite to the rib cavity. The linkage part passes through the connection part of the corresponding cavity, and the connection part is connected to the joint group farthest from the body unit in the at least one joint unit. The bendable segment as claimed in claim 6, wherein the body unit further comprises four ring edges, two of the ring edges are connected to the plate bases in a group and are butted against each other, and each of the plate bases is on the plate base. The rings are spaced apart along the axis direction, and each joint group also has two rings that are connected to the plates and butt against each other, and two mutually connected joints, the joints Connected to the plates and spaced apart from the rings of the plates along the axis direction, one of the joints is a convex post, and the other joint is a bolt, which is screwed to the The at least one reinforcing rib has a plurality of perforations arranged in a row in one of the joint parts, and each of the perforations is sleeved on the ring edge of a corresponding group. The bendable joint as claimed in claim 7, wherein each plate seat further has two overlapping portions formed on both sides and spaced apart along the axis direction, and each plate piece of each joint group There are two opposite side edges, a series connection part protruding from one side edge along a curve and connecting the respective joints, and a lap joint protruding from the other side edge and connecting the respective ring edges , the series connection parts of each joint group are connected in series with the adjacent overlapping parts, so that every two overlapping parts are inserted between the series connection parts of the adjacent joint groups. The bendable joint as claimed in claim 8, wherein each plate of each joint group further has an abutting edge formed on the outer surface and recessed along a curve, the abutting edge being adjacent to the overlapping portion , the series connection part of each plate abuts against the abutting edge of the adjacent plate.

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