CN219271120U

CN219271120U - Mechanical arm pitching mechanism, mechanical arm device and interventional operation robot

Info

Publication number: CN219271120U
Application number: CN202320680036.3U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Beijing Wansi Medical Technology Co ltd
Current assignee: Beijing Wansi Medical Technology Co ltd
Priority date: 2023-03-30
Filing date: 2023-03-30
Publication date: 2023-06-30
Anticipated expiration: 2033-03-30

Abstract

The utility model relates to the technical field of medical instruments and discloses a mechanical arm pitching mechanism, a mechanical arm device and an interventional operation robot. According to the mechanical arm pitching mechanism, the damping structure is arranged on the input shaft side of the speed reducer, so that the effect of preventing rotation can be reflected on the output shaft side of the speed reducer, the output shaft of the speed reducer is not easy to rotate, and the reliability and stability of rotation are ensured.

Description

Mechanical arm pitching mechanism, mechanical arm device and interventional operation robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a mechanical arm pitching mechanism, a mechanical arm device and an interventional operation robot.

Background

The interventional therapy is a minimally invasive therapy performed by using modern high-tech means, namely, under the guidance of medical imaging equipment, special precise instruments such as a catheter, a guide wire and the like are introduced into a human body to diagnose and treat the in vivo pathological condition locally.

Taking vascular interventional therapy as an example, the vascular interventional therapy technology has been developed rapidly in recent years, and the technology is that doctors send special precise medical instruments into human bodies under the guidance of medical images to accurately treat focus positions in the bodies. The vascular interventional therapy technology opens up a new treatment way for a plurality of symptoms which are considered to be refractory in the past, and has the characteristics of no operation, small wound, quick recovery, good treatment and the like. The existing vascular interventional therapy method also has a certain problem, and doctors are exposed to radioactive radiation such as X-rays, CT and the like for a long time, so that the health of the doctors is hurt; the limitation of the hands and the long-time accurate holding of the surgical knife can lead doctors to feel very tired, the factors such as fatigue and unstable manual operation can seriously affect the operation quality, and only doctors with abundant experience can perform the operation, so that the operation is assisted by an interventional operation robot to become an important direction for the development of vascular interventional treatment.

The interventional operation robot is driven by the mechanical arm to perform pitching operation generally, and at present, when the mechanical arm drives the interventional operation robot to perform pitching operation, the interventional operation robot can pitch flexibly to influence the reliability and stability of pitching operation.

Disclosure of Invention

The utility model aims to solve the problems that the pitching of an interventional operation robot body is flexible and affects the reliability and stability of pitching operation in the prior art, and provides a mechanical arm pitching mechanism which is provided with a damping structure capable of abutting against an input shaft to block the rotation of the input shaft.

In order to achieve the above object, an aspect of the present utility model provides a mechanical arm pitching mechanism, comprising a speed reducer and a damping structure, wherein: the speed reducer comprises an input shaft and an output shaft, wherein the output shaft rotates along with the input shaft to drive pitching, and the damping structure is arranged to be abutted to the input shaft to block the rotation of the input shaft.

Because the damping structure can be abutted to the input shaft of the speed reducer when the input shaft of the speed reducer rotates, friction force for preventing the input shaft of the speed reducer from rotating can be generated to prevent the input shaft from rotating, meanwhile, a damping effect which is amplified by a plurality of times is correspondingly generated on the output shaft of the speed reducer, and finally, components assembled on the output shaft of the speed reducer, such as a robot body of the interventional operation robot, cannot flexibly rotate, so that the interventional operation robot is enabled to receive the expected damping effect, and pitching is stable and reliable.

Preferably, the damping structure comprises a resilient body configured to be able to resiliently contact the input shaft to allow radial movement along the input shaft.

Preferably, the elastic body comprises:

the installation body is provided with an installation cavity;

an elastic element which is assembled in the mounting cavity, and one end of the elastic element is connected with the mounting body; and

and the contact body is connected with the other end of the elastic element so that the contact body can elastically contact the input shaft.

Preferably, the contact body has a columnar shape, and the inner wall of the installation cavity is configured to be capable of adapting to the outer contour of the contact body, so that a part of the contact body is slidably disposed in the installation cavity.

Preferably, an end surface of the contact body, which is far away from the end of the elastic element, is an arc surface.

Preferably, the outer wall of the mounting body is provided with threads for assembly.

Preferably, the mechanical arm pitching mechanism further comprises a first bearing and a second bearing arranged on the input shaft, and the damping structure is arranged between the first bearing and the second bearing.

Preferably, the number of the damping structures is plural, and the plural damping structures are uniformly distributed along the circumferential direction of the input shaft.

The second aspect of the utility model provides a mechanical arm device, which comprises a mechanical arm body and a mechanical arm pitching mechanism arranged on the mechanical arm body, wherein the mechanical arm pitching mechanism is provided by the utility model.

By arranging the mechanical arm pitching mechanism in the mechanical arm device, the damping structure is arranged in the mechanical arm pitching mechanism, so that the damping structure can generate a damping effect on the input shaft of the speed reducer, and correspondingly, the damping effect which is amplified by a plurality of times can be generated on the output shaft, thereby ensuring that equipment assembled on a turntable of the mechanical arm, such as a robot body of an interventional operation robot, is not easy to flexibly rotate under the damping effect, and further ensuring the operation stability and reliability of the equipment.

The utility model provides an interventional operation robot, which comprises a robot body and the mechanical arm device, wherein the output shaft of the mechanical arm device is connected with the robot body to drive the robot body to perform pitching motion, and the output shaft of the mechanical arm device is connected with the robot body to drive the robot body to perform pitching motion. It can be appreciated that the robot body can be disposed on the output shaft of the mechanical arm device, in particular, the robot body can be assembled on the turntable mounted on the output shaft, the rotation of the output shaft can drive the turntable and the robot body assembled thereon to perform pitching operation, and the output shaft of the speed reducer is not easy to flexibly rotate under the action of the damping structure to reach the preset rotation effect, and can be locked at the designated position, so that the interventional operation robot can perform stable and reliable pitching operation accordingly.

Drawings

Fig. 1 is a schematic perspective view of a mechanical arm pitching mechanism according to a preferred embodiment of the present utility model;

FIG. 2 is a schematic exploded view of the mechanical arm pitch mechanism shown in FIG. 1;

FIG. 3 is a schematic diagram of a front view of the mechanical arm pitch mechanism shown in FIG. 1;

FIG. 4 is a schematic cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is a preferred structural schematic view of a damping structure configured in a robotic arm pitch mechanism in accordance with a preferred embodiment of the present utility model;

fig. 6 is a schematic cross-sectional structure taken along the line B-B shown in fig. 5.

Description of the reference numerals

10-a mechanical arm pitching mechanism; 11 a-end caps; 11 b-square bond; 11 c-band-type brake; 11 d-a fixed seat; 12-an input shaft; 13 a-harmonic reducer; 13 b-a connection socket; 13 c-bearings; 13 d-bearing seats; 13 e-a turntable; 14-an output shaft; 16-damping structure; 16 A-An elastic body; 160-mounting body; 162-mounting chamber; 164-an elastic element; 166-contacts; 166 A-A sliding portion; 166 b-contact; 168-threads.

Detailed Description

In the present utility model, unless otherwise indicated, terms of orientation such as "upper, lower, left, right" and the like are used generally to refer to the orientation understanding shown in the drawings and in practice, and "inner, outer" refer to the inner, outer of the outline of the components.

The present utility model provides a mechanical arm pitching mechanism, wherein the mechanical arm pitching mechanism 10 comprises a speed reducer 13a and a damping structure 16, it is understood that the speed reducer 13a is provided with an input shaft 12 and an output shaft 14 coaxially connected with the input shaft 12, the input shaft 12 can rotate around the rotation axis thereof so as to drive the output shaft 14 to rotate, that is, the input shaft 12 of the speed reducer 13a can be configured to rotate around the axis of the input shaft 12, and during operation, the speed reducer 13a is driven by a motor, and the input shaft 12 of the speed reducer 13a can rotate around the axis of the input shaft 12 of the speed reducer 13 a; since the output shaft 14 of the speed reducer 13a is coaxially connected to the input shaft 12 of the speed reducer 13a, the output shaft 14 of the speed reducer 13a can rotate along with the input shaft 12 of the speed reducer 13a, so as to realize the pitching motion, and it can be understood that the component assembled on the output shaft 14 of the speed reducer 13a, such as the robot body of the interventional operation robot, can perform the pitching motion under the rotation of the output shaft 14 of the speed reducer 13 a. The damping structure 16 is provided so as to be able to abut against the input shaft 12 to hinder the rotation of the input shaft 12, that is, the damping structure 16 is able to contact the input shaft 12 of the speed reducer 13a to be able to hinder the rotation of the input shaft 12 of the speed reducer 13a, and thus, the rotation of the output shaft 14 of the speed reducer 13a is also hindered accordingly, and this arrangement also has an amplifying effect on the hindering effect, and it is achieved that the damping is provided on the input shaft side to indirectly react on the output shaft side, so that the pitching action on the output shaft side is stably performed. Because the damping structure 16 can be abutted against the input shaft 12 of the speed reducer 13a when the input shaft 12 of the speed reducer 13a rotates, a friction force which can prevent the rotation of the input shaft 12 of the speed reducer 13a can be generated, a damping effect can be correspondingly generated on the output shaft 14 of the speed reducer 13a, and finally, components assembled on the output shaft 14 of the speed reducer 13a such as a robot body of the interventional operation robot cannot easily rotate, so that the interventional operation robot can be subjected to the expected damping effect, and the stability and reliability of pitching action are realized.

The structural form of the damping structure 16 is not particularly limited as long as an effect of abutting against the input shaft 12 and blocking the rotation of the input shaft 12 can be achieved. Wherein, in order to better realize the damping effect to the input shaft 12, the damping structure 16 may be configured to be capable of elastically contacting the input shaft 12. The damping structure 16 may be in the form of a spring or an elastomer made of an elastic material such as rubber, but is not particularly limited as long as it can achieve a damping effect on the input shaft 12. It will be appreciated that where the damping structure 16 is capable of resiliently contacting the input shaft 12, the damping structure 16 as a whole is capable of reciprocating in a radial direction along the input shaft 12.

As shown in fig. 4, the speed reducer 13a may be a harmonic speed reducer 13a, and the harmonic speed reducer 13a may be used to amplify torque, so that the damping effect may be multiplied on the output shaft side of the speed reducer 13a, thereby better achieving damping on the output shaft side of the speed reducer 13a, enabling the turntable 13e fitted on the output shaft side of the speed reducer 13a to easily achieve a preset effect, and enabling locking at a specific position. The robot body of the interventional operation robot may be mounted on the output shaft 14 via the turntable 13 e.

As shown in fig. 1 and 2, the output shaft 14 of the speed reducer 13a may be provided with a turntable 13e, and the interventional operation robot may be assembled on the turntable 13e, so that the output shaft 14 may drive the interventional operation robot to perform pitching under the action of the turntable 13 e; one end of the output shaft 14 of the speed reducer 13a, which is far away from the input shaft 12 of the speed reducer 13a, may be equipped with a bearing 13c, and the bearing 13c may be supported on a bearing housing 13d; in addition, a fixed seat 11d may be disposed on the input shaft 12 side of the speed reducer 13a, the input shaft 12 of the speed reducer 13a may pass through and be supported by the fixed seat 11d, it should be noted that the damping structure 16 may be assembled to the fixed seat 11d, for example, the damping structure 16 may pass through the fixed seat 11d along a radial direction of the fixed seat 11d and abut against the input shaft 12; one side of the input shaft 12 of the speed reducer 13a, which passes through the fixed seat 11d, can be provided with a band-type brake 11c and a square key 11b which can be matched with the band-type brake 11c, and in the process of movement, the input shaft 12 of the speed reducer 13a can be held tightly when the band-type brake 11c is electrified, so that the output shaft 14 of the speed reducer is braked. In addition, in order to make the structure of the whole speed reducer 13a more stable, an end cover 11a for packaging the input shaft 12 side of the speed reducer 13a may be provided, wherein the end cover 11 may be in a cover-shaped structure, so that components on the input shaft 12 side, such as the band-type brake 11c, the square key 11b, the fixing seat 11d, the damping structure 16 and the like, may be packaged therein, thereby not only ensuring the overall stability of the structure, but also effectively protecting the components of the speed reducer 13 a. In addition, it should be noted that the bearing seat 13d and the fixing seat 11d may be disposed on the connecting seat 13b, and it is understood that the bearing seat 13d and the fixing seat 11d are assembled on the connecting seat 13b in a concentrated manner, so that not only is the assembly of the whole speed reducer 13a facilitated, for example, the assembly of the whole speed reducer 13a on other components can be performed through the connecting seat 13b, but also the structure of the whole speed reducer 13a is more compact and stable. In addition, it should be noted that, when the turntable 13e achieves a preset effect, that is, when the turntable 13e achieves the preset effect under the action of the damping structure 16, the band-type brake 11c of the input shaft 12 of the locking speed reducer 13a can achieve locking in a state in which the result of this effect is to be achieved. In order to better support the input shaft 12, a bearing capable of supporting the input shaft 12 may be provided on the input shaft 12 side.

As shown in connection with fig. 2, 3, 4, and 5, a resilient body 16a may be provided in the damping structure 16, and the resilient body 16a may be configured to resiliently contact the input shaft 12 to allow movement in a radial direction of the input shaft 12. It will be appreciated that the elastic body 16a may have elasticity, for example, the elasticity of the elastic body 16a may be obtained through selection of materials or may be obtained through a spring-like structure, and is not limited in particular, when the input shaft 12 of the speed reducer 13a rotates, the elastic body 16a may elastically contact the input shaft 12 of the speed reducer 13a, and during the elastic contact, the elastic body 16a may reciprocate along the radial direction of the input shaft 12, and since the elastic body 16a may elastically contact the input shaft 12, the elastic body 16a may generate a non-locking pressing force on the input shaft 12, which not only effectively interferes with rotation of the input shaft 12, but also is not easy to cause the input shaft 12 to be locked.

The structure of the elastic body 16a may be selected according to practical requirements, so long as the elastic body 16a can elastically contact the input shaft and move along the radial direction of the input shaft 12. For example, the elastic body 16a may be made of an elastic material such as rubber, or the elastic body 16a may be provided to have an elastic stretchable structure.

As shown in connection with fig. 5 and 6, the resilient body 16a may include a mounting body 160, a resilient element 164, and a contact 166. Wherein the mounting body 160 may be provided with a mounting chamber 162, in particular, an end surface of the mounting body 160 may be provided with a port of the mounting chamber 162, which may allow the elastic member 164 to extend into the mounting chamber 162 and be fitted into the mounting chamber 162; the elastic element 164 may be fitted into the mounting chamber 162, and one end of the elastic element 164 may be connected to the mounting body 160, it should be noted that when the elastic element 164 has an elongated structure, the elastic element 164 may have a first end and a second end opposite to each other, the elastic element 164 may be fitted into the mounting chamber 162, wherein the first end of the elastic element 164 may abut against and be connected to a wall of the mounting chamber 162 opposite to the port, and the elastic element 164 has elasticity and is capable of moving in the radial direction of the input shaft 12; the contact 166 may be connected to the other end of the elastic member 164, so that the contact 166 can elastically contact the input shaft 12, and it is understood that the contact 166 may be disposed at the second end of the elastic member 164, and the contact 166 can elastically contact the input shaft 12 under the driving of the elastic member 164.

One end of the resilient member 164 may abut a wall of the mounting chamber 162 opposite the port and the other end of the resilient member 164 may be mounted with the contact 166 such that upon rotation of the input shaft 12, the resilient member 164 may move the contact 166 in a radial direction along the input shaft 12. Wherein the resilient member 164 may be a spring, the longitudinal axis of which may extend radially of the input shaft 12 when the spring is disposed as the resilient member 164 within the mounting chamber 162; alternatively, the spring may be mounted with a preload in the mounting chamber 162. Of course, other configurations of the elastic member 164 are also possible, as long as the elastic member can bring the contact body 166 into elastic contact with the input shaft 12, and may be made of an elastic material, such as rubber.

In addition, the contact body 166 may have a columnar shape, and the inner wall of the installation chamber 162 may be configured to be capable of matching with the outer contour of the contact body 166, such that a portion of the contact body 166 is slidably disposed in the installation chamber 162, and the contact body 166 may slide in the installation chamber 162 and may reciprocate along the axial direction of the installation chamber 162, whereby the sliding of the contact body 166 can be guided due to the matching of the inner wall of the installation chamber 162 and the outer contour of the contact body 166, so that the contact body 166 stably slides along the inner wall of the installation chamber 162. Specifically, the contact body 166 may include a sliding portion 166a that can extend into the mounting chamber 162 and slide relative to the mounting body 160, and a contact portion 166b that is connected to the sliding portion 166a and can contact the input shaft 12, and it is understood that the contact portion 166b is substantially located outside the mounting chamber 162, and the sliding portion 166a can slide along the axial direction of the mounting chamber 162 under the driving of the elastic element 164, so that the contact portion 166b can be driven to elastically contact the input shaft 12. The contact body 166 can perform a stable sliding operation under the guiding action of the inner wall of the installation chamber 162.

The end surface of the contact body 166, which is far from the elastic element 164, i.e., the end surface of the second end portion may be an arc surface, it is understood that the arc surface may protrude toward a direction far from the elastic element 164, and the arc surface contacts the input shaft 12 in a surface manner during the process of contacting the input shaft 12, so that an excessive force is not generated on the input shaft 12, but a moderate friction force is generated on the input shaft 12, thereby, the arc surface not only ensures contact on the input shaft 12, but also easily generates a non-locking pressing force on the input shaft 12, and a moderate friction force may be generated on the input shaft 12.

During the assembly process of the mounting body 160, the mounting body 160 may be assembled along a radially disposed mounting hole provided in a member to be mounted, such as the fixing base 116, for example, the mounting body 160 may be directly inserted into the mounting hole, or a mating structure may be provided between the mounting body 160 and the mounting hole, so that the mounting body 160 is stably assembled on the fixing base 116.

As shown in fig. 6, threads 168 may be provided on the outer wall of the mounting body 160 for assembly, it being understood that the threads 168 may extend radially of the input shaft 12 when the mounting body 160 is assembled. By providing the screw thread 168, the mounting body 160 can be screwed to the component to be mounted such as the fixing seat 11d, thereby achieving quick and easy assembly of the mounting body 160.

As shown in fig. 2, 4 and 5, the mounting body 160 may be mounted to the fixing base 11d, a mounting hole extending in a radial direction of the fixing base 11d, i.e., in a radial direction of the input shaft 12, may be provided on the fixing base 11d, and a mating thread mating with the thread 168 may be provided on an inner wall of the mounting hole, so that the mounting body 160 may be screwed to the fixing base 11d by a mutual mating action between the thread 168 and the mating thread.

In addition, a first bearing and a second bearing may be provided on the input shaft 12, and the damping structure 16 may be provided between the first bearing and the second bearing, so that the input shaft 12 may be better supported by the two bearings provided, whereby the displacement may be better prevented by providing the first bearing and the second bearing, and the operational stability of the entire structure may be ensured, with a smaller number of damping structures provided, in particular in the case of only one damping structure 16. It will be appreciated therein that the first and second bearings may be spaced relative to one another in the axial direction of the input shaft 12, with the damping structure 16 being interposed therebetween.

As can be seen from the foregoing, the input shaft 12 of the speed reducer 13a may be provided with a band-type brake 11c and a square key 11b that can be matched with the band-type brake 11c on one side of the fixed seat 11d, and during the movement, the input shaft 12 of the speed reducer 13a may be held tightly when the band-type brake 11c is powered on, so as to brake the output shaft 14 of the speed reducer. The square key 11b may be assembled at an end portion of the input shaft 12 far from the output shaft 14, and the band-type brake 11c is circumferentially disposed around the square key 11b and the input shaft 12. And the input shaft 12 is connected to the square key through a first bearing and a second bearing.

As shown in connection with fig. 2 and 4, a plurality of damping structures 16 may be provided, and the plurality of damping structures 16 may be evenly distributed along the circumferential direction of the input shaft 12. Taking the structure shown in fig. 6 as an example, the contact bodies 166 of the plurality of elastic bodies 16a may be uniformly distributed along the circumferential direction of the input shaft 12, wherein the elastic elements 164, such as springs, connected to the contact bodies 166 may be disposed along the radial direction of the shaft, and during the rotation of the shaft, the contact bodies 166 may be driven by the corresponding elastic elements 164 to move along the radial direction of the input shaft 12 to elastically contact the input shaft 12. Under the combined action of the plurality of damping structures 16, the damping effect of the shaft can be further improved, and meanwhile, the stress of the shaft can be uniform, so that the running stability and reliability of the shaft are basically ensured while the damping effect of the shaft is realized.

The damping process of the mechanical arm pitch mechanism 10 by the damping structure 16 will be described in detail below with reference to fig. 2, 4 and 6. The motor rotates to drive the input shaft 12 of the speed reducer 13a to rotate, the damping structure 16 can be abutted to the input shaft 12 while the input shaft 12 rotates, and after the damping structure 16 contacts the input shaft 12, friction force can be generated on the input shaft 12 to prevent the rotation of the input shaft 12. When the damping structure 16 is configured to include the mounting body 160 and the elastic element 164 assembled to the mounting body 160 and the contact body 166 connected to the elastic element 164, the specific structure is described in detail in the foregoing, and will not be described herein, so that the elastic element 164, such as a spring, may drive the contact body 166 to move along the axial direction of the mounting chamber 162 to be capable of elastically contacting the input shaft 12, thereby blocking the rotation of the input shaft 12. Meanwhile, since the output shaft 14 of the speed reducer 13a is coaxially connected to the input shaft 12, that is, the input shaft 12 can drive the output shaft 14 to rotate around the rotation axis of the input shaft 12, the damping effect exerted by the damping structure 16 on the input shaft 12 can be correspondingly reflected on the output shaft 14 side. According to the foregoing, since the interventional operation robot can be assembled on the output shaft 14 through the turntable 13e, the output shaft 14 rotates to drive the interventional operation robot to rotate so as to realize the pitching motion, wherein, the output shaft 14 is not easy to flexibly rotate under the damping action of the damping structure 16 at the side of the input shaft 12, so that the interventional operation robot can be correspondingly locked at a specific position without being too flexible and achieving the expected rotation effect, but without being easy to cause the seizure phenomenon, the damping effect on the side of the output shaft 14 is better realized, and the rotation of the component at the side of the output shaft is stable and reliable.

In addition, when the plurality of damping structures 16 are disposed along the circumferential direction of the input shaft 12, the plurality of contact bodies 166 can move along the axial direction of the corresponding mounting chambers 162 under the driving of the corresponding elastic elements 164, so that the plurality of contact bodies 166 can be abutted to the input shaft 12 together and simultaneously generate friction force on the input shaft 12, and the rotation of the input shaft 12 can be well blocked under the cooperation of the plurality of contact bodies 166. The end surface of the contact body 166, which is far from the elastic element 164, may be configured to be an arc surface, and the arc surface may contact the input shaft 12 under the driving of the elastic element 164, and the arc surface may contact the input shaft 12 in a surface manner and may apply a moderate friction force to the input shaft 12, so that the rotation stability of the input shaft 12 is not affected, and the rotation of the input shaft 12 is moderately blocked.

Since the contact body 166 is provided such that a portion of the contact body 166 is slidable in the axial direction of the mounting chamber 162 of the mounting body 160, and the inner wall of the mounting chamber 162 is provided to be able to fit the outer contour of the contact body 166, this enables the contact body 166 to be stably contacted to the input shaft 12 under the guide of the mounting chamber 162, thereby giving a stable damping effect to the input shaft 12. It will be appreciated, however, that portions of the contact 166 may fit snugly within the mounting chamber 162 such that the inner walls of the mounting chamber 162 provide a guiding function for movement of the contact 166.

The contact body 166 may be configured to be columnar, and accordingly, the mounting chamber 162 may be configured to be columnar, and the contact body 166 and the mounting chamber 162 may be configured to be mutually matched in columnar structure, so that the mounting chamber 162 may not substantially block the sliding of the contact body 166, and thus, a portion of the contact body 166 extending into the mounting chamber 162 may be guided more smoothly.

In addition, the corresponding damping effect on the input shaft 12 side can be multiplied on the output shaft 14 side by the harmonic reducer 13a, so that the damping effect is further improved, smaller damping is applied on the input shaft 12 side, and a better damping effect on the output shaft 14 can be realized, so that the rotation on the output shaft 14 side is easier to reach a preset effect and is easier to lock at a specific position.

The utility model also provides a mechanical arm device, which comprises a mechanical arm body and a mechanical arm pitching mechanism 10 arranged on the mechanical arm body, wherein the mechanical arm pitching mechanism 10 can be arranged at the tail end of the mechanical arm body, and the mechanical arm pitching mechanism 10 is the mechanical arm pitching mechanism 10 provided by the utility model. By arranging the mechanical arm pitching mechanism 10 provided by the utility model in the mechanical arm device, as the damping structure 16 is arranged in the mechanical arm pitching mechanism 10, the damping structure 16 can generate a damping effect on the input shaft 12 of the speed reducer 13a and correspondingly generate a damping effect on the output shaft 14, so that equipment such as an interventional operation robot assembled on the turntable 13e of the mechanical arm is not easy to flexibly rotate under the damping effect, and the operation stability and reliability of the equipment are ensured.

The utility model also provides an interventional operation robot, which comprises the mechanical arm device and the robot body, wherein the output shaft 14 of the mechanical arm device is connected with the robot body to drive the pitching motion of the robot body, and it can be understood that the robot body can be arranged on the output shaft 14 of the mechanical arm device, for example, the robot body can be assembled on a turntable 13e arranged on the output shaft 14, and the rotation of the output shaft 14 can drive the turntable 13e and the robot body assembled on the turntable 13e to perform pitching operation in combination with the illustration of fig. 1 and 2, and the output shaft 14 of the speed reducer 13a is not easy to flexibly rotate under the action of the damping structure 16 so as to achieve the preset rotation effect, thus the interventional operation robot can perform stable and reliable pitching operation correspondingly.

The preferred embodiments of the present utility model have been described in detail above with reference to the accompanying drawings, but the present utility model is not limited thereto. Within the scope of the technical idea of the utility model, a number of simple variants of the technical solution of the utility model are possible, including combinations of individual specific technical features in any suitable way. The various possible combinations of the utility model are not described in detail in order to avoid unnecessary repetition. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.

Claims

1. The mechanical arm pitching mechanism is characterized by comprising a speed reducer (13 a) and a damping structure (16), wherein: the speed reducer (13 a) comprises an input shaft (12) and an output shaft (14), the output shaft (14) rotates along with the input shaft (12) so as to drive pitching, and the damping structure (16) can be abutted to the input shaft (12) so as to block the rotation of the input shaft (12).

2. The mechanical arm pitch mechanism as recited in claim 1, wherein the damping structure (16) comprises a resilient body (16 a), the resilient body (16 a) being configured to be able to resiliently contact the input shaft (12) to allow radial movement along the input shaft (12).

3. The mechanical arm pitch mechanism as claimed in claim 2, wherein the elastic body (16 a) comprises:

a mounting body (160), the mounting body (160) being provided with a mounting chamber (162);

-a resilient element (164), said resilient element (164) fitting within said mounting chamber (162) and one end of said resilient element (164) being connected to said mounting body (160); and

and a contact body (166), wherein the contact body (166) is connected with the other end of the elastic element (164) so that the contact body (166) can elastically contact the input shaft (12).

4. A mechanical arm pitch mechanism according to claim 3, wherein the contact body (166) is cylindrical, and the inner wall of the mounting chamber (162) is arranged to be able to fit the outer contour of the contact body (166) such that a portion of the contact body (166) is slidably arranged in the mounting chamber (162).

5. A mechanical arm pitch mechanism according to claim 3, wherein an end surface of the contact body (166) at an end remote from the elastic member (164) is an arc surface.

6. A mechanical arm pitch mechanism according to claim 3, characterized in that the outer wall of the mounting body (160) is provided with a screw thread (168) for assembly.

7. The mechanical arm pitch mechanism according to any one of claims 1-6, wherein the mechanical arm pitch mechanism (10) further comprises a first bearing and a second bearing arranged on the input shaft (12), the damping structure (16) being arranged between the first bearing and the second bearing.

8. The mechanical arm pitch mechanism as recited in any one of claims 1-6, characterized in that the number of damping structures (16) is plural, the plurality of damping structures (16) being evenly distributed along the circumference of the input shaft (12).

9. A mechanical arm device, characterized by comprising a mechanical arm body and a mechanical arm pitching mechanism (10) arranged on the mechanical arm body, wherein the mechanical arm pitching mechanism (10) is the mechanical arm pitching mechanism (10) according to any one of claims 1-8.

10. An interventional procedure robot, characterized by comprising a robot body and the mechanical arm device of claim 9, wherein the output shaft (14) of the mechanical arm device is connected to the robot body to drive the pitching motion of the robot body.