Mechanical armTechnical Field
The invention relates to the technical field of medical instruments, in particular to a mechanical arm.
Background
With the popularization of clinical application of navigation minimally invasive surgery and the trend of miniaturization development of surgery auxiliary robots, the requirements on positioning accuracy and stability of the miniature surgery robots are higher and higher. The support arm of the small-sized operation robot in the current market is generally realized by adopting a ball joint structure, the joint structure keeps the locking of the support arm by virtue of the friction force between parts after the joint locking, the problem of insufficient joint locking force easily occurs, and once the joint locking force is insufficient, the relevant support arm can accidentally move, so that the whole mechanical arm and even a robot system can displace, the positioning of the whole mechanical arm is inaccurate, and the failure of navigation operation and the casualties of patients are caused. Therefore, how to improve the locking force of the joint of the arm of the surgical robot and keep the stability of the mechanical arm is a problem to be solved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the mechanical arm which has large locking force of joints and good stability, and can provide stable supporting function for surgical robots or other medical instruments.
The invention provides a first mechanical arm, which comprises a joint and at least two support arms, wherein the joint is connected with the support arms, the joint comprises a first joint and a second joint, the first joint comprises a shell, a flexible connecting piece and a locking assembly, the shell comprises a first shell and a second shell, the first shell is provided with the first connecting piece, the second shell is provided with the second connecting piece, the first connecting piece is rotatably connected with the second connecting piece, the locking assembly is positioned in a shell cavity, the locking assembly comprises a top block and a tooth block, a top block cavity is arranged in the top block, the top block cavity is communicated with the shell cavity, at least one part of the flexible connecting piece is arranged in the top block cavity, and the top block is abutted against the tooth block.
In one embodiment, the locking assembly has a locked state in which the tooth block is coupled to the first connector and an unlocked state in which the tooth block is decoupled from the first connector.
In one embodiment, the interior of the housing is provided with a housing cavity in which at least a portion of the flexible connection is located.
In one embodiment, the first connector is connected to the second connector by a bearing.
In one embodiment, the top block is provided with a top block inclined plane, the tooth block is provided with a tooth block inclined plane, and the tooth block inclined plane abuts against the top block inclined plane.
In one embodiment, the tooth block is provided with a first end and a second end, the tooth block inclined surface is arranged at the first end of the tooth block, and the second end of the tooth block is connected with the first connecting piece in a locking state.
In one embodiment, in the locked state, the tooth block second end is in meshed connection with the first connector.
In one embodiment, the second end of the tooth block is provided with a tooth block rack, the first connecting piece is provided with a first connecting piece rack, and the tooth block rack is meshed with the first connecting piece rack in a locking state.
In one embodiment, the tooth block further comprises a tooth block side, and a tooth block spring is disposed between the tooth block side and the second connecting piece.
In one embodiment, the spring is used to impart a force to the tooth block toward the top block bevel.
In one embodiment, the top block has a top block first end and a top block second end, the top block first end is connected to the second connector, and the other end opposite to the top block first end is a top block second end.
In one embodiment, a top block spring is disposed between the top block first end and the second connector.
In one embodiment, the second end of the top block is provided with a plurality of claw pieces, a gap is arranged between two adjacent claw pieces, and a plane perpendicular to the axis of the flexible connecting piece or the axis or the central line of the top block is a first plane.
In one embodiment, there are at least two of the claw pieces.
In one embodiment, the projection of the claw piece on the first plane is located in a circular ring.
In one embodiment, one end of the claw piece connected with the top block is a claw piece connecting end, the other end of the claw piece is a claw piece free end, and the diameter of a circular ring where the projection of the claw piece free end on the first plane is smaller than the diameter of a circular ring where the projection of the claw piece connecting end on the first plane is located.
In one embodiment, the locking assembly further comprises a fastener located at the second end of the top piece, the outer surface of the claw piece.
In one embodiment, the fastener is connected to the second end of the top block by internal and external threads.
In one embodiment, the fastener has a fastener attachment end and a fastener securing end, the fastener attachment end being attached to the top block.
In one embodiment, the projection of the fastener securing end onto the first plane is internal to the projection of the fastener connecting end onto the first plane.
In one embodiment, the inner surface of the connecting end of the fastener is provided with internal threads, and the outer surface of the second end of the ejector block or the claw piece is provided with threads matched with the internal threads.
In one embodiment, the fastener is a shaped nut.
In one embodiment, the first joint further comprises a steering mechanism rotatably coupled to the housing.
In one embodiment, the steering mechanism is a pulley around which the flexible connection passes.
In one embodiment, the steering mechanism further comprises a connecting portion fixedly connected to the first housing or the second housing.
In one embodiment, the pulley is provided at the connection portion.
In one embodiment, the second joint comprises a control connecting rod, a first fluted disc and a second fluted disc, wherein the control connecting rod is connected with the first fluted disc, and the first fluted disc is meshed with the second fluted disc when the second joint is in a locking state.
In one embodiment, the second joint further comprises a third housing and a fourth housing, the fourth housing is connected to the second toothed disc, and a toothed disc spring is disposed between the first toothed disc and the third housing.
In one embodiment, the second joint further comprises a toothed disc spring disposed between the first toothed disc and the second toothed disc.
In one embodiment, a first fluted disc through hole is formed in the first fluted disc, and the flexible connecting piece passes through the first fluted disc through hole.
In one embodiment, a second fluted disc through hole is arranged in the second fluted disc, and the flexible connecting piece penetrates through the second fluted disc through hole.
In one embodiment, the mechanical arm further comprises a control switch, and the control switch is connected to any one of the support arms or/and joints.
In one embodiment, the control switch includes a first control switch and a second control switch, where the first control switch is used to control the switching of the first joint between the locked state and the unlocked state, and the second control switch is used to control the switching of the second joint between the locked state and the unlocked state.
In one embodiment, the first control switch includes a button fixedly connected to the rotating portion and a rotating portion connected to the locking assembly.
In one embodiment, the rotating portion is connected to the flexible connection unit.
In one embodiment, the rotating portion is rotatably coupled to the arm.
In one embodiment, the second control switch includes a second button and a second rotating member, the second rotating member is rotatably connected to the support arm, one end of the second rotating portion is connected to the second button, and the other end of the second rotating portion is connected to the control link.
In one embodiment, the second control switch further comprises a limiting piece, the limiting piece is fixedly connected to the support arm, the limiting piece is provided with a limiting piece through hole, and the control connecting rod penetrates through the limiting piece through hole.
In one embodiment, a retaining clip is provided on at least one of the arms or at least one of the first joints.
Compared with the prior art, the first joint and the mechanical arm provided by the invention have the following beneficial effects:
1. The first joint is locked and unlocked through the locking component, the second joint is locked through the meshing connection of the first fluted disc and the second fluted disc, the first joint and the second joint both have higher locking force, the phenomenon that the mechanical arm is accidentally unlocked due to insufficient locking force is avoided, the stability of the mechanical arm is ensured, and when the mechanical arm is used for a navigation operation of an operation robot, the operation safety is ensured.
2. Under the condition that the first control switch and the second control switch are arranged, the locking and unlocking of one or more support arms can be controlled by controlling the first control switch, the locking and unlocking of the support arms corresponding to the first control switch can be controlled by controlling the second control switch, the locking and unlocking of the second joint of the first joint are not affected by each other, the locking and unlocking can be adjusted according to actual conditions, and the operation is simple and convenient.
3. The mechanical arm is capable of carrying a heavier load.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of a mechanical arm according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first control switch according to an embodiment of the present invention;
FIG. 3 is a schematic view of a first joint according to an embodiment of the present invention;
FIG. 4 is a schematic view of a tooth block according to an embodiment of the present invention;
FIG. 5 is a schematic view showing the structure of a top block according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of a top block according to one embodiment of the present invention;
FIG. 7 is a schematic illustration of a second joint according to one embodiment of the present invention;
FIG. 8 is a schematic view of a first toothed disc according to one embodiment of the present invention;
FIG. 9 is a schematic diagram of a second toothed disc according to one embodiment of the present invention;
FIG. 10 is a schematic diagram of a second control switch according to an embodiment of the present invention;
Fig. 11 is a schematic structural view of a second control switch according to an embodiment of the present invention.
Reference numerals:
11. The first connecting piece, 12, the second connecting piece, 18, the first shell, 19, the second shell, 2, the steel wire rope, 21, the pulley, 22, the connecting part, 31, the top block, 311, the top block first end, 312, the top block second end, 313, the top block inclined plane, 314, the claw piece, 315, the claw piece connecting end, 316, the claw piece free end, 317, the gap, 34, the top block spring, 32, the tooth block, 321, the tooth block first end, 322, the tooth block second end, 323, the tooth block inclined plane, 324, the tooth block side, 325, the tooth block spring, 4, the fastener, 41, the fastening connection end, 42, the fastener fixed end, 51, the first support arm, 52, the second support arm, 53, the third support arm, 61, the first joint, 62, the second joint, 7, the button, 71, the button rotating part, 72, the second control switch, 73, the second button, 74, the second rotating piece, 75, the limiting piece, 81, the first fluted disc, 82, the second fluted disc, 83, the control link, 84, the third fluted disc, the fourth shell, the clamping device, and the fourth shell.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific embodiments thereof in order to make the objects, advantages and features of the invention more apparent. It should be noted that the drawings are in a very simplified form and are not drawn to scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. Furthermore, the structures shown in the drawings are often part of actual structures. In particular, the drawings are shown with different emphasis instead being placed upon illustrating the various embodiments.
As used in this disclosure, the singular forms "a," "an," and "the" include plural referents, the term "or" are generally used in the sense of comprising "and/or" and the term "several" are generally used in the sense of comprising "at least one," the term "at least two" are generally used in the sense of comprising "two or more," and the term "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance or number of features indicated. Thus, a feature defining "first", "second", "third" may explicitly or implicitly include one or at least two such features, the term σ proximal "typically being one end near the operator, the term" distal "typically being one end near the patient," one end "and" the other end "and" proximal "and" distal "typically refer to corresponding two portions, including not only the endpoints, the terms" mounted "," connected "are to be construed broadly, e.g., as being either fixedly connected, removably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediary, internal communication between two elements, or interaction relationship between two elements. Furthermore, as used in this disclosure, an element disposed on another element generally only refers to a connection, coupling, cooperation or transmission between two elements, and the connection, coupling, cooperation or transmission between two elements may be direct or indirect through intermediate elements, and should not be construed as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation, such as inside, outside, above, below, or on one side, of the other element unless the context clearly indicates otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention provides a mechanical arm, which aims to solve the problems of insufficient locking force of joints of the mechanical arm and unstable mechanical arm in the prior art.
The present embodiment provides a mechanical arm, referring to fig. 1, which includes a first arm 51, a second arm 52, a third arm 53, three first joints 61, and a second joint 62, where the first arm 51 is connected to the second arm 52 through the first joint 61, and the second arm 52 is connected to the third arm 53 through the first joint 61 and the second joint 62. The steering assembly of each first joint 61 is connected to its adjacent other first joint 61 by a flexible connection, such as a wire rope, i.e. equivalent to connecting a plurality of first joints 61 in series by a wire rope. The third arm 53 is provided with two control switches for controlling the switching of the first joint 61 and the second joint 62 in the locked state and the unlocked state, respectively. The first joint 61 at one end of the first arm 51 is further connected to a fixing clip 9, and the fixing clip 9 may be connected to an operating table, a fixing frame or other fixing devices for fixing the whole mechanical arm.
Referring to fig. 3-6, the first joint includes a housing, a flexible connector, and a locking assembly. The casing includes first casing 18 and second casing 19, is equipped with first connecting piece 11 on the first casing 18, and first casing 18 and first connecting piece 11 can be integrated into one piece also can be detachable connection, and the inner wall of second casing 19 is equipped with second connecting piece 12, and second casing 19 and second connecting piece 12 can be integrated into one piece also can be detachable connection, and first connecting piece 11 and second connecting piece 12 pass through the bearing to be connected, and first connecting piece 11 and second connecting piece 12 can relative rotation, and first casing 18 and second casing 19 also can relative rotation. The first housing 18 and the second housing 19 have housing cavities (not shown) therein which communicate with each other, and the flexible connection member passes through the housing cavities (not shown). The flexible connecting member may be an elongated structure with a certain flexibility, strength and rigidity, such as a steel wire rope and a belt, or may be a structure such as a chain, a rack, etc. that can be bent, mechanically driven and pulled, and in this embodiment, the flexible connecting member is exemplified by a steel wire rope.
The locking assembly is located inside the housing cavity (not shown in the figures) and comprises a top block 31 and a tooth block 32. The top block 31 has a cylindrical top block cavity (not shown) in the vicinity of the axis thereof, the top block cavity being in communication with a housing cavity (not shown) through which the wire rope 2 passes, the axis of the top block 31 coinciding with the axis of the portion of the wire rope 2 located in the cavity, and a plane perpendicular to the axis of the top block 31 being referred to as a first plane. A part of the top block 31 is provided inside the second link 12, and the top block 31 is movable only in the direction of its axis under the restriction of the second link 12. The top block 31 has a top block first end 311 and a top block second end 312, and a top block inclined surface 313 is further provided on the side surface of the top block 31 at a position facing the first connecting member 11.
Referring to fig. 3, the top block first end 311 is connected to the second connecting member 12 through the top block spring 34, and in the absence of an external force, the top block spring 34 is compressed, that is, the top block spring 34 has a certain thrust force to the top block 31, so that the top block 31 has a tendency to move rightward. Of course, the top spring 34 may be in a state of being stretched to give a pulling force to the top to move the top to the right. Referring to fig. 3, 5 and 6, the other end opposite to the top block first end 311 is a top block second end 312, the top block second end 312 is provided with a plurality of claw pieces 314, a certain gap 317 is provided between two adjacent claw pieces 314, one end of the claw piece 314 connected with the top block second end 312 is a claw piece connecting end 315, and the other end opposite to the claw piece first end 315 is a claw piece free end 316. At least two claw pieces 314 are used, and 4 claw pieces are used in this embodiment. The diameter of the ring on which the projection of the free ends 316 of the claw pieces on the first plane is smaller than the diameter of the ring on which the projection of the connecting ends 312 of the claw pieces on the first plane is, that is, the combination of the free ends of the 4 claw pieces and the gaps therebetween takes the shape of a truncated cone. The wire rope 2 passes through the middle of the round table, and when the free ends of the claw pieces are acted by force in the direction of the axes of the claw pieces, the claw pieces are close to the center, and the gap is reduced, so that the wire rope is clamped. When the flexible connecting piece adopts the structures such as racks, chains and the like, the claw piece free end can be provided with a matched rack or clamping structure so as to realize the purpose that the claw piece free end fixes the flexible connecting piece.
Referring to fig. 3 and 6, a fastener 4 is further provided on the outside of the claw 314, the fastener 4 has a fastener connecting end 41 and a fastener fixing end 42, the fastener connecting end 41 is provided on the outer surface of the top block second end 312, and the fastener connecting end 41 is fixedly connected with the inner wall of the second housing 19 or the second connecting member 12. Alternatively, the fastener 4 may be rotatably connected to the second housing 19 or the second connector through a bearing, and the claw 314 is located inside the fastener 4, and when the claw 314 moves in the left direction as shown in fig. 3, the force of the fastener fixed end 42 is received. The portion of the fastener 4 adjacent to the fastener securing end 42 also takes the shape of a truncated cone, the diameter of the projected circle of the fastener securing end 42 on the first plane being smaller than the diameter of the projected circle of the fastener connecting end 41 on the first plane, and the diameter of the projected circle of the fastener securing end 42 on the first plane being smaller than the diameter of the circle on which the projection of the free end 316 of the claw piece on the first plane is located. As shown in fig. 6, when the top block 31 moves rightward, the free ends 316 of the claw pieces move rightward, gradually approach the fixed fastener ends 42, continue to move and then contact the fixed fastener ends 42, and receive the force of the fixed fastener ends 42 toward the inside, the gaps 317 between the claw pieces gradually decrease, and the free ends 316 of the claw pieces gradually approach the inside until the inner wire rope 2 is tightly clamped.
In another embodiment, the fastener 4 need not be connected to the second housing 19, but the fastener connecting end 41 is screwed to the outer surface of the second end 312 of the top block, the fastener connecting end 41 is connected to the second end 312 of the top block during the assembly process, and the inclined surface inside the fixed end 42 of the fastener presses the claw 314 during the screwing process, so that the claw is tightened toward the center, thereby clamping the wire rope. The wire 2, the claw 314 and the fastener 4 can form a stable whole without relative movement when the first joint is used normally after the assembly is completed.
Referring to fig. 3 and 4, the tooth block 32 is provided in the housing cavity inside the first connector 11, the tooth block 32 having a tooth block first end 321, a tooth block second end 322, and a tooth block side 324. The first end 321 of the tooth block is provided with a tooth block inclined plane 323, and the tooth block inclined plane 323 abuts against the top block inclined plane 313. The tooth block inclined surface 323 can be in the shape of a spherical surface, a conical surface or a round table side surface, can be in line contact or surface contact with the top block inclined surface 313, and can maintain a certain acting force. The second end 322 of the tooth block is provided with a tooth block rack, and the inner wall of the first connecting piece 11 is provided with a first connecting piece rack matched with the tooth block rack. When the locking assembly is in the locked state, the tooth block rack is meshed with the first connecting piece rack, and the tooth block 32 and the first connecting piece 11 cannot rotate relatively. The tooth block side 324 is adjacent to the second connecting member 12, and a tooth block spring 325 is disposed between the tooth block side 324 and the second connecting member 12. In the locked state and the unlocked state, the tooth block spring 325 is in a compressed state, and can apply a force to the lock tooth block 32 toward the top block 31, so that the lock block inclined surface 323 always abuts against the top block inclined surface 313, and a certain force is applied to the top block inclined surface 313.
As shown in fig. 3, when the entire joint is not subjected to external force, when the top block 31 is at the rightmost position under the action of the top block spring 34, the tooth block inclined plane 323 is at the rightmost position, the tooth block second end 322 is connected with the first connecting piece 11 through the rack, the tooth block 32 and the first connecting piece 11 cannot rotate relatively, and the first connecting piece 11, the tooth block 32, the top block 31 and the second connecting piece 12 cannot move relatively, so that they are in a stable state, and at the moment, the action of the tooth block spring 325 is the largest, and the locking assembly is in a locking state.
In addition, the first joint further comprises a steering mechanism, which may be a pulley, a belt wheel, a gear, etc., and in this embodiment, a pulley 21 matched with a wire rope is used. The inner wall of the second housing 19 is provided with a connecting part 33, and the pulley 21 is connected to the connecting part 33 and the wire rope 2 is wound around the pulley. The pulley can make wire rope change the direction, can establish ties a plurality of joints through a wire rope, and through the motion of control wire rope moreover, can drive the motion of the kicking block of a plurality of joints to realize locking subassembly and the switch between locking state and unblock state. Of course, other structures may be used for the steering mechanism, such as a gear structure when the flexible connection member is a chain structure.
When the whole joint is not acted by external force, the locking component is in a stable locking state. When the locking component is required to be switched to an unlocking state, a certain pulling force is applied to the left end of the steel wire rope shown in fig. 3, when the pulling force is larger than the pressure of the ejector spring to the ejector, the ejector is driven to move leftwards, the claw piece moves leftwards and gradually contacts the fixed end of the fastener and receives the inward force of the fixed end of the fastener to the claw piece, and the claw piece gathers inwards under the action of the force to grasp the steel wire rope. Simultaneously, the ejector block inclined plane also moves towards the left, and because the tooth block receives the effort of tooth block spring, the tooth block can gradually move inwards, makes tooth block second end and first connecting piece break away from gradually. When the second end of the tooth block is completely separated from the first connecting piece, the locking assembly is switched to an unlocking state, and at the moment, the first connecting piece and the second connecting piece can rotate relatively, namely the first shell and the second shell can rotate relatively, and the relative angle of the first shell and the second shell can be adjusted. When the pulling force on the steel wire rope is released, the ejector block returns to the rightmost position under the acting force of the tooth block spring, namely the locking assembly returns to the locking state.
The first joint that this embodiment provided locks through the effort between kicking block inclined plane and the tooth piece inclined plane, and the existence of tooth piece spring or the potential energy of kicking block spring can make the joint more stable and fastness in locking state, can not appear unexpected unblock phenomenon, has guaranteed security and stability in the operation process. The joint realizes the switching of locking assembly in locking state and unlocking state through the control of flexonics spare, and the flexonics spare can establish ties a plurality of joints moreover, through the locking and the unblock of the all joints of the steerable arm of once operation, has reduced the complexity of joint structure, has reduced the weight and the volume of joint, has improved overall structure's stability, and the convenience of operation improves greatly moreover.
Referring to fig. 7 to 9, the second joint includes a control link 83, a first toothed disc 81, and a second toothed disc 82, the first toothed disc 81 is connected to the third housing 85, the second toothed disc 82 is connected to the fourth housing 86, and the control link 83 is disposed on one side of the first toothed disc 81 away from the second toothed disc 82. The corresponding side surfaces between the first fluted disc 81 and the second fluted disc 82 are provided with matched gears, a fluted disc spring 84 is arranged between the first fluted disc 81 and the third shell 85, the fluted disc spring 84 applies a force to the first fluted disc 81 towards the left direction to enable the gears on the first fluted disc 81 and the second fluted disc 82 to be meshed and connected, at the moment, the first fluted disc 81 and the second fluted disc 82 cannot rotate relatively, and the second joint is in a locking state. As shown in fig. 5, when the control link 83 receives a force directed to the right and the force is greater than the force of the toothed disc spring 84, it drives the first toothed disc 81 to move to the right, the first toothed disc 81 is gradually separated from the second toothed disc 82, and when the gears on the first toothed disc 81 and the second toothed disc 82 are completely separated, the first toothed disc 81 and the second toothed disc 82 can rotate relatively, the second joint is in an unlocked state, and the angle between the first toothed disc 81 and the second toothed disc 82 can be adjusted. In addition, a toothed disc spring 84 may be disposed between the first toothed disc 81 and the second toothed disc 82.
The middle parts of the first fluted disc 81 and the second fluted disc 82 are respectively provided with corresponding through holes, and the steel wire ropes 2 pass through the corresponding through holes.
Referring to fig. 2, 10 and 11, the third arm 53 is provided with a first control switch and a second control switch, the first control switch can control locking and unlocking of the first joint, and the second control switch can control locking and unlocking of the second joint.
The third arm 53 is provided with a first control switch, which in this embodiment adopts a button structure, and by operating the button, locking and unlocking of all the first joints can be performed. Referring to fig. 2, the first control switch includes a button 7 and a button rotating portion 71. One end of the button 7 is fixedly connected with the rotating part 71, the combination of the button 7 and the rotating part 71 is in an L-shaped structure, and the rotating part 71 can rotate clockwise when the button 7 is pressed. One end of the wire rope 2 is connected to the rotating portion 71. When the button 7 is pressed, the rotation portion 71 is rotated clockwise, the wire rope 2 is moved rightward, and the jack 31 of the first joint is moved rightward, so that the first joint 66 is switched from the locked state to the unlocked state. Meanwhile, the steel wire rope of each first joint moves and drives the ejector block to move, so that all the first joints enter an unlocking state, and any one first joint can be adjusted at the moment. When the button 7 is loosened, one end of the steel wire rope 2, which is close to the rotating part, moves towards the initial position under the action of the elasticity of the received ejector block spring, and drives all the ejector blocks and the rotating parts of the first joints to return to the initial position, so that all the first joints are returned to the locking state.
The flexible connecting piece of every first joint is a wire rope 2, and the one end of wire rope 2 can be fixed on the kicking block of first joint 61, and wire rope 2 is in series with a plurality of first joints together, will drive the motion of the kicking block of all first joints when pulling the wire rope motion like this for all first joints enter the unblock state from locking state, and when releasing the wire rope, all the kicking blocks of first joint are replied to the normal position, and all first joints are got back to locking state, can realize the switching of all first joints in locking state and unblock state through controlling a wire rope promptly.
Referring to fig. 2, 10, and 11, the second control switch 72 includes a second button 73, a second rotating member 74, and a limiting member 75. The second rotating member 74 is L-shaped or semicircular, and is rotatably connected to the third arm 53 at its middle position, for example, via a pin shaft, and is connected to the third arm 53, one end of the second rotating member 74 is connected to the second button 73, the other end of the second rotating member 74 is connected to one end of the control link 83, a limiting member 75 is disposed on the third arm 53, and a limiting member through hole (not shown) is disposed on the limiting member 75, where the control link 83 passes through the limiting member through hole. The stopper 75 can restrict the movement direction of the control link 83 so that it can move only in the axial direction thereof. To ensure normal rotation of the second rotating member 74, a pin hole may be provided in the second rotating member 74, and a pin shaft may be provided in the control link 83, the pin shaft being capable of sliding in the pin hole.
The arm that this embodiment provided is connected through first joint and second joint, and first joint and second joint all have higher locking force, and locking state is stable, and the arm can bear heavier load, and the security is high. And the first control switch can be used for switching all the first joints between the unlocking state and the locking state, the through hole second control switch can be used for switching the second joints between the unlocking state and the locking state, the flexibility of the mechanical arm in practical application is improved, and the operation is simple and convenient.
The foregoing description of specific embodiments of the present application has been presented for purposes of illustration and description, but is not intended to limit the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.