CN119174582A - Bending unit assembly, bending tube and endoscope - Google Patents

Abstract

The invention discloses a bending unit assembly, a bending tube and an endoscope, the bending tube comprises a number of bending unit assemblies, each bending unit assembly consisting of an anterior joint and a posterior joint. The front joint comprises a front pipe wall, and the two sides of the front pipe wall are respectively provided with a first channel upper wall and a second channel upper wall. The rear joint comprises a rear pipe wall, and a first channel lower wall and a second channel lower wall are respectively arranged on two sides of the rear pipe wall. The first channel upper wall and the first channel lower wall are spliced up and down to form a first channel, the second channel upper wall and the second channel lower wall are spliced up and down to form a second channel, and flexible traction wires can be arranged in the first channel and the second channel in a penetrating mode. The front pipe wall and the rear pipe wall are separated left and right before being assembled, so that cables in the bent pipe can conveniently pass through the pipe body, damage to optical fibers or cables in the installation process is avoided, the cables can also be conveniently replaced, the bent pipe can be connected with bending unit components with different diameters and heights according to requirements, bending radiuses of all sections of the bent pipe can be changed, and the bent pipe is conveniently placed in a body.

Description

Bending unit assembly, bending tube and endoscope

Technical Field

The invention relates to the field of medical equipment, in particular to a bending unit assembly, a bending tube and an endoscope.

Background

An endoscope is an instrument which enters a body through a natural channel of the body to perform detection or treatment, and a flexible endoscope is generally provided with a flexible insertion tube, the front end of which is bendable, and a traction wire is arranged in the insertion tube to control the bending angle of the front end.

Generally, the insertion tube is connected to each other by a plurality of joints, the diameters of the joints are uniform, the sizes of the tube body section and the tip part of the insertion tube are uniform, the outer diameter of the tube body cannot be reduced, and the difficulty of placing the tube body into the body is increased. The insertion tube is generally provided with a fixing structure of a traction wire on a joint, and the joint is driven to rotate by pulling the traction wire to realize the bending of the front end of the insertion tube. Because the insertion tube of the endoscope is small in size, the corresponding joint diameter can be reduced, so that the processing and assembling difficulties of the joint are high, the installation of the traction wire in the insertion tube fixing structure becomes difficult, and the processing efficiency of the endoscope is affected.

Disclosure of Invention

In order to overcome at least one of the above-mentioned technical problems of the prior art, the present invention provides a bending unit assembly, a bending tube and an endoscope which facilitate the installation of a bending tube and a traction wire and improve the flexibility of the bending tube.

The utility model provides a crooked unit subassembly, includes front joint and back joint, front joint includes the preceding pipe wall, preceding pipe wall is protruding to one side, and the both sides of preceding pipe wall are provided with first passageway upper wall and second passageway upper wall respectively. The rear joint comprises a rear pipe wall, the rear pipe wall protrudes towards the opposite direction of the front pipe wall, and a first channel lower wall and a second channel lower wall are respectively arranged on two sides of the rear pipe wall. The two side edges of the front joint and the rear joint are enclosed to form a bending unit pipe, the upper wall of the first channel and the lower wall of the first channel are spliced up and down to form a first channel, the upper wall of the second channel and the lower wall of the second channel are spliced up and down to form a second channel, and flexible traction wires can be arranged in the first channel and the second channel in a penetrating mode.

The bending unit assembly has the advantages that the traction wire is inserted into the first channel and the second channel to limit and fix the front pipe wall and the rear pipe wall, and the traction wire penetrates through the bending unit assemblies front and back to connect the bending unit assemblies to form the bending pipe. The front pipe wall and the rear pipe wall are separated left and right before being assembled, so that a cable penetrating through the bent pipe conveniently penetrates through the pipe body, damage to optical fibers or cables in the installation process is avoided, the cable is convenient to replace, and the front pipe wall and the rear pipe wall are simple to process and convenient to produce and assemble in batches.

In some embodiments of the above bending unit assembly, the first channel upper wall and/or the second channel upper wall are divided into multiple sections, the first channel lower wall and/or the second channel lower wall on the corresponding side are also divided into multiple sections, and the first channel and/or the second channel on one bending unit assembly are formed by mutually intersecting and splicing multiple sections of pipe walls. The multi-section pipe wall cross connection is equivalent to the increase of connection points between the front joint and the rear joint, and when the pipe wall is bent, each section of pipe wall is extruded to generate propping pressure, so that the connection is tighter and the pipe wall is not easy to separate.

In some embodiments of the above bending unit assembly, the first channel upper wall and the second channel upper wall are provided with lower extending sections extending along an axial direction, a lower slot opening downwards is reserved between the lower extending sections and the front pipe wall, the second channel lower wall and the first channel lower wall are provided with upper extending sections extending along the axial direction, an upper slot opening upwards is reserved between the upper extending sections and the rear pipe wall, and the front joint and the rear joint are fixed by being clamped and clamped by the upper slot and the lower slot in an upper-lower cross manner. The upper wall and the lower wall are respectively inserted in the upper slot and the lower slot, so that the connection between the front joint and the rear joint can be enhanced, the connection of the bending unit components is more firm, and the bending unit components cannot be separated from each other during bending.

At least one of the first channel upper wall, the first channel lower wall, the second channel upper wall and the second channel lower wall is an unclosed surrounding structure. The size of the channel can be adjusted by leaving gaps in the semi-enclosed structure, so that the traction wire can conveniently penetrate into the channel, and the installation efficiency of the bent pipe is improved.

The first channel upper wall, the first channel lower wall, the second channel upper wall and the second channel lower wall are all closed annular. The closed ring-shaped structure has good limiting effect on the traction wire, can prevent the traction wire from separating from the channel during bending, and can ensure the bending strength of the bending tube.

The bending tube comprises a plurality of bending unit assemblies, wherein the bending unit assemblies are connected with each other, and the adjacent bending unit assemblies can rotate with each other to drive the bending tube to bend.

The bending tube has the advantages that the bending tube can be connected with bending unit assemblies with different diameters and heights according to requirements, the diameters and the bending radiuses of all sections of the bending tube can be changed, and the bending tube is convenient to put into a body.

In some embodiments of the above-described bending tube, the bending unit assemblies are interconnected by a rotation mechanism comprising arc-shaped protrusions, each arc-shaped protrusion being provided between adjacent bending unit assemblies, the arc-shaped protrusions being located at the ends of the front and/or rear joints of the bending unit assemblies, the arc-shaped protrusions being pressed against the edges of adjacent bending unit assemblies. The arc edge of the arc bulge can rotate along the adjacent bending unit assembly, so that the bending unit assembly body is driven to rotate, the bending of the pipe body is realized, the arc structure is simple and easy to process, and the production of the bending pipe is convenient.

In some embodiments of the above bending tube, the rotation mechanism further comprises an arc-shaped groove, and when one end of the front joint or the rear joint is provided with an arc-shaped protrusion, one end of the front joint or the rear joint connected with the adjacent bending unit assembly is provided with a matched arc-shaped clamping groove. The arc-shaped bulge is limited in the arc-shaped clamping groove, the rotation track is determined, and the two bending unit components are not easy to separate from each other during rotation, so that the strength of the pipe body during bending can be increased.

As a further development of the above, adjacent bending unit assemblies are articulated to each other, and the front and rear joints are connected to the front and rear joints of the adjacent bending unit assemblies by means of articulation links. The hinge members can connect adjacent bending unit assemblies so that the bending unit assemblies are more firmly connected when rotated.

There is also provided an endoscope comprising an insertion tube, the insertion tube being at least partially a curved tube as described in any one of the above. The endoscope is connected through the traction wire by utilizing the bending unit assembly, the bending unit assembly is formed by combining the front joint and the rear joint, and the bending tube is flexible in structure and convenient to assemble.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the drawings described are only some embodiments of the invention, but not all embodiments, and that a person skilled in the art can obtain other designs and drawings from these drawings without inventive effort:

FIG. 1 is a schematic view of a first embodiment of a bending unit assembly according to the present invention;

FIG. 2 is an exploded view of a first embodiment of the bending unit assembly of the present invention;

FIG. 3 is an exploded view of a second embodiment of a bend cell assembly according to the present invention;

FIG. 4 is an exploded view of a third embodiment of a bending unit assembly according to the present invention;

FIG. 5 is an exploded view of a fourth embodiment of a bending unit assembly according to the present invention;

FIG. 6 is an exploded view of a fifth embodiment of a bending unit assembly according to the present invention;

FIG. 7 is a schematic view of a first embodiment of a bent tube according to the present invention;

fig. 8 is a cross-sectional view of a second embodiment of the bent tube of the invention.

Detailed Description

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

It should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected through an intermediate medium, or may be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1 to 6, some embodiments of the present application provide a bending unit assembly composed of a front joint 110 and a rear joint 120, the front joint 110 including a front pipe wall 111, the front pipe wall 111 being convex to one side, and both sides of the front pipe wall 111 being provided with a first channel upper wall 112 and a second channel upper wall 113, respectively.

The rear joint 120 includes a rear pipe wall 121, the rear pipe wall 121 protrudes in the opposite direction to the front pipe wall 111, and a first channel lower wall 122 and a second channel lower wall 123 are respectively disposed on two sides of the rear pipe wall 121.

In assembly, the two sides of the front joint 110 and the rear joint 120 are opposite, and the two sides of the front pipe wall 111 and the rear pipe wall 121 are bonded and then enclosed to form a bending unit assembly. At this time, the protruding portion of the front joint 110 is opposite to the protruding portion of the rear joint 120, and the protruding inner spaces of the front joint 110 and the rear joint 120 are spliced to form an accommodating space through which cables, working channels or electronic components can pass and be fixed.

Wherein, referring to the embodiments in the drawings, the protrusions of the front pipe wall 111 and the rear pipe wall 121 are all semicircular, the front joint 110 and the rear joint 120 are combined to form a circular bending unit assembly, in some other embodiments not shown, the protrusions of the front pipe wall 111 and the rear pipe wall 121 may also be in different shapes such as triangle, square, arc, etc., and the front joint 110 and the rear joint 120 may be combined to form different shapes such as square, ellipse, irregular polygon, etc., and the embodiments of the present application are not limited to the shapes of the protrusions and the bending unit assembly.

After the front pipe wall 111 and the rear pipe wall 121 are assembled in place, the first channel upper wall 112 and the first channel lower wall 122 are spliced up and down, the space surrounded by the first channel upper wall 112 and the first channel lower wall 122 is aligned up and down, the first channel 200 can be spliced up and down, the second channel upper wall 113 and the second channel lower wall 123 are spliced up and down, the space surrounded by the second channel upper wall 113 and the second channel lower wall 123 is spliced up and down to form the second channel 300, flexible traction wires 400 can be penetrated in the first channel 200 and the second channel 300, the bending directions of the upper walls 112, 113 and the lower walls 122, 123 are opposite to those of the front pipe wall 111 and the rear pipe wall 121, the upper walls 112, 113 and the lower walls 122, 123 are equivalent to clamping grooves of the front pipe wall 111 and the rear pipe wall 121, the traction wires 400 are penetrated into the upper walls 112, 113 and the lower walls 122, 123 are equivalent to bolts, so that the front joint 110 and the rear joint 120 are buckled.

The former bending component is formed by cutting long pipe into a ring shape, and then a cable or a device passes through the ring-mounted bending component, so that the cable, particularly an optical fiber material, is easy to bend and damage, and the signal transmission is influenced, so that the using effect is poor. In the embodiment of the application, the front pipe wall 111 and the rear pipe wall 121 are mutually separated before being assembled, so that the bending unit assembly 100 can be surrounded outside a cable, and then the bending unit assembly 100 is assembled, thereby facilitating the installation of the cable and avoiding the damage caused by inserting the cable or devices during the installation. The front joint 110 and the rear joint 120 which are separated into the sheet shape are simple to process, can be formed after cutting processing of metal materials, can also be formed by processing of plastic materials, and are convenient for mass production and assembly.

The traction wire 400 vertically communicates the first channel 200 and the second channel 300, the first channel 200 and the second channel 300 are formed by combining the front joint 110 and the rear joint 120, and the traction wire 400 penetrates into the front joint 110 and the rear joint 120 to connect and limit the front joint and the rear joint 120, so that the bending unit assembly 100 is assembled. After the traction wire 400 passes through the plurality of bending unit assemblies 100, the plurality of bending unit assemblies 100 form a pipe body part of the bending pipe, and the bending unit assemblies 100 can be driven to rotate along the connection part of the front joint 110 and the rear joint 120 by pulling the traction wire 400, so that the rotation angle between the adjacent bending unit assemblies 100 is changed, and the bending of the bending pipe is controlled.

Referring to fig. 1 and fig. 2, in the first embodiment, the front joint 110 includes a front pipe wall 111 with a semicircular cross section, a first upper channel wall 112 and a second upper channel wall 113 are disposed on two sides of the front pipe wall 111, the first upper channel wall 112 and the second upper channel wall 113 are located on an upper half section of the front pipe wall 111, the first upper channel wall 112 and the second upper channel wall 113 are curved in an arc shape and have opposite curved directions to the front pipe wall 111, and the first upper channel wall 112 and the second upper channel wall 113 are tangential to the front pipe wall 111.

The rear joint 120 comprises a semicircular rear pipe wall 121, a first channel lower wall 122 and a second channel lower wall 123 are respectively arranged on two sides of the rear pipe wall 121, the first channel lower wall 122 and the second channel lower wall 123 are positioned on the lower half section of the rear pipe wall 121, the first channel lower wall 122 and the second channel lower wall 123 are bent to be arc-shaped, the bending direction of the first channel lower wall 122 and the bending direction of the second channel lower wall 123 are opposite to the rear pipe wall 121, and the first channel lower wall 122 and the second channel lower wall 123 are tangential to the rear pipe wall 121.

In addition, in the fourth and fifth embodiments of fig. 5 and 6, the first channel upper wall 112 and the second channel upper wall 113 are also located at the upper half of the front pipe wall 111, and the first channel lower wall 122 and the second channel lower wall 123 are also located at the lower half of the rear pipe wall 121, and the front joint 110 and the rear joint 120 are located as shown in the left and right sides of the drawings. In some embodiments, not shown, the front joint 110 and the rear joint 120 are opposite, the first channel upper wall 112 and the second channel upper wall 113 are located above the right side, and the first channel lower wall 122 and the second channel lower wall 123 are located below the left side, which also enables the connection of the front joint 110 and the rear joint 120, and falls within the scope of the present application.

In some cases, the first channel upper wall 112 and/or the second channel upper wall 113 may be configured to divide into multiple segments, and the first channel lower wall 122 and/or the second channel lower wall 123 on the corresponding side are also divided into multiple segments, and the first channel 200 and/or the second channel 300 on one bending unit assembly 100 are formed by mutually intersecting and splicing multiple segments of tube walls. The multi-section tube wall cross connection is equivalent to the increase of connection points between the front joint 110 and the rear joint 120, and when the tube wall is bent, the tube walls of the sections are extruded to be pressed against each other, so that the connection is more compact and the tube wall cross connection is less prone to disengaging.

Referring to the second embodiment in fig. 3, the first channel upper wall 112 includes a plurality of first channel upper wall segments 1121, the plurality of first channel upper wall segments 1121 are uniformly distributed on one side of the front pipe wall 111, the second channel upper wall 113 includes a plurality of second channel upper wall segments 1131, the plurality of second channel upper wall segments 1131 are uniformly distributed on the other side of the front pipe wall 111, and the same, two sides of the rear pipe wall 121 are uniformly provided with a plurality of first channel lower wall segments 1221 and second channel lower wall segments 1231 at intervals. The first channel upper wall segments 1121 and the first channel lower wall segments 1221 are engaged with each other in a vertically staggered manner to form the first channel 200, and the second channel upper wall segments 1131 and the second channel lower wall segments 1231 are engaged with each other in a vertically staggered manner to form the second channel 300. When the traction wire 400 in the first channel 200 is tensioned, the pipe wall of the first channel 200 is bent and extruded, and the end portions of the first channel upper wall sections 1121 are pressed against the contact surfaces of the plurality of first channel lower wall sections 1221 to form limit positions, so that the first channel upper wall 112 and the first channel lower wall 122 are clamped, the front joint 110 and the rear joint 120 are prevented from being separated, and the bending unit assembly 100 is prevented from being extruded and deformed, so that the bending pipe has higher strength in bending.

Referring to fig. 4, in the third embodiment, the first channel upper wall 112 and the second channel upper wall 113 are provided with a lower extension 150 extending along an axial direction, a lower slot 151 opening downward is reserved between the lower extension 150 and the front pipe wall 111, the second channel lower wall 123 and the first channel lower wall 122 are provided with an upper extension 160 extending along an axial direction, an upper slot 161 opening upward is reserved between the upper extension 160 and the rear pipe wall 121, and the front joint 110 and the rear joint 120 are fastened by the upper slot 161 and the lower slot 151 in a crossing manner. The upper walls 112 and 113 and the lower walls 122 and 123 are inserted into the upper and lower slots 161 and 151, respectively, so that the connection between the front and rear joints 110 and 120 can be reinforced, the connection of the bending unit assembly 100 can be more fastened, and the bending unit assembly can not be separated from each other and deformed during bending.

At least one of the first channel upper wall 112, the first channel lower wall 122, the second channel upper wall 113 and the second channel lower wall 123 is an unclosed surrounding structure. Illustratively, in the embodiments of fig. 1 to 5, the first channel upper wall 112, the first channel lower wall 122, the second channel upper wall 113 and the second channel lower wall 123 are all in an unclosed curved arc shape, and the first channel 200 and the second channel 300 formed are guide grooves, wherein the channel walls in the first embodiment, the second embodiment, the third embodiment and the fourth embodiment are curled toward the outside of the curved unit assembly 100, and the channel walls in the fifth embodiment are curled toward the inside of the curved unit assembly 100. The unsealed structure allows the channel to be provided with a gap, the inner diameter of the channel can be changed, the traction wire 400 can conveniently penetrate into the channel, and the installation efficiency of the bent pipe 500 is improved.

In addition, the first channel upper wall 112, the first channel lower wall 122, the second channel upper wall 113, and the second channel lower wall 123 may also be provided in a closed loop shape. Referring to the fifth embodiment of fig. 6, the first and second channel upper walls 112 and 113, the first and second channel lower walls 122 and 123 are closed annular, and the first and second channels 200 and 300 are formed in a hole shape. The closed first channel 200 and second channel 300 have better limiting effect on the traction wire 400, can avoid the traction wire 400 from being separated from the channel during bending, and can ensure the bending strength of the bending tube 500.

On the other hand, the present application further provides a bending tube 500, where the bending tube 500 includes a plurality of bending unit assemblies 100 as described above, the bending unit assemblies 100 are connected to each other, adjacent bending unit assemblies 100 can rotate with each other, and the bending unit assemblies 100 are driven to rotate by pulling the pull wire 400, so that the bending tube 500 is bent. Because the bending tube 500 is formed by connecting and combining the bending unit assemblies 100 through the traction wires 400, part of the bending unit assemblies 100 can be replaced conveniently, the bending tube 500 can be connected by selecting bending unit assemblies 100 with different diameters or heights according to requirements, the diameters or bending radiuses of different parts of the bending tube 500 can be different, the structure of the bending tube 500 is more various, and the bending tube 500 is more convenient to put into a body.

To facilitate rotation of adjacent bending unit assemblies 100, the bending unit assemblies 100 are interconnected by a rotation mechanism that includes arcuate projections 130. Arc-shaped protrusions 130 are arranged between the adjacent bending unit assemblies, the arc-shaped protrusions 130 are positioned at the end parts of the front joints 110 and/or the rear joints 120 of the bending unit assemblies, and the arc-shaped protrusions 130 are pressed to the edges of the adjacent bending unit assemblies 100.

Referring to the embodiment of fig. 7, the arc-shaped protrusions 130 are positioned at the upper ends of the front and rear joints 110 and 120, and the arc-shaped protrusions 130 are pressed against the lower ends of the front and rear joints 110 and 120 in the adjacent bending unit assembly 100. In some embodiments, not shown, the arc-shaped protrusions 130 are disposed at the upper end of the front joint 110 and the lower end of the rear joint 120, and the arc-shaped protrusions 130 are respectively pressed against the lower end of the front joint 110 and the upper end of the rear joint 120 in the adjacent bending unit assembly 100. The arc edge of the arc-shaped protrusion 130 can provide a motion track, and the adjacent front joint 110 and the rear joint 120 which are contacted with the arc-shaped protrusion 130 rotate along the arc edge of the arc-shaped protrusion 130, so that the bending unit assembly 100 is driven to rotate to realize the bending of the pipe body, and the arc-shaped structure is simple and easy to process, and the production of the bending pipe is convenient.

Further, the rotation mechanism further includes an arc-shaped groove 140, and when one end of the front joint 110 or the rear joint 120 is configured as an arc-shaped protrusion 130, one end of the front joint 110 or the rear joint 120 connected to the adjacent bending unit assembly 100 is configured as a matching arc-shaped groove 140. The arc-shaped protrusion 130 limits the arc-shaped groove 140, the rotation track is determined, and the two bending unit assemblies 100 are not easy to separate from each other during rotation, so that the strength of the pipe body during bending can be increased.

Further, the adjacent bending unit assemblies 100 are hinged to each other, and the rotating mechanism further includes a connection member 600 by which the front and rear joints 110 and 120 are connected to the front and rear joints 110 and 120 of the adjacent bending unit assemblies 100. Referring to the embodiment of fig. 8, the front and rear joints 110 and 120 are provided with upper and lower connection pieces 601 and 602, the lower connection piece 602 is bent inward of the bending unit assembly 100, the lower connection piece 602 of the front joint 110 of the previous bending unit assembly 100 overlaps with the upper connection piece 601 of the next front joint 110 when the adjacent bending unit assembly 100 is assembled, the lower connection piece 602 of the rear joint 120 of the previous bending unit assembly 100 overlaps with the upper connection piece 601 of the next rear joint 120, and then the connection piece 600 is hinged through the upper and lower connection pieces 601 and 602. The connection members 600 can firmly connect adjacent bending unit assemblies 100, so that the bending unit assemblies 100 are more firmly connected when they are rotated, thereby reinforcing the strength of the bending tube 500.

There is also provided an endoscope comprising a handle and an insertion tube interconnected, the insertion tube being at least partially a curved tube as described in any of the above. Therefore, the bending tube has the beneficial effects of the bending tube and is flexible in bending structure.

The endoscope related in the embodiment of the application can be a bronchoscope, a pyeloscope, an esophagoscope, a gastroscope, a enteroscope, an otoscope, a rhinoscope, a stomatoscope, a laryngoscope, a colposcope, a laparoscope, an arthroscope and the like, and the embodiment of the application does not limit the type of the endoscope.

While the preferred embodiments of the present invention have been illustrated in detail, the embodiments described are only some, but not all, of the embodiments of the present invention, and other embodiments may be devised by those skilled in the art that will fall within the scope of the principles of this invention.

Claims (10)

1. A bending unit assembly, characterized in that: it includes A front joint (110), the front joint (110) comprising a front tube wall (111), the front tube wall (111) protruding to one side, and a first channel upper wall (112) and a second channel upper wall (113) being respectively provided on both sides of the front tube wall (111); A rear joint (120), the rear joint (120) comprising a rear tube wall (121), the rear tube wall (121) protruding in the opposite direction of the front tube wall (111), and a first channel lower wall (122) and a second channel lower wall (123) being respectively provided on both sides of the rear tube wall (121); The two side edges of the front joint (110) and the rear joint (120) are enclosed to form a curved unit tube; the first channel upper wall (112) and the first channel lower wall (122) are spliced up and down to form a first channel (200); the second channel upper wall (113) and the second channel lower wall (123) are spliced up and down to form a second channel (300); and flexible traction lines can be passed through the first channel (200) and the second channel (300). 2. The bending unit assembly according to claim 1, characterized in that: the first channel upper wall (112) and/or the second channel upper wall (113) are divided into multiple sections, and the first channel lower wall (122) and/or the second channel lower wall (123) on the corresponding side are also divided into multiple sections, and the first channel (200) and/or the second channel (300) on a bending unit assembly (100) are formed by cross-jointing multiple sections of tube walls. 3. The bending unit assembly according to claim 1 is characterized in that: the first channel upper wall (112) and the second channel upper wall (113) are provided with a lower extension section (150) extending in the axial direction, and a lower slot (151) opening downward is reserved between the lower extension section (150) and the front tube wall (111); the second channel lower wall (123) and the first channel lower wall (122) are provided with an upper extension section (160) extending in the axial direction, and an upper slot (161) opening upward is reserved between the upper extension section (160) and the rear tube wall (121), and the front joint (110) and the rear joint (120) are fixed by cross-engaging the upper slot (161) and the lower slot (151) up and down. 4. The bending unit assembly according to claim 1, characterized in that at least one of the first channel upper wall (112), the first channel lower wall (122), the second channel upper wall (113) and the second channel lower wall (123) is an unclosed enclosing structure. 5. The bending unit assembly according to claim 1, characterized in that: the first channel upper wall (112), the first channel lower wall (122), the second channel upper wall (113) and the second channel lower wall (123) are all closed rings. 6. A bending tube, characterized in that it comprises a plurality of bending unit assemblies (100) as described in any one of claims 1 to 5, wherein the bending unit assemblies (100) are connected to each other, and adjacent bending unit assemblies (100) can rotate relative to each other to drive the bending tube (500) to bend. 7. The bending tube according to claim 6 is characterized in that: the bending unit assemblies (100) are connected to each other through a rotating mechanism, and the rotating mechanism includes an arc-shaped protrusion (130), and an arc-shaped protrusion (130) is arranged between adjacent bending unit assemblies (100), and the arc-shaped protrusion (130) is located at the end of the front joint (110) and/or the rear joint (120) of the bending unit assembly (100), and the arc-shaped protrusion (130) presses against the edge of the adjacent bending unit assembly (100). 8. The bending tube according to claim 7 is characterized in that: the rotating mechanism also includes an arc-shaped groove (140), and when one end of the front joint (110) or the rear joint (120) is set as an arc-shaped protrusion (130), one end of the connected front joint (110) or the rear joint (120) in the adjacent bending unit assembly (100) is set as a matching arc-shaped groove (140). 9. The bending tube according to claim 6, characterized in that adjacent bending unit assemblies (100) are hinged to each other, and the front joint (110) and the rear joint (120) are connected to the front joint (110) and the rear joint (120) of the adjacent bending unit assembly (100) through hinged connecting parts. 10. An endoscope, characterized in that it comprises an insertion tube, wherein at least a part of the insertion tube is the curved tube as claimed in any one of claims 6 to 9.