CN105372808B - The portable endoscope of 360 ° of bent angles - Google Patents

Abstract

The invention provides a portable endoscope with a 360° angle, which includes a hand-held device, a bending part and an insertion part; wherein, the hand-held device, the insertion part, the bending part are connected in sequence; The machine includes a corner manipulation part; the corner manipulation part is used to drive the bending part to bend; the bending part includes snake bones; the corner manipulation part includes a driving wrench, a rotating shaft, a traction line and a driving wheel; The driving wrench is connected with the rotating shaft, and the rotating shaft drives the driving wheel to rotate, and the driving wheel drives the traction wire to drive the snake bone to swing in the horizontal direction or/and vertical direction. In the present invention, the bending part can be regulated and driven to bend by the bending angle control part, so that the bending part can be bent freely at 360 degrees, and the handle feels light.

Description

Portable endoscope with 360° angle

technical field

The present invention relates to an endoscope, in particular to a portable endoscope with a 360° bending angle.

Background technique

Endoscope is a precision instrument combined with optics, precision machinery and electronic technology. It can conveniently and quickly inspect the interior of various machines, equipment and assembled objects without disassembling or destroying the assembly. Therefore, it is widely used in industry, anti-terrorism and Various fields of the national economy such as the military have a wide range of uses and important roles.

As endoscopes are used more and more widely, their places of use are becoming more and more diverse. For example, in the field without AC power supply, in places such as wind power towers that need to climb tens of meters high, in rainy days or with dust environment, etc. Therefore, the requirements for endoscopes are getting higher and higher, such as: a built-in large-capacity battery, better portability, waterproof and dustproof, and so on. In addition, the operability requirements for endoscopes are getting higher and higher. For example, it is required to hold the handle of the endoscope with one hand and perform angle control, camera, video and menu operations, etc., while the other hand can hold the insertion tube and perform insertion operations. , to avoid the traditional one person is responsible for the insertion operation, another person is responsible for holding the handle of the endoscope and performing bending operations, etc., thus saving manpower.

Moreover, for corner control, on the basis of the traditional corner operation in four directions: up, down, left, and right, and combined corner operations, it is required to perform 360° corner control to facilitate the search and observation of targets. In addition to the above requirements, as the use becomes more and more extensive, other requirements for endoscopes are also getting higher and higher. For example, the higher the lighting intensity, the better, to meet the requirements of large space and long-distance observation; it is easy to adjust the lighting intensity when observing in a small space and close range; the larger the battery capacity, the better, to meet the needs of long-term work; and so on.

Therefore, portable endoscopes that can be manipulated at a 360° angle with one hand have become a trend. At present, foreign portable endoscopes, such as one is an electric endoscope, as disclosed in U.S. Patents US5373317A, US2007070340A1, etc., use a motor to carry out the pulling operation of the wire rope, and can be held by one hand and have a 360° bending angle. Features such as manipulation, photo-recording, menu operation, etc.

However, the electric endoscope has its inherent shortcomings, which affects the use in some places. Because it is driven by a motor, there must be the rotation noise of the motor and its reducer. In some places such as police and anti-terrorism, it is easy to alarm the target person. ; Because the rocker is pushed by the fingers, the motor is driven to rotate to realize the corner control. Therefore, in a narrow space, when the bending part encounters resistance, the fingers will not feel it, and the bending operation will continue, which will easily cause damage to the endoscope. Also, when withdrawing from the insertion tube, if the operator forgets to control the bend to make it straight, the motor will not rotate automatically, which will easily cause damage to the bend or the wire rope of the endoscope.

In the prior art, there is another kind of portable endoscope that can be manually manipulated with one hand at a 360° angle, such as a portable endoscope disclosed in US Patent US2004193016A1, which has problems:

When controlling a 360° corner, the force to push the joystick is a combination of the forces required for cornering in two directions, so the thrust is large and the fingers are prone to fatigue;

Let go of the joystick with your finger, and the corner will return to zero. When the observation target needs to be positioned for observation, the fingers always need to push the joystick, and the fingers are prone to fatigue; limited by the length of human fingers, the inclination angle of the joystick is small, resulting in a small bending angle or short working length of the endoscope.

In the prior art, one kind of domestic portable endoscope is based on the design of the traditional medical gastroenteroscope handle with some simple modifications. In the original eyepiece part, the eyepiece is removed and a display screen is installed; in the original light guide part , remove the light guide, and install the battery pack. For corner control, you still hold the handle with one hand and operate the two handwheels with the other. One is to make some modifications on the basis of the traditional medical bronchoscope handle design: In the original eyepiece part, remove the eyepiece, install the battery assembly, and use it as a grip handle; in the original light guide part, remove the light guide part and install angled operation wrench. Adding the original existing one, there are two angle operation wrenches in total; a display screen is installed on the original holding handle part. One is an electric endoscope, but there are two forms of corner control: one is controlled by a joystick, and the other is controlled by a button. At present, domestic portable endoscopes all have some of the aforementioned problems more or less respectively.

Contents of the invention

Aiming at the defects in the prior art, the object of the present invention is to provide a portable endoscope with a 360° angle.

According to the portable endoscope with 360° angle provided by the present invention, it includes a hand-held device, a bending part and an insertion part;

Wherein, the handset, the insertion part, and the bending part are connected in sequence; the handset includes an angle manipulation part; the angle manipulation part is used to drive the bending part to bend;

The bending part includes a snake bone; the corner control part includes a driving wrench, a rotating shaft, a traction line and a driving wheel; the driving wrench is connected to the rotating shaft, and the rotating shaft drives the driving wheel to rotate, and the driving wheel Driving the pulling wire further drives the serpentine to swing in the horizontal direction or/and vertical direction.

Preferably, the corner control part further includes a damping plate, a damping baffle, a damping adjusting screw and a bushing;

Wherein, the rotating shaft passes through the shaft sleeve, the damping baffle and the damping sheet; the damping sheet is attached to the driving wheel, the shaft sleeve is provided with a first threaded hole, and one end of the damping adjustment screw passes through the first thread The hole bears against the damping baffle, and the damping baffle further pushes the damping plate, and when the damping adjustment screw is rotated, the change of friction between the damping plate and the driving wheel can be adjusted.

Preferably, the driving wrench includes a first driving wrench and a second driving wrench; the rotating shaft includes a first rotating shaft and a second rotating shaft; the pulling wire includes a first pulling wire and a second pulling wire, and the driving wheel includes a first drive wheel and a second drive wheel;

Wherein, the first driving wrench is connected with the first rotating shaft, the first rotating shaft drives the first driving wheel to rotate, and the first driving wheel drives the first traction wire to drive the snake bone to rotate swing in the horizontal direction;

The second driving wrench is connected with the second rotating shaft, the second rotating shaft drives the second driving wheel to rotate, and the second driving wheel drives the second traction wire to drive the snake bone to rotate vertically. direction swing.

Preferably, the snake bone is provided with a first stringing hole, a second stringing hole, a third stringing hole and a fourth stringing hole; the first stringing hole, the second stringing hole, the The third stringing holes and the fourth stringing holes are distributed sequentially along the circumference of the snake bone and penetrate axially;

Wherein, one end of the first pulling wire passes through the inside of the insertion part and the first stringing hole of the snake bone in turn, and is fixed at the front end of the first stringing hole, and the other end of the first pulling wire passes through The first driving wheel sequentially passes through the inside of the insertion part and the third rope-threading hole of the snake bone, and is fixed at the front end of the third rope-threading hole;

One end of the second pulling wire passes through the inside of the insertion part and the second stringing hole of the snake bone in turn, and is fixed at the front end of the second stringing hole, and the other end of the second pulling wire passes through the second stringing hole. The second driving wheel sequentially passes through the inside of the insertion part and the fourth rope-threading hole of the snake bone, and is fixed at the front end of the fourth rope-threading hole.

Preferably, the corner control part further includes a locking elastic piece; the damping baffle includes a first damping baffle and a second damping baffle;

Wherein, the first damping baffle, the locking elastic piece, the second damping baffle and the damping sheet are arranged in sequence; one end of the rotating shaft passes through the shaft sleeve, the first damping baffle in turn. The sheet, the locking elastic sheet, the second damping stopper and the damping sheet drive the first drive wheel to rotate;

One end of the damping adjusting screw passes through the first threaded hole and bears against the first damping baffle, and when the damping adjusting screw is rotated, the frictional force between the damping plate and the first driving wheel changes.

Preferably, the handset further includes an upper case and a lower case, wherein the openings of the upper case and the lower case are relatively connected;

The corner control part also includes a first limit block, a second limit block and a limit piece;

Wherein, the first limiting block is arranged on the side end surface of the upper casing, and the second limiting block is arranged on the side end surface of the lower casing; one end of the first limiting block and A limiting running space is formed between one end of the second limiting block;

One end of the limiting piece is connected to the driving wrench through a rotating shaft, and the other end is limited in the limiting running space.

Preferably, the angle manipulation part further includes a first embedded nut, a second embedded nut, a first stopper connecting screw and a second stopper connecting screw;

Wherein, the first embedded nut is embedded on the side end surface of the upper casing, and the second embedded nut is embedded on the side end surface of the lower casing;

The first limit block is provided with a first arc-shaped adjustment groove extending in the circumferential direction, and the second limit block is provided with a second arc-shaped adjustment groove extending in the circumferential direction; the first limit block is connected to One end of the screw is connected to the first embedded nut through the first arc-shaped adjustment slot, and one end of the second limiting block is connected to the second embedded nut through the second arc-shaped adjustment slot.

Preferably, a plurality of connection holes are provided on the side end surfaces of the upper case and the lower case; second threaded holes corresponding to the connection holes are provided on the sleeve;

When the connecting screw passes through the connecting hole, the second threaded hole is connected, thereby connecting the upper casing and the lower casing to the shaft sleeve.

Preferably, the corner manipulating part further includes a connecting body and a connecting precursor; the connecting body is connected to the insertion part through the connecting precursor;

The connection body is provided with a first transition wheel and a second transition wheel; one end of the first traction line passes through the first transition wheel, passes through the connection body, the connection front body, and the insertion part in sequence The inside of the first stringing hole is connected to the front end of the first stringing hole, and the other end of the first traction line passes through the connecting body, the connecting front body, and inserts in sequence through the first driving wheel. part, the third threading hole is connected to the front end of the third threading hole;

One end of the second pulling line passes through the connecting body, the connecting front body, the inside of the insertion part, and the second threading hole to connect to the second threading hole through the second transition wheel. hole, the other end of the second pulling wire passes through the connecting body, the connecting front body, the inside of the insertion part in turn through the second driving wheel, and the fourth threading hole is connected to the fourth threading hole. The front end of the rope hole.

Compared with the prior art, the present invention has the following beneficial effects:

1. In the present invention, the bending part is adjusted to drive the bending part to bend, which can realize 360-degree free bending of the bending part, and it feels light and handy;

2. In the present invention, a damping sheet is provided, and the friction force between the damping sheet and the first driving wheel and/or the second driving wheel can be adjusted or reduced by rotating the damping adjustment screw, so that when the bending part After the bending angle is determined, the position of the first driving wheel and/or the second driving wheel can be maintained with the minimum frictional force, and the bending angle will not change. On the one hand, it can ensure the minimum cornering force, on the other hand, it can Realize combined corners, so as to realize 360° corners;

3. In the present invention, a limit operation space is formed between one end of the first limit block and one end of the second limit block; one end of the limit plate is connected to the driving wrench through a rotating shaft, and the other end is limited at the limit position. In the running space, the movement of the driving wrench can be restricted, and then the bending part can be controlled to bend within the set angle;

4. In the present invention, the 360° bending angle of the bending part can be realized through the reciprocating driving of the two driving wrenches respectively, which is easy to operate and easy to learn.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic structural view of the corner control part in the present invention;

Fig. 3 is a schematic diagram of damping adjustment in the corner control part in the present invention;

Fig. 4 is a schematic diagram of the angle limit adjustment in the angle control part in the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

In this embodiment, the portable endoscope with a 360° angle provided by the present invention includes a handset 4, a bending part 2 and an insertion part 3; wherein, the handset 4, the insertion part 3, the bending The parts 2 are connected in sequence; the handset 4 includes a corner manipulation part 7; the corner manipulation part 7 is used to drive the bending part 2 to bend; the bending part 2 includes snake bones 10; Part 7 includes a driving wrench 15, a rotating shaft 16, a traction wire and a driving wheel 17; the driving wrench 15 is connected to the rotating shaft 16, and the rotating shaft 16 drives the driving wheel 17 to rotate, and the driving wheel 17 drives the traction The wire 11 further drives the serpentine 10 to swing horizontally or/and vertically.

As a preferred embodiment, the corner control part 7 also includes a damping plate 18, a damping baffle, a damping adjustment screw 20, and a shaft sleeve 21; wherein, the rotating shaft 16 passes through the shaft sleeve 21, the damping baffle, and the damping plate 18. The damping plate 18 is attached to the drive wheel 17, the bushing 21 is provided with a first threaded hole, and one end of the damping adjustment screw 20 passes through the first threaded hole to withstand the damping block, and the damping block The sheet further pushes the damping sheet 18, and when the damping adjusting screw 20 is rotated, the change of the frictional force between the damping sheet 18 and the driving wheel 17 can be adjusted.

As a preferred embodiment, the corner control part 7 also includes a locking elastic piece 210; the damping baffle includes a first damping baffle 1901 and a second damping baffle 1902; wherein, the first damping baffle 1901 , the locking elastic piece 210, the second damping piece 1902 and the damping piece 18 are sequentially arranged; one end of the rotating shaft 16 passes through the shaft sleeve 21, the first damping piece 1901, the The locking elastic piece 210, the second damping stopper 1902 and the damping piece 18 drive the first driving wheel 1701 to rotate; one end of the damping adjustment screw 20 passes through the first threaded hole to withstand the first A damping block 1901 , when the damping adjustment screw 20 is rotated, the frictional force between the damping plate 18 and the first driving wheel 1701 changes.

As a preferred embodiment, the driving wrench 15 includes a first driving wrench 1501 and a second driving wrench 1502; the rotating shaft 16 includes a first rotating shaft 1601 and a second rotating shaft 1602; The second traction line 1102, the driving wheel 17 includes a first driving wheel 1701 and a second driving wheel 1702; wherein, the first driving wrench 1501 is connected with the first rotating shaft 1601, and the first rotating shaft 1601 drives the The first driving wheel 1701 rotates, and the first driving wheel 1701 drives the first traction wire 1101 to drive the snake bone 10 to swing in the horizontal direction; the second driving wrench 1502 is connected to the second rotating shaft 1602 , the second rotating shaft 1602 drives the second driving wheel 1702 to rotate, and the second driving wheel 1702 drives the second pulling wire 1102 to drive the snake bone 10 to swing in the vertical direction.

As a preferred embodiment, the snake bone 10 is provided with a first stringing hole, a second stringing hole, a third stringing hole and a fourth stringing hole; the first stringing hole, the second stringing hole The rope holes, the third rope-threading hole and the fourth rope-threading hole are sequentially distributed along the circumference of the snake bone and penetrate axially; wherein, one end of the first pulling wire 1101 passes through the insertion The inside of the part 3 and the first stringing hole of the snake bone 10 are fixed at the front end of the first stringing hole, and the other end of the first pulling line 1101 passes through the first driving wheel 1701 and passes through the The inside of the insertion part 3 and the third stringing hole of the snake bone 10 are fixed at the front end of the third stringing hole; one end of the second pulling wire 1102 passes through the inside of the insertion part 3 and the The second stringing hole of the snake bone 10 is fixed at the front end of the second stringing hole, and the other end of the second pulling wire 1102 passes through the second driving wheel 1702 and passes through the inside of the insertion part 3 in turn. . The fourth stringing hole of the snake bone 10 is fixed at the front end of the fourth stringing hole.

As a preferred embodiment, the portable endoscope with 360° angle provided by the present invention, the handset 4 also includes an upper casing 22 and a lower casing 23, wherein the upper casing 22 and the lower casing The openings of the body 23 are relatively connected;

The angle control part 7 also includes a first limit block 2401 , a second limit block 2402 and a limit piece 25 ; wherein, the first limit block 2401 is arranged on the side end surface of the upper shell 22 , the second limiting block 2402 is arranged on the side end surface of the lower housing 23; a limiting running space is formed between one end of the first limiting block 2401 and one end of the second limiting block 2402 ; One end of the limiting piece 25 is connected to the driving wrench 15 through the rotating shaft 16, and the other end is limited in the limiting running space. A plurality of connection holes 28 are provided on the side end surfaces of the upper casing 22 and the lower casing 23; second threaded holes corresponding to the connection holes are provided on the bushing 21; when connecting screws 29 passes through the connection hole 28 and connects with the second threaded hole, thereby connecting the upper casing 22 and the lower casing 23 to the shaft sleeve 21 .

As a preferred embodiment, the angle manipulation part 7 also includes a first embedded nut 2601, a second embedded nut 2602, a first stopper connecting screw 2701 and a second stopper connecting screw 2702; wherein, the first An embedded nut 2601 is embedded on the side end surface of the upper housing 22, and the second embedded nut 2602 is embedded on the side end surface of the lower housing 23; the first limiting block 2401 is provided with Extended first arc-shaped adjustment slot, the second limit block 2402 is provided with a second arc-shaped adjustment slot extending in the circumferential direction; one end of the first limit block connecting screw 2701 passes through the first arc The first embedding nut 2601 is connected to the arc-shaped adjusting groove, and one end of the second limit block connecting screw 2702 is connected to the second embedding nut 2602 through the second arc-shaped adjusting groove.

As a preferred embodiment, the corner manipulating part 7 also includes a connection body 13 and a connection front body 12; the connection body 12 is connected to the insertion part 3 through the connection front body 13; the connection body 12 is provided with a first Transition wheel 1401 and second transition wheel 1402; one end of the first traction line 1101 passes through the first transition wheel 1401, passes through the connecting body 13, the connecting front body 12, and the insertion part 3 in sequence Inside, the first stringing hole is connected to the front end of the first stringing hole, and the other end of the first pulling wire 1101 passes through the connecting body 13 and the connecting front body 12 sequentially through the first driving wheel 1701 , the inside of the insertion part 3, the third threading hole is connected to the front end of the third threading hole; one end of the second pulling line 1102 passes through the connecting body 13 sequentially through the second transition wheel 1402 , the connecting front body 12, the inside of the insertion part 3, and the second stringing hole are connected to the front end of the second stringing hole, and the other end of the second pulling wire 1102 passes through the second driving wheel 1702 in turn The front end of the fourth threading hole is connected through the connecting body 13 , the connecting front body 12 , the inside of the insertion part 3 , and the fourth threading hole.

As a preferred embodiment, the portable endoscope with 360° bending angle provided by the present invention also includes an imaging device and an imaging optical system; wherein, the front end of the bending part 2 is provided with the imaging device and the imaging optical system . The portable endoscope with 360° angle provided by the present invention also includes a battery assembly 9 and an illumination optical system; the handset 4 also includes a display portion 5 and a grip portion 8; Components and light source; the battery assembly 9 is used to supply power to the display part 5 and the light source; wherein, the display part 5, the corner manipulation part 7 and the grip part 8 are connected in sequence; the display Part 5 is connected to the insertion part 3; the display part 5 includes a main controller, an image processing circuit board, a display screen and a key circuit board; the key circuit board, the display screen, the camera, the image The processing circuit board is electrically connected to the main controller; the image processing circuit board is used to process the images collected by the camera device; the display screen is used to display the images collected by the camera device; the button circuit board is provided with buttons , used for controlling the power switch of the electrical system, used for adjusting the illumination intensity of the optical system, and used for controlling the camera device to take pictures, record videos and zoom images.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (8)

1. A portable endoscope with a 360° angle, is characterized in that it includes a hand-held device (4), a bending portion (2) and an insertion portion (3); Wherein, the handset (4), the insertion part (3), and the bending part (2) are connected in sequence; the handset (4) includes a corner manipulation part (7); the corner manipulation The part (7) is used to drive the bending part (2) to bend; The bending part (2) includes a snake bone (10); the corner control part (7) includes a driving wrench (15), a rotating shaft (16), a driving wheel (17) and a traction wire; the driving wrench (15 ) is connected with the rotating shaft (16), the rotating shaft (16) drives the driving wheel (17) to rotate, and the driving wheel (17) drives the traction line and then drives the snake bone (10) in the horizontal direction Or/and swing vertically; The driving wrench (15) includes a first driving wrench (1501) and a second driving wrench (1502); the rotating shaft (16) includes a first rotating shaft (1601) and a second rotating shaft (1602); the pulling wire includes A first traction line (1101) and a second traction line (1102), the drive wheel (17) includes a first drive wheel (1701) and a second drive wheel (1702); Wherein, the first driving wrench (1501) is connected with the first rotating shaft (1601), and the first rotating shaft (1601) drives the first driving wheel (1701) to rotate, and the first driving wheel (1701 ) driving the first pulling wire (1101) to drive the snake (10) to swing in the horizontal direction; The second driving wrench (1502) is connected to the second rotating shaft (1602), the second rotating shaft (1602) drives the second driving wheel (1702) to rotate, and the second driving wheel (1702) drives The second pulling wire (1102) further drives the snake bone (10) to swing in the vertical direction. 2. The portable endoscope with 360° bending angle according to claim 1, characterized in that, the bending angle manipulation part (7) also includes a damping sheet (18), a damping baffle, and a damping adjustment screw (20) and shaft sleeve (21); Wherein, the rotating shaft (16) passes through the shaft sleeve (21), the damping baffle and the damping sheet (18); the damping sheet (18) is attached to the driving wheel (17), and the shaft sleeve (21) is provided with The first threaded hole, one end of the damping adjustment screw (20) passes through the first threaded hole to withstand the damping baffle, and the damping baffle then pushes the damping sheet (18), when the damping adjustment screw (20) is rotated ), capable of adjusting the change of frictional force between the damping plate (18) and the driving wheel (17). 3. the portable endoscope of 360 ° of angles according to claim 1, is characterized in that, described snake bone (10) is provided with the first threading hole, the second threading hole, the 3rd threading hole and The fourth stringing hole; the first stringing hole, the second stringing hole, the third stringing hole and the fourth stringing hole are sequentially distributed along the circumference of the snake bone and axially through; Wherein, one end of the first pulling wire (1101) passes through the inside of the insertion part (3) and the first rope-threading hole of the snake bone (10) in turn, and is fixed at the front end of the first rope-threading hole , the other end of the first traction wire (1101) passes through the first driving wheel (1701), passes through the inside of the insertion part (3) and the third rope hole of the snake bone (10) in turn, and is fixed at the front end of the third stringing hole; One end of the second pulling wire (1102) passes through the inside of the insertion part (3) and the second rope-threading hole of the snake bone (10) in turn, and is fixed at the front end of the second rope-threading hole. The other end of the two traction wires (1102) passes through the second driving wheel (1702), passes through the inside of the insertion part (3) and the fourth stringing hole of the snake bone (10) in turn, and is fixed on the Describe the front end of the fourth threading hole. 4. The portable endoscope with 360° bending angle according to claim 2, characterized in that, the bending angle manipulation part (7) also includes a locking shrapnel (210); the damping baffle includes a first damping Damper (1901) and the second damping damper (1902); Wherein, the first damping flap (1901), the locking elastic piece (210), the second damping flap (1902) and the damping sheet (18) are arranged in sequence; the rotating shaft (16) One end sequentially passes through the bushing (21), the first damping baffle (1901), the locking elastic piece (210), the second damping baffle (1902) and the damping piece (18) driving the first driving wheel (1701) to rotate; One end of the damping adjusting screw (20) passes through the first threaded hole to withstand the first damping stopper (1901), when the damping adjusting screw (20) is rotated, the damping plate (18) and the The frictional force between the first driving wheel (1701) changes. 5. the portable endoscope of 360 ° of angles according to claim 2, is characterized in that, described handset (4) also comprises upper housing (22) and lower housing (23), and wherein, described The upper casing (22) is relatively connected to the opening of the lower casing (23); The corner control part (7) also includes a first limit block (2401), a second limit block (2402) and a limit piece (25); Wherein, the first limiting block (2401) is arranged on the side end surface of the upper casing (22), and the second limiting block (2402) is arranged on the side end surface of the lower casing (23) Above; a limit running space is formed between one end of the first limit block (2401) and one end of the second limit block (2402); One end of the limiting piece (25) is connected to the driving wrench (15) through a rotating shaft (16), and the other end is limited in the limiting running space. 6. The portable endoscope with 360° angle according to claim 5, characterized in that, the angle manipulation part (7) further comprises a first embedded nut (2601), a second embedded nut (2602), The first limiting block connecting screw (2701) and the second limiting block connecting screw (2702); Wherein, the first embedded nut (2601) is embedded on the side end surface of the upper casing (22), and the second embedded nut (2602) is embedded on the side end surface of the lower casing (23); The first limiting block (2401) is provided with a first arc-shaped adjustment groove extending along the circumferential direction, and the second limiting block (2402) is provided with a second arc-shaped adjusting groove extending along the circumferential direction; One end of the first limiting block connecting screw (2701) passes through the first arc-shaped adjustment slot to connect the first embedded nut (2601), and one end of the second limiting block connecting screw (2702) passes through the first arc-shaped adjustment groove. The second arc-shaped adjustment groove is connected with the second embedded nut (2602). 7. The portable endoscope with a 360° angle according to claim 5, characterized in that, a plurality of connection points are arranged on the side end faces of the upper casing (22) and the lower casing (23). A hole (28); the bushing (21) is provided with a second threaded hole corresponding to the connecting hole; When the connecting screw (29) passes through the connecting hole (28), the second threaded hole is connected, thereby connecting the upper casing (22) and the lower casing (23) to the shaft sleeve (21) on. 8. The portable endoscope with 360° bending angle according to claim 3, characterized in that, the bending angle manipulation part (7) also includes a connecting body (13) and a connecting front body (12); the connecting The body (12) is connected to said insertion part (3) by connecting the precursor (13); The connecting body (12) is provided with a first transition wheel (1401) and a second transition wheel (1402); One end of the first pulling wire (1101) passes through the first transition wheel (1401), passing through the connection body (13), the connection front body (12), and the insertion part (3) in turn. Inside, the first threading hole is connected to the front end of the first threading hole, and the other end of the first pulling wire (1101) passes through the connecting body (13), The connection front body (12), the inside of the insertion part (3), and the third threading hole are connected to the front end of the third threading hole; One end of the second pulling wire (1102) passes through the connecting body (13), the connecting front body (12), and the inside of the insertion part (3) sequentially through the second transition wheel (1402) 1. The second threading hole is connected to the front end of the second threading hole, and the other end of the second pulling wire (1102) passes through the connecting body (13) and the second driving wheel (1702) sequentially. The connection front body (12), the inside of the insertion part (3), and the fourth threading hole are connected to the front end of the fourth threading hole.