A pivot unit, an active bending section and a processing method of the active bending section

Abstract

The present invention relates to the technical field of endoscopes, and specifically discloses a pivot unit, an active bending section and a processing method of the active bending section, wherein the pivot unit comprises a tubular base body, and arc-shaped ears and lugs axially protruding from the two ends of the tubular base body are respectively arranged at two ends of the tubular base body, the arc-shaped ears have a first reinforcing portion convex radially inwardly, and the lug has a second reinforcing portion convex radially inwardly, the two arc-shaped ears are arranged relative to each other to define a first accommodating area therebetween, the lugs of adjacent pivot units are rotatably fitted in the first accommodating area, a second accommodating area is formed between the two sides of the lug and the tubular base body, and the arc-shaped ears of adjacent pivot units are slidably fitted in the second accommodating area; in the above scheme, the first reinforcing portion and the second reinforcing portion can increase the rotational contact area between the arc-shaped ears and the lugs of adjacent pivot units, thereby avoiding radial separation of two adjacent pivot units, thereby improving the stability of the active bending section.

Description

Technical Field

[0001] The present invention relates to the technical field of endoscopes, and in particular to a pivot unit, an active bending section and a processing method of the active bending section. Background Art

[0002] An endoscope is a medical device that inserts an insertion part into the human body and observes the internal tissues of the human body through a camera module at the distal end of the insertion part. It can help doctors determine the location of lesions in the patient's body and the tissue structure characteristics of the lesion location. An endoscope includes an operating handle and an insertion part. In actual operation, the traction wheel is driven to rotate by turning the lever on the operating handle to adjust the posture of the active bending section of the insertion part, thereby adjusting the direction of the distal module to achieve fixed-point observation and other functions.

[0003] In the related art, the active bending section is usually formed by riveting multiple pivoting units, or cut from a tubular member as a whole. The active bending section formed by riveting multiple pivoting units has the characteristics of high structural stability, which makes the active bending section not easy to loosen or fall off in a complex use environment, which can significantly improve the safety of endoscope use. The active bending section formed by riveting has the characteristics of complex structure and high tooling requirements, which leads to a significant increase in the production cost of the entire active bending section; and the active bending section formed by cutting from a tubular member as a whole has lower requirements for manufacturing and tooling, but it is easy for two adjacent pivoting units to fall off when subjected to large forces, that is, the stability of the active bending section is poor.

[0004] Therefore, providing an active bending section with high structural stability and low manufacturing cost is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] The present invention discloses a pivot unit, an active bending section and a processing method of the active bending section, so as to solve the technical problem of poor stability of the integrally cut active bending section in the related art.

[0006] In order to solve the above problems, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present application provides a pivot unit, the pivot unit comprising a tubular base, a first end of the tubular base is provided with an arc-shaped lug axially protruding from the tubular base, the arc-shaped lug has a first reinforcing portion convex radially inwardly, and a second end of the tubular base is provided with a lug axially protruding from the tubular base, the lug has a second reinforcing portion convex radially inwardly;

[0008] The two arc-shaped ears are arranged opposite to each other to define a first accommodation area therebetween, and the ears of the adjacent pivoting units are rotationally engaged in the first accommodation area;

[0009] A second accommodating area is formed between the two sides of the lug and the tubular base, and the arc-shaped lugs of the adjacent pivoting units are slidably fitted in the second accommodating area.

[0010] Further, along the radial inward direction of the tubular base, the opening size of the first accommodating area gradually decreases; or, along the radial inward direction of the tubular base, the opening size of the first accommodating area gradually increases.

[0011] Further, along the radial inward direction of the tubular base, the opening size of the second accommodating area gradually decreases; or, along the radial inward direction of the tubular base, the opening size of the second accommodating area gradually increases.

[0012] Furthermore, the arc-shaped lug and the lug adjacent thereto form a radially inwardly convex arc-shaped protrusion.

[0013] Furthermore, the center position of the lug is located in the extension direction of the sliding path of the arc-shaped lug.

[0014] In a second aspect, the present application further provides an active bending section, comprising a plurality of the aforementioned pivot units, wherein the plurality of pivot units are connected end to end in sequence, and two adjacent pivot units are rotationally connected.

[0015] In a third aspect, the present application further provides a method for processing an active bending segment, which is used for processing and forming the aforementioned active bending segment, and the processing method comprises:

[0016] Punching the tubular member to form a plurality of concave areas distributed along the axial direction of the tubular member;

[0017] Filling the concave area with solder and welding the concave area to the tubular member to form a thickened portion;

[0018] The tubular member is cut to form a plurality of mutually separated pivot units, wherein the pivot units include a tubular base, an arc-shaped lug and a lug, wherein the arc-shaped lug and the lug are located at two ends of the tubular base, and the arc-shaped lug and the lug are formed at the thickened portion.

[0019] Furthermore, the tubular component is stamped to form a plurality of recessed areas distributed along its axial direction, including: filling a cylindrical mold into a tubular base, the cylindrical mold having an arc-shaped inwardly concave stamping recess; and using a pushing piece to stamp and push the area of ​​the tubular base corresponding to the stamping recess to form the recessed area on the tubular base.

[0020] Furthermore, before the solder is filled in the recessed area and fixed to the tubular component by welding to form a thickened portion at the recessed area, the processing method further includes: preheating the tubular component.

[0021] After the recessed area is filled with solder and welded to the tubular component to form a thickened portion at the recessed area, the processing method further includes: grinding the outer wall of the thickened portion to make a smooth transition between the outer wall of the thickened portion and the outer wall of the tubular base.

[0022] The technical solution adopted by the present invention can achieve the following beneficial effects:

[0023] The pivot unit, active bending section and processing method of the active bending section of the present application are provided with a first radially inwardly convex reinforcement portion on the arc-shaped support ear, and a second radially inwardly convex reinforcement portion on the convex ear. Based on the thickening effect of the first reinforcement portion on the arc-shaped support ear in the radial direction, and the thickening effect of the second reinforcement portion on the arc-shaped support ear in the radial direction, the two adjacent pivot units have a larger contact width in the radial direction of the tubular base when they are rotated together, and both have a larger rotational contact area. Even if the active bending section has a large bending amplitude so that the two adjacent pivot units are misaligned in the radial direction, the amplitude of the radial misalignment is much smaller than the contact width of the two adjacent pivot units in the radial direction, so that radial separation is difficult to occur, thereby improving the structural stability of the entire active bending section, so that the active bending section formed by integral cutting of the tubular member has the advantages of simple processing and low manufacturing cost, as well as the stability of the riveted active bending section, thereby ensuring the safety of the use of the endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is one of the structural schematic diagrams of the pivot unit of the embodiment of the present application;

[0026] Figure 2 This is the second structural schematic diagram of the pivot unit of the embodiment of the present application;

[0027] Figure 3 This is the third structural schematic diagram of the pivot unit of the embodiment of the present application;

[0028] Figure 4 This is one of the structural schematic diagrams of the active bending section of an embodiment of the present application;

[0029] Figure 5 This is the second structural schematic diagram of the active bending section of the embodiment of the present application;

[0030] Figure 6 It is a schematic flow chart of a method for processing an active bending segment according to an embodiment of the present application.

[0031] In the figure:

[0032] 100, tubular base; 200, arc-shaped lug; 210, first reinforcement portion; 300, lug; 310, second reinforcement portion; 400, first accommodating area; 500, second accommodating area. DETAILED DESCRIPTION

[0033] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0034] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0035] In the related art, the active bending section of the endoscope is usually formed by riveting multiple pivot units or by cutting a tubular member as a whole. The active bending section formed by riveting has the characteristics of high connection strength and strong structural stability, but the production cost is high, and the tooling is relatively complicated, and the riveting process has high requirements for operators. Although the active bending section formed by cutting a tubular structure as a whole optimizes the production and tooling process of the active bending section, the tubular structure is a thin-walled structural part and lacks effective radial limit. When the active bending section has a large bending amplitude, the two adjacent pivot units are prone to misalignment in the radial direction, thereby causing the entire active bending section to loosen, and then the pivot units fall off from each other, making it difficult to ensure the safety of the endoscope.

[0036] In view of this, the present application discloses a pivot unit, an active bending section and a processing method of the active bending section. Figures 1 to 5 , the pivot unit, active bending section and the processing method of the active bending section provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0037] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The embodiment of the present application discloses a pivot unit, which is applied to the active bending section of an endoscope. Specifically, the active bending section includes a plurality of pivot units connected end to end and connected in rotation. In the embodiment of the present application, the pivot unit disclosed includes a tubular base 100, an arcuate lug 200 and a lug 300, wherein the tubular base 100 has a first end and a second end opposite to each other, the tubular base 100, the arcuate lug 200 and the lug 300 are integrally formed, and the arcuate lug 200 axially protrudes from the first end of the tubular base 100, and the lug 300 axially protrudes from the second end of the tubular base 100.

[0038] In the embodiment of the present application, the first end of the tubular base 100 has two radially opposite pivot parts, each pivot part includes two arc-shaped ears 200 with opposite arc bends and opposite to each other, and a first accommodating area 400 is defined between the two arc-shaped ears 200 of the same pivot part, and the first accommodating area 400 matches the shape of the lug 300. In two adjacent pivot units, the lug 300 of one pivot unit can be rotatably accommodated in the first accommodating area 400 of the other pivot unit, and the two arc-shaped ears 200 of the same pivot part form a clamping force on the lug 300, so that it can rotate in the first accommodating area 400 and can prevent the lug 300 from axially disengaging from the first accommodating area 400, thereby ensuring the stability of the axial connection between the two adjacent pivot units.

[0039] In the embodiment of the present application, the second end of the tubular base 100 has two radially opposite lugs 300. By way of example, the outer edge of the lug 300 can be an arc-shaped outer edge, so that the lug 300 can be rotatably fitted in the first accommodating area 400. The lug 300 forms a second accommodating area 500 between the tubular base 100 and the lug 300 on both sides of the extension direction relative to the tubular base 100. The shape of the second accommodating area 500 matches the shape of the arc-shaped lug 200, and the arc-shaped lug 200 can slide in the second accommodating area 500.

[0040] Based on the above technical solution, in two adjacent pivot units of the active bending section, the arc-shaped lug 200 of one pivot unit is slidably matched in the second accommodation area 500 of the other pivot unit, and the lug 300 of the other pivot unit is rotationally matched in the first accommodation area 400 of the pivot unit, thereby forming a pivot structure of the two pivot units, and the two pivot units can realize the limited matching in the axial direction while realizing the rotation connection through the pivot structure. It should be noted that in the embodiment of the present application, the pivot unit is a plurality of pivot units formed by cutting a tubular structure, and the plurality of pivot units are separated from each other and realized the rotation connection through the aforementioned pivot structure.

[0041] In the embodiment of the present application, the arc-shaped lug 200 has a first reinforcing portion 210 that is radially inwardly convex. Based on the arrangement of the first reinforcing portion 210, the wall thickness of the pivot unit at the arc-shaped lug 200 is greater than the wall thickness of the pivot unit at the tubular base 100. Similarly, the lug 300 has a second reinforcing portion 310 that is radially inwardly convex. Based on the arrangement of the second reinforcing portion 310, the thickness of the pivot unit at the second reinforcing portion 310 is greater than the wall thickness of the pivot unit at the tubular base 100. In other words, the wall thickness of the pivot unit at the arc-shaped lug 200 and the lug 300 is increased by the arrangement of the first reinforcing portion 210 and the second reinforcing portion 310.

[0042] In the embodiment of the present application, in order to facilitate understanding of the radial thickening effect of the first reinforcing portion 210 on the arc-shaped support ear 200, and the radial thickening effect of the second reinforcing portion 310 on the lug 300, please refer to Figure 1 and Figure 2 , a first auxiliary line a and a second auxiliary line b are drawn, wherein the portion of the arcuate lug 200 radially outside the first auxiliary line a is a portion with the same wall thickness as the tubular base 100, and the portion of the arcuate lug 200 radially inside the first auxiliary line a is the radially thickened first reinforcement portion 210. Similarly, the portion of the lug 300 radially outside the second auxiliary line b is a portion with the same wall thickness as the tubular base 100, and the portion of the lug 300 radially inside the second auxiliary line b is the radially thickened second reinforcement portion 310.

[0043] As can be seen from the foregoing, the two arc-shaped ears 200 form a clamping force on the lug 300 to enable the two adjacent pivot units to rotate and cooperate, and the end wall surface of the arc-shaped ears 200 slides with the end wall surface of the lug 300. Based on the thickening effect of the first reinforcement part 210 on the arc-shaped ears 200 in the radial direction, and the thickening effect of the second reinforcement part 310 on the lug 300 in the radial direction, the two adjacent pivot units have a larger contact width in the radial direction of the tubular base 100 when rotating and cooperating, and both have a larger rotational contact area. Even if the active bending section has a large bending amplitude so that the two adjacent pivot units are misaligned in the radial direction, the amplitude of the radial misalignment is much smaller than the contact width of the two adjacent pivot units in the radial direction, so that radial separation is difficult to occur, thereby improving the structural stability of the entire active bending section, so that the active bending section formed by integral cutting of the tubular member has the advantages of simple processing and low manufacturing cost, and at the same time, it has the stability of the riveted active bending section, thereby ensuring the safety of the endoscope.

[0044] It can be understood that the first accommodating area 400 defined by the two arc-shaped ears 200 in the same pivoting position matches the shape of the lugs 300 of the adjacent pivoting units to ensure the tightness of the multiple pivoting units when they are connected in series to form an active bending section.

[0045] In some embodiments of the present application, for the same pivot unit, the two radially opposite first accommodating areas 400 defined by the two radially opposite pivoting parts gradually decrease in the radially inward direction of the tubular base 100. In this arrangement, the size change trends of the opening sizes of the two first accommodating areas 400 defined by the two radially opposite pivoting parts are opposite. In this arrangement, when the active bending section undergoes a large bending deformation, among the two radially opposite lugs 300 of the adjacent pivoting units, even if one of the lugs 300 can move in a certain direction, the other lug 300 will be blocked and limited by the arc-shaped lug 200 in the direction, thereby avoiding a large radial displacement of the adjacent pivoting units in the radial direction, so as to maintain the rotational abutment relationship between the arc-shaped lug 200 and the lug 300 of the adjacent pivoting unit, that is, to ensure the structural stability of the active bending section.

[0046] In some embodiments of the present application, the opening size of the first accommodating area 400 gradually decreases in the radially outward direction of the tubular base 100. Similarly, the opening sizes of the two first accommodating areas 400 defined by the two radially opposite pivoting parts have opposite change trends. The two radially opposite pivoting parts can respectively impose radial limits in opposite directions on the two lugs 300 of the adjacent pivoting units, thereby preventing the adjacent pivoting units from radially disengaging when moving in a certain direction, thereby ensuring the structural stability of the active bending section.

[0047] Of course, in some other embodiments of the present application, the connection stability of two adjacent pivot units can also be enhanced by designing the size of the second accommodating area 500. For example, along the radially inward direction of the tubular base 100, the opening size of the second accommodating area 500 gradually decreases. Alternatively, along the radially inward direction of the tubular base 100 and along the radially outward direction of the tubular base 100, the opening size of the second accommodating area 500 gradually decreases, and this application will not repeat this.

[0048] In some embodiments of the present application, along the radially inward direction of the tubular base, the size change trend of the opening size of the first accommodating area 400 is the same as the size change trend of the opening size of the second accommodating area 500. Exemplarily, along the radially inward direction of the tubular base 100, the size of the opening size of the first accommodating area 400 gradually decreases, and the size change trend of the opening size of the second accommodating area 500 gradually decreases. In this case, based on the engagement relationship between the pivot unit and the adjacent pivot unit, and the first accommodating area 400 and the second accommodating area 500 are respectively arranged on the pivot unit and the pivot unit adjacent thereto, two adjacent pivot units can achieve bidirectional limiting at one pivot position, thereby further improving the structural stability and rotational stability of the active bending section.

[0049] In some embodiments of the present application, the arc-shaped support ear 200 and the adjacent lug 300 constitute a radially inwardly convex arc-shaped protrusion, and the arc-shaped support ear 200 and the adjacent lug 300 are formed by cutting the arc-shaped protrusion. In specific applications, the arc-shaped protrusion can prevent the active bending section from causing scratches to other components (such as wiring harnesses, instrument tubes, etc.) placed therein, thereby ensuring the safety of the active bending section. The radially inward arc-shaped protrusion is formed by stamping, which has the characteristic of easy processing.

[0050] The inventors found in the research process that the arc-shaped lug 200 and the adjacent lug 300 together constitute a radially inwardly convex arc-shaped protrusion, and the thickness of the arc-shaped protrusion is the largest at the center position in the radial direction of the tubular base 100. Based on this situation, in a further technical solution, the center position of the arc-shaped protrusion is located in the extension direction of the sliding path of the arc-shaped lug 200. When the two adjacent pivot units rotate relative to each other to the limit position, the arc-shaped lug 200 can abut the area where the wall thickness of the lug 300 is the thickest, that is, the root area of ​​the lug 300, which is also the center area of ​​the arc-shaped protrusion. In this way, it can be ensured that the arc-shaped lug 200 and the adjacent pivot unit have a larger abutment contact area, so that the abutment stability is better, thereby avoiding excessive concentration of abutment stress, which causes the arc-shaped lug 200 or the lug 300 to deform and cause radial dislocation and separation.

[0051] See also Figure 4~Figure 5 The embodiment of the present application also discloses an active bending section, which includes a plurality of the aforementioned pivot units, wherein the plurality of pivot units are connected end to end in sequence, and two adjacent pivot units are rotationally connected.

[0052] In an optional embodiment of the present application, the arc-shaped lug 200 and the lug 300 may be distributed in the same circumferential direction of the tubular base 100. In this arrangement, see Figure 4 When a plurality of pivot units are connected end to end to form an active bending section, the active bending section can be bent in both directions.

[0053] In an optional embodiment of the present application, along the circumferential direction of the tubular base 100, the distribution direction of the arc-shaped support ear 200 is perpendicular to the distribution direction of the lug 300. In this arrangement, see Figure 5 When a plurality of pivot units are connected end to end to form an active bending section, the active bending section can be bent in four directions.

[0054] An embodiment of the present application also discloses an endoscope, which includes the aforementioned active bending section. Specifically, the endoscope includes an operating handle and an insertion portion, the proximal end of the insertion portion is connected to the operating handle, and the active bending section is arranged at the distal end of the insertion portion so that the distal end of the insertion portion has an active bending function.

[0055] The present application also discloses a method for processing an active bending section, see Figure 6 The disclosed processing method of the active bending section comprises the following steps:

[0056] Step S100, punching the tubular component to form a plurality of recessed areas distributed along the axial direction of the tubular component.

[0057] In step S100, the tubular member is a thin-walled member, which has a certain ductility in the radial direction. When a radial inward force is applied to the outer side of the tubular member, the aforementioned concave area can be formed. For example, a cylindrical mold can be used to abut against the inner wall of the tubular member, and the cylindrical mold has an arc-shaped inwardly concave stamping depression. A pushing member is used to push and punch the area of ​​the tubular base corresponding to the stamping depression, and the part of the tubular member corresponding to the stamping depression is deformed inwardly, and the aforementioned concave area is formed.

[0058] Step S200, filling the recessed area with solder and welding the tubular member to form a thickened portion at the recessed area.

[0059] In step S200, solder is filled in the concave area and the solder is welded and fixed to the tubular component. In this way, the concave portion of the tubular component can be thickened and the outer wall surface of the concave portion of the tubular component can be flush with the outer wall surface of the tubular substrate.

[0060] Step S300, cutting the tubular component to form a plurality of mutually separated pivot units, wherein the pivot unit comprises a tubular base, an arc-shaped lug and a lug, wherein the arc-shaped lug and the lug are located at both ends of the tubular base, and the arc-shaped lug and the lug are formed in the thickened portion.

[0061] In step S200, the tubular member 10 may be cut by laser cutting to form a plurality of pivot units connected end to end. Specifically, two radially opposite pivot parts are cut and formed at the first end of the tubular base 100, each pivot part includes two arc-shaped ears 200 with opposite arc bending directions and opposite to each other, and a first accommodation area 400 is defined between the two arc-shaped ears 200 of the same pivot part, and the first accommodation area 400 matches the shape of the lug 300, and the lug 300 can be rotatably accommodated in the first accommodation area 400, and the two arc-shaped ears 200 of the same pivot part clamp the lug 300 to prevent the two adjacent pivot units from axially disengaging.

[0062] Two radially opposite lugs 300 are cut and formed at the second end of the tubular base 100, and a second accommodating area 500 is formed between the two sides of the lug 300 and the tubular base 100. The shape of the second accommodating area 500 matches the shape of the arcuate lug 200, and the arcuate lug 200 can slide in the second accommodating area 500.

[0063] In two adjacent pivot units of the active bending section, the arc-shaped support ear 200 of one pivot unit is slidably fitted in the second accommodating area 500 of the other pivot unit, and the lug 300 of the other pivot unit is rotationally fitted in the first accommodating area 400 of the pivot unit, thereby forming a pivot structure of the two pivot units.

[0064] Before step S200, the processing method of the active bending section further includes: preheating the tubular component. On the one hand, the heating can eliminate the thermal stress generated during the welding process and prevent the tubular component from being deformed or cracked after welding. On the other hand, the heating can improve the fluidity of the solder and make the solder better combined with the tubular matrix, thereby improving the welding quality.

[0065] After step S200, the processing method of the active bending section further includes: grinding the outer wall of the thickened portion to make the outer wall of the thickened portion smoothly transition with the outer wall of the tubular base. When applied to an endoscope, the outer side of the active bending section is usually covered with a skin, and the outer wall of the partially thickened portion filled by grinding and welding is smoothly transitioned with the outer wall of the tubular base, thereby avoiding scratches on the skin caused by the welding thickened portion.

[0066] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0067] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A pivot unit, characterized in that: The invention comprises a tubular base (100), wherein a first end of the tubular base (100) is provided with an arc-shaped lug (200) axially protruding from the tubular base (100), and the arc-shaped lug (200) has a first reinforcing portion (210) convex radially inwardly, and a second end of the tubular base (100) is provided with a lug (300) axially protruding from the tubular base (100), and the lug (300) has a second reinforcing portion (310) convex radially inwardly; The two arc-shaped ears (200) are arranged opposite to each other to define a first accommodation area (400) therebetween, and the ears (300) of the adjacent pivoting units are rotatably engaged in the first accommodation area (400); A second accommodating area (500) is formed between the two sides of the lug (300) and the tubular base (100), and the arc-shaped lug (200) of the adjacent pivot unit is slidably fitted in the second accommodating area (500); Along the radial inward direction of the tubular base (100), the opening size of the first accommodating area (400) gradually decreases; or, along the radial inward direction of the tubular base (100), the opening size of the first accommodating area (400) gradually increases.

2. The pivot unit according to claim 1, characterized in that Along the radial inward direction of the tubular base (100), the opening size of the second accommodating area (500) gradually decreases; or, along the radial inward direction of the tubular base (100), the opening size of the second accommodating area (500) gradually increases.

3. The pivot unit according to any one of claims 1 to 2, characterized in that: The arc-shaped support ear (200) and the protruding ear (300) adjacent thereto form a circular arc-shaped protrusion that protrudes radially inward.

4. The pivot unit according to claim 3, characterized in that: The center position of the arc-shaped protrusion is located in the extension direction of the sliding path of the arc-shaped support ear (200).

5. An active bending section, characterized in that: It comprises a plurality of pivot units as claimed in any one of claims 1 to 4, wherein the plurality of pivot units are connected end to end in sequence, and two adjacent pivot units are rotationally connected.

6. A method for processing an active bending segment, used for processing and forming the active bending segment according to claim 5, characterized in that: include: Punching the tubular member to form a plurality of concave areas distributed along the axial direction of the tubular member; Filling the concave area with solder and welding the concave area to the tubular member to form a thickened portion; The tubular member is cut to form a plurality of mutually separated pivot units, wherein the pivot units include a tubular base, an arc-shaped lug and a lug, wherein the arc-shaped lug and the lug are located at two ends of the tubular base, and the arc-shaped lug and the lug are formed at the thickened portion.

7. The method for processing an active bending section according to claim 6, characterized in that: Punching the tubular component to form a plurality of concave areas distributed along the axial direction of the tubular component includes: Filling a cylindrical mold into a tubular base, wherein the cylindrical mold has an arc-shaped inwardly concave punching depression; A pushing piece is used to punch and push a region of the tubular base body corresponding to the punched recess, so as to form the recessed region on the tubular base body.

8. The method for processing an active bending section according to claim 6, characterized in that: Before filling the concave region with solder and welding the tubular member to form a thickened portion at the concave region, the processing method further includes: The tubular component is preheated.

9. The method for processing an active bending section according to claim 6, characterized in that: After the solder is filled in the recessed area and fixed to the tubular member by welding to form a thickened portion at the recessed area, the processing method further includes: The outer wall of the thickened portion is polished to ensure a smooth transition between the outer wall of the thickened portion and the outer wall of the tubular base.

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