A universal support arm joint, a universal support arm and a treatment device

Abstract

The present invention discloses a universal arm joint, a universal arm and a treatment device. The universal arm joint includes: an arm joint body and a rotating shaft member sleeved inside the arm joint body and axially rotatable relative to the arm joint body. One end of the rotating shaft member is provided with a second adapter and is rotatably and fixedly connected to the inner wall of the arm joint body through the second adapter. The other end of the rotating shaft member extends out of the arm joint body, and a first adapter is provided on the other end of the rotating shaft member. The first adapter is connected to an adjacent arm joint body through a pin shaft structure and is rotatably and fixedly connected relative to the adjacent arm joint body through the first adapter; the axis of the rotating shaft member and the rotation axis of the pin shaft structure have a non-zero included angle. As the number of universal arm joints increases, the universal arm joints arranged at the end can reach any position within the space that can be touched by the maximum length, removing the restrictions on the treatment position and treatment direction of the treatment head. The universal arm joint is small in volume and long in service life.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more specifically, to a universal arm joint. In addition, it also relates to a universal arm including the above universal arm joint. In addition, it also relates to a treatment device including the above universal arm joint. Background Art

[0002] In rehabilitation medical devices, some treatment heads need to be adjusted according to the usage of patients and fixed at the current position, so the arm is widely used in rehabilitation medical devices. However, after long-term use of the existing arm (gooseneck tube), the supporting force decreases and it cannot fix the treatment head; other types of arms have problems such as large volume and low degrees of freedom, and cannot meet the application scenarios of miniaturization and high degrees of freedom. Secondly, when the gooseneck tube is used as an arm and rotates, it cannot rotate, resulting in limited treatment positions and directions.

[0003] In summary, how to solve the problems of the arm with decreased supporting force, inability to meet miniaturization, and inability to rotate is an urgent problem to be solved by those skilled in the art at present. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a universal arm joint with a long service life and a small volume, which can drive the treatment head to move to any position and fix it.

[0005] Another object of the present invention is to provide a universal arm including the above universal arm joint.

[0006] Another object of the present invention is to provide a treatment device including the above universal arm.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A universal arm joint includes: an arm joint body and a rotating shaft member sleeved inside the arm joint body and axially rotatable relative to the arm joint body. One end of the rotating shaft member is provided with a second adapter and is rotatable and fixed relative to the inner wall of the arm joint body through the second adapter. The other end of the rotating shaft member extends out of the arm joint body, and a first adapter is provided at the other end of the rotating shaft member. The first adapter is connected to the adjacent arm joint body through a pin shaft structure and is rotatable and fixed relative to the adjacent arm joint body through the first adapter; the axis of the rotating shaft member and the rotation axis of the pin shaft structure have a non-zero included angle.

[0009] Preferably, the pin shaft structure is arranged at the upper part of the arm joint body, the lower part of the arm joint body is a hollow cylinder, and the rotating shaft member is rotatably inserted into the hollow cylinder.

[0010] Preferably, an axial shaft hole is provided on one end face of the hollow cylinder into which the rotating shaft member is inserted. An elastic mechanism protruding from the upper end face of the hollow cylinder is provided in the shaft hole. The first adapter includes a first toothed wheel provided at the tail end of the rotating shaft member protruding from the hollow cylinder. When the first toothed wheel rotates relative to the adjacent arm joint body, each tooth groove of the first toothed wheel is sequentially engaged with the elastic mechanism of the adjacent arm joint body.

[0011] Preferably, the second adapter includes a second toothed wheel provided at one end of the rotating shaft member inserted into the hollow cylinder. The second toothed wheel is collinear with the axis of the rotating shaft member. Elastic protrusions are provided on the inner wall of the hollow cylinder. When the second toothed wheel rotates relative to the hollow cylinder, the tooth grooves of the second toothed wheel are sequentially engaged with the elastic protrusions.

[0012] Preferably, a sunken spring groove is provided on the inner wall of the hollow cylinder. The elastic protrusion includes a spring piece provided in the spring groove and protruding from the spring groove. The spring piece is snapped into the tooth groove of the second toothed wheel. When the rotating shaft member rotates a preset angle, the tooth tip of the second toothed wheel compresses the spring piece into the spring groove.

[0013] Preferably, an annular groove is provided on the outer periphery of one end of the rotating shaft member inserted into the hollow cylinder. A limiting protrusion that is snapped into the annular groove to limit the axial movement of the rotating shaft member is provided on the inner wall of the hollow cylinder.

[0014] Preferably, a through limiting through hole is provided on the hollow cylinder. A limiting pin shaft is inserted into the limiting through hole. The limiting pin shaft protrudes from the inner wall of the hollow cylinder to serve as the limiting protrusion and is snapped into the annular groove.

[0015] Preferably, the elastic mechanism includes a spiral spring provided in the shaft hole. A steel ball is provided at the outer end of the spiral spring. The center of the steel ball is located within the shaft hole.

[0016] A universal arm includes a plurality of universal arm joints connected end to end as described in any one of the above. The first adapter of the universal arm joint is connected to the adjacent universal arm joint through the pin shaft structure.

[0017] A treatment device includes a treatment instrument and a treatment head provided outside the treatment instrument. It is characterized in that the treatment instrument is further provided with the above universal arm, and the universal arm is used to support and guide the treatment head.

[0018] In use, a number of universal arm joints are connected end to end in sequence to form a universal arm. During installation, the first adapter of one universal arm joint can be connected to an adjacent universal arm joint through a pin shaft structure. When an angle needs to be adjusted, rotate the first adapter to adjust the relative angle between the axes of the two universal arm joints in the same plane, and the angle can be fixed after adjustment. And / or, rotate the rotating shaft member with the axis of the rotating shaft member as the rotation axis, and fix it after passing through the required angle, so as to adjust the axes of the two universal arm joints to rotate in the same plane to another angle in the same plane, and the angle can be fixed after adjustment.

[0019] By freely combining the above two ways of adjusting the angle, one universal arm joint can swing relative to another adjacent universal arm joint within a certain space and can stay at any position within this space. As the number of universal arm joints increases, adjust the relative angles of each universal arm joint according to the actual situation, so that the universal arm joint arranged at the end can reach any position within the space that can be touched by the maximum length. After installing the treatment head on the universal arm joint arranged at the end, the treatment head can be driven to reach any reachable treatment position and can be fixed at each position, removing the restrictions on the treatment position and treatment direction of the treatment head. Compared with gooseneck tubes and other arms, the universal arm joint provided by the present application is small in volume and can be applied to miniaturized and high-degree-of-freedom application scenarios; in addition, after long-term use, the supporting force of the universal arm joint will not decrease, and the fixing effect of the treatment head can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0021] Figure 1 Schematic diagram of the universal arm provided by the present invention;

[0022] Figure 2 Connection diagram of two universal arm joints provided by the present invention;

[0023] Figure 3 For Figure 2 Cross-sectional view;

[0024] Figure 4 Front view of the universal arm joint provided by the present invention;

[0025] Figure 5 Side view of the universal arm joint provided by the present invention;

[0026] Figure 6 is Figure 5 a sectional view of;

[0027] Figure 7 is a top view of the universal arm joint provided by the present invention;

[0028] Figure 8 is Figure 7 a sectional view of;

[0029] Figure 9 is an exploded view of the universal arm joint provided by the present invention.

[0030] Figures 1-9 In

[0031] 1 - arm joint body, 2 - limit pin shaft, 3 - rotating shaft member, 4 - first toothed wheel, 5 - bearing, 6 - pin shaft, 7 - steel ball, 8 - helical spring, 9 - spring leaf, 10 - limit through hole, 11 - fixing body, 12 - hollow cylinder, 13 - second toothed wheel, 14 - spring groove, 15 - annular groove, 16 - bushing. Specific embodiments

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0033] The core of the present invention is to provide a universal arm joint, which has a long service life and a small volume, and can drive the treatment head to move to any position and be fixed.

[0034] Another core of the present invention is to provide a universal arm including the above-mentioned universal arm joint.

[0035] Another core of the present invention is to provide a treatment device including the above-mentioned universal arm.

[0036] Please refer to Figures 1~9 , a universal arm joint, comprising: an arm joint body 1 and a rotating shaft member 3 sleeved inside the arm joint body 1 and axially rotatable relative to the arm joint body 1. One end of the rotating shaft member 3 is provided with a second adapter and is rotatably and fixedly connected to the inner wall of the arm joint body 1 through the second adapter. The other end of the rotating shaft member 3 extends out of the arm joint body 1, and a first adapter is provided on the other end of the rotating shaft member 3. The first adapter is connected to the adjacent arm joint body 1 through a pin shaft structure and is rotatably and fixedly connected to the adjacent arm joint body 1 through the first adapter; the axis of the rotating shaft member 3 and the rotation axis of the pin shaft structure have a non-zero included angle.

[0037] It should be noted that the rotating shaft member 3 rotates along its own axis. The first adapter member and the pin shaft structure are rotatably and fixedly connected. The first adapter member rotates around the rotation axis of the pin shaft structure. The rotation axis of the first adapter member is not parallel to the rotation axis of the rotating shaft member 3, so as to achieve the purpose of universal rotation. Preferably, the axis of the rotating shaft member 3 is perpendicular to the rotation axis of the pin shaft structure.

[0038] During use, a plurality of universal arm joints are connected end to end in sequence to form a universal arm. During installation, the first adapter member of one universal arm joint can be connected to the adjacent universal arm joint through the pin shaft structure. When the rotation angle needs to be adjusted, rotate the first adapter member, and the relative angle between the axes of the two universal arm joints in the same plane can be adjusted, and the angle can be fixed after adjustment. And / or, rotate the rotating shaft member 3 with the axis of the rotating shaft member 3 as the rotation axis, and fix it after passing through the required angle, so that the axes of the two universal arm joints can be rotated in the same plane to another plane at another angle, and the angle can be fixed after adjustment.

[0039] By freely combining the above two ways of adjusting the angle, one universal arm joint can swing relative to another adjacent universal arm joint within a certain space and can stay at any position within this space. As the number of universal arm joints increases, the relative angles of each universal arm joint are adjusted according to the actual situation, so that the universal arm joint arranged at the end can reach any position within the space that can be touched by the maximum length. After installing the treatment head on the universal arm joint arranged at the end, the treatment head can be driven to reach any reachable treatment position and can be fixed at each position, removing the restrictions on the treatment position and treatment direction of the treatment head. Compared with the gooseneck tube and other arms, the universal arm joint provided in the present application is small in volume and can be applied to miniaturized and high-degree-of-freedom application scenarios; in addition, after long-term use, the supporting force of the universal arm joint will not decrease, and the fixing effect of the treatment head can also be ensured.

[0040] On the basis of the above embodiments, as a further preference, the pin shaft structure is arranged on the upper part of the arm joint body 1, and the lower part of the arm joint body 1 is a hollow cylinder 12, and the rotating shaft member 3 is rotatably inserted into the hollow cylinder 12.

[0041] It should be noted that the lower part of the arm joint body 1 is a hollow cylinder 12, and the upper part is a fixed structure. The fixed structure and the hollow cylinder 12 are an integral structure and cannot move relative to each other. The pin shaft structure is arranged on the fixed structure. The hollow part of the hollow cylinder 12 is a through hole that penetrates up and down. The outer diameter of the rotating shaft member 3 is slightly smaller than the inner diameter of the through hole. After the rotating shaft member 3 is inserted into the through hole, it can rotate circumferentially. After the rotating shaft member 3 is inserted into the through hole, the top end face is slightly lower than or equal to the top end face of the hollow cylinder 12.

[0042] Based on the above embodiments, as a further preference, one end face of the rotating shaft member 3 inserted into the hollow cylinder 12 is provided with an axial shaft hole, and an elastic mechanism protruding from the upper end face of the hollow cylinder 12 is arranged in the shaft hole. The first adapter includes a first toothed wheel 4 arranged at the tail end of the rotating shaft member 3 protruding from the hollow cylinder 12. When the first toothed wheel 4 rotates relative to the adjacent arm joint body 1, each tooth groove of the first toothed wheel 4 is sequentially engaged with the elastic mechanism of the adjacent arm joint body 1.

[0043] The upper end of the rotating shaft member 3 is inserted into the through hole, and the lower end protrudes from the lower end face of the hollow cylinder 12. The part of the rotating shaft member 3 inserted into the hollow cylinder 12 is arranged in a columnar shape, and the part protruding from the lower part of the hollow cylinder 12 is arranged in a plate shape. The tooth groove of the first toothed wheel 4 can be engaged with the part of the elastic mechanism protruding from the hollow cylinder 12 in a matching manner, and the part of the elastic mechanism protruding from the hollow cylinder 12 can be inserted into the tooth groove of the first toothed wheel 4.

[0044] All the tooth grooves of the first toothed wheel 4 have the same structure, and all the tooth grooves of the first toothed wheel 4 are sequentially arranged circumferentially. The number of tooth grooves of the first toothed wheel 4 can be set according to the actual application situation. The tooth grooves of the first toothed wheel 4 and the engaging parts can be engaged in a one-to-one matching manner.

[0045] The structure of the elastic mechanism can be set according to the shape of the shaft hole and the shape of the tooth groove of the first toothed wheel 4. The lower part of the elastic mechanism is arranged in the shaft hole, the lower end abuts against the bottom surface of the shaft hole, the top protrudes from the shaft hole and protrudes from the upper end face of the hollow cylinder 12. The elastic mechanism can be compressed or stretched, and can return to its original state after being compressed or stretched.

[0046] During use, a number of universal arm joints are connected end to end in sequence to form a universal arm. During installation, ensure that the upper part of the elastic mechanism of one universal arm joint is inserted into the tooth groove of the first toothed wheel 4 of another universal arm joint. When an angle needs to be rotated, rotate the first toothed wheel 4 to compress the elastic mechanism with the tooth tip of the first toothed wheel 4. Then, another adjacent tooth groove of the first toothed wheel 4 faces the elastic mechanism, and the elastic mechanism returns to its normal state and is inserted into another tooth groove of the first toothed wheel 4, so that the relative angle of the axes of the hollow cylinders 12 of the two universal arm joints in the same plane can be adjusted, and the angle can be fixed after adjustment.

[0047] Based on the above embodiments, as a further preference, the second adapter includes a second toothed wheel 13 arranged at one end of the rotating shaft member 3 inserted into the hollow cylinder 12. The second toothed wheel 13 is collinear with the axis of the rotating shaft member 3. Elastic protrusions are arranged on the inner wall of the hollow cylinder 12. When the second toothed wheel 13 rotates relative to the hollow cylinder 12, the tooth grooves of the second toothed wheel 13 are sequentially engaged with the elastic protrusions.

[0048] A circumferential second toothed wheel 13 is provided on the outer periphery of the upper end of the rotating shaft member 3. The specific structure of the second toothed wheel 13 can be set with reference to the structure of the first toothed wheel 4. It should be noted that since the upper part of the first toothed wheel 4 is connected to the columnar part of the rotating shaft member 3, and the connection position is on the same circumferential surface as the tooth groove of the first toothed wheel 4, the first toothed wheel 4 is a non-full-circle toothed wheel. In order to ensure that the columnar structure of the rotating shaft member 3 inserted into the through hole can rotate circumferentially by 360°, the second toothed wheel 13 is a full-circle toothed wheel.

[0049] The number of elastic protrusions is at least one. In order to avoid friction between the upper part of the rotating shaft member 3 and the inner wall of the hollow cylinder 12, at least two elastic protrusions can be evenly arranged circumferentially on the inner wall of the hollow cylinder 12. All elastic protrusions can be snapped into any tooth groove of the second toothed wheel 13, and the elastic force directions of all elastic protrusions are towards the axis of the rotating shaft member 3, which can ensure the force balance of the rotating shaft member 3 and reduce the friction between the rotating shaft member 3 and the inner wall of the hollow cylinder 12.

[0050] During use, rotate the rotating shaft member 3 with the axis of the rotating shaft member 3 as the rotation axis, so that the tooth tip of the second toothed wheel 13 compresses the elastic protrusion. Then, another adjacent tooth groove of the second toothed wheel 13 faces the elastic protrusion, and the elastic protrusion returns to its normal state and snaps into another tooth groove of the second toothed wheel 13, so that the axes of the hollow cylinders 12 of the two universal support arms can be rotated to another angle in the same plane along the same plane, and the angle can be fixed after adjustment.

[0051] The elastic mechanism and elastic protrusions provided in the above two embodiments have a long service life, and can also ensure the fixing effect of the treatment head after long-term use.

[0052] In an embodiment regarding the elastic protrusion, on the basis of the above embodiment, in order to simplify the structure of the elastic protrusion, as a further preference, a concave spring groove 14 is provided on the inner wall of the hollow cylinder 12. The elastic protrusion includes a spring piece 9 disposed in the spring groove 14 and protruding from the spring groove 14. The spring piece 9 is snapped into the tooth groove of the second toothed wheel 13. When the rotating shaft member 3 rotates a preset angle, the tooth tip of the second toothed wheel 13 compresses the spring piece 9 in the spring groove 14. The spring piece 9 bows towards the inside of the hollow cylinder 12 and protrudes from the inner wall of the hollow cylinder 12 and then snaps into the tooth groove of the second toothed wheel 13. A preset distance is provided between the spring piece 9 and the side wall of the spring groove 14. When the rotating shaft member 3 rotates, the tooth tip of the second toothed wheel 13 will compress the spring piece 9, and the spring piece 9 retracts into the spring groove 14. When the tooth tip passes the spring piece 9, the spring piece 9 bounces up and snaps into the adjacent tooth groove to fix the rotating shaft member 3 after the adjustment angle.

[0053] The rotating shaft member 3 can be clamped or fixed by elastic protrusions. To prevent the rotating shaft member 3 from detaching from the hollow cylinder 12, based on the above embodiment, as a further preference, an annular groove 15 is provided on the outer periphery of one end of the rotating shaft member 3 inserted into the hollow cylinder 12, and a limiting protrusion that is inserted into the annular groove 15 and limits the axial movement of the rotating shaft member 3 is provided on the inner wall of the hollow cylinder 12. The position of the limiting protrusion is fixed. When the limiting protrusion is inserted into the annular groove 15, it can limit the axial movement of the rotating shaft member 3, but does not limit the circumferential rotation of the rotating shaft member 3, and does not affect the adjustment of the rotation angle of the rotating shaft member 3.

[0054] In an embodiment regarding the limiting protrusion, based on the above embodiment, as a further preference, a through limiting through hole 10 is provided on the hollow cylinder 12, and a limiting pin shaft 2 is inserted into the limiting through hole 10. The limiting pin shaft 2 protrudes from the inner wall of the hollow cylinder 12 as the limiting protrusion and is inserted into the annular groove 15. The limiting pin shaft 2 is detachably inserted into the limiting through hole 10, and the limiting through hole 10 communicates with the hollow part of the hollow cylinder 12. After the limiting pin shaft 2 is inserted into the limiting through hole 10, a part of the limiting pin shaft 2 is inside the hollow cylinder 12 and protrudes along the inner wall of the hollow cylinder 12 and is inserted into the annular groove 15 to limit the axial movement of the rotating shaft member 3. The embodiment of the limiting protrusion provided in this embodiment has a simple structure, is easy to process, and the rotating shaft member 3 can be disassembled by disassembling the limiting pin shaft 2 to replace the elastic mechanism and the elastic protrusion.

[0055] In an embodiment regarding the boom joint body 1, based on the above embodiment, as a further preference, the pin shaft structure includes a fixing body 11 relatively arranged on the upper part of the hollow cylinder 12 and a pin shaft 6 arranged between the two fixing bodies. A preset distance is provided between the two fixing bodies 11, and this preset distance is greater than the thickness of the lower part of the rotating shaft member 3, so that after the lower part of the rotating shaft member 3 is connected to the pin shaft 6, it can rotate between the two fixing bodies 11.

[0056] In the embodiment regarding the elastic mechanism, based on the above embodiment, in order to simplify the structure of the elastic mechanism and facilitate disassembly and assembly, as a further preference, the elastic mechanism includes a spiral spring 8 arranged in the shaft hole. A steel ball 7 is arranged at the outer end of the spiral spring 8, and the center of the steel ball 7 is inside the shaft hole. One end of the spiral spring 8 abuts against the bottom surface of the shaft hole, and the other end abuts against the steel ball 7. The inner diameter of the spiral spring 8 is smaller than the diameter of the steel ball 7 to prevent the steel ball 7 from being pressed into the spiral spring 8. Preferably, the original state of the spiral spring 8 is in a compressed state to increase the force of the spiral spring 8 pressing the steel ball 7 into the tooth groove of the second toothed wheel 13.

[0057] The bushing 16 is used to sleeved on the pin shaft 6. In order to reduce the friction between the bushing 16 and the bearing 5, on the basis of the above embodiment, as a further preference, the bushing 16 is arranged at the center of the first toothed wheel 4, the bearing 5 is arranged inside the bushing 16, and the bearing 5 is sleeved on the pin shaft 6, changing the sliding friction into rolling friction, and extending the service life of the pin shaft 6 and the bushing 16.

[0058] In addition to the above universal arm joint, the present invention also provides a universal arm, which includes a plurality of universal arm joints disclosed in any one of the above embodiments connected end to end, and the first adapter of the universal arm joint is connected to the adjacent universal arm joint through the pin shaft structure.

[0059] In addition to the above universal arm, the present invention also provides a treatment device, which includes a treatment instrument and a treatment head arranged outside the treatment instrument. The universal arm disclosed in the above embodiment is also arranged on the treatment instrument, and the universal arm is used to support and guide the treatment head. For the structures of other parts of the treatment device, please refer to the prior art and will not be elaborated herein.

[0060] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0061] The above has introduced the universal arm joint, the universal arm and the treatment device provided by the present invention in detail. Specific examples are used herein to elaborate the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A universal support arm joint, characterized in that, Comprising: The boom section body (1) and a rotating shaft member (3) sleeved inside the boom section body (1) and axially rotatable relative to the boom section body (1). One end of the rotating shaft member (3) is provided with a second adapter and is rotatably and fixedly connected to the inner wall of the boom section body (1) through the second adapter. The other end of the rotating shaft member (3) extends out of the boom section body (1), and a first adapter is provided at the other end of the rotating shaft member (3). The first adapter is connected to the adjacent boom section body (1) through a pin shaft structure and is rotatably and fixedly connected relative to the adjacent boom section body (1) through the first adapter; the axis of the rotating shaft member (3) and the axis of rotation of the pin shaft structure have a non-zero included angle. The lower part of the boom section body (1) is a hollow cylinder (12), and the rotating shaft member (3) is rotatably inserted into the hollow cylinder (12). The second adapter includes a second toothed wheel (13) provided at one end of the rotating shaft member (3) inserted into the hollow cylinder (12). The second toothed wheel (13) is collinear with the axis of the rotating shaft member (3). At least two elastic protrusions are circumferentially and evenly arranged on the inner wall of the hollow cylinder (12). The elastic force directions of all the elastic protrusions are directed towards the axis of the rotating shaft member (3). When the second toothed wheel (13) rotates relative to the hollow cylinder (12), the tooth grooves of the second toothed wheel (13) are sequentially engaged with the elastic protrusions. An annular groove (15) is provided on the outer periphery of one end of the rotating shaft member (3) inserted into the hollow cylinder (12), and a limiting protrusion is provided on the inner wall of the hollow cylinder (12) and is inserted into the annular groove (15) to limit the axial movement of the rotating shaft member (3).

2. The universal support arm joint according to claim 1, characterized in that, An axial shaft hole is provided on the end face of one end of the rotating shaft member (3) inserted into the hollow cylinder (12). An elastic mechanism with an end protruding from the upper end face of the hollow cylinder (12) is provided in the shaft hole. The first adapter includes a first toothed wheel (4) provided at the tail end of the rotating shaft member (3) protruding from the hollow cylinder (12). When the first toothed wheel (4) rotates relative to the adjacent boom section body (1), each tooth groove of the first toothed wheel (4) is sequentially engaged with the elastic mechanism of the adjacent boom section body (1).

3. The universal support arm joint according to claim 2, characterized in that, A sunken spring groove (14) is provided on the inner wall of the hollow cylinder (12). The elastic protrusion includes a spring piece (9) provided in the spring groove (14) and protruding from the spring groove (14). The spring piece (9) is engaged in the tooth groove of the second toothed wheel (13). When the rotating shaft member (3) rotates a preset angle, the tooth tip of the second toothed wheel (13) compresses the spring piece (9) into the spring groove (14).

4. The universal support arm joint according to any one of claims 1-3, characterized in that, A through limiting through hole (10) is provided on the hollow cylinder (12), and a limiting pin shaft (2) is inserted into the limiting through hole (10). The limiting pin shaft (2) protrudes from the inner wall of the hollow cylinder (12) and serves as the limiting protrusion to be inserted into the annular groove (15).

5. The universal support arm joint according to claim 2, characterized in that, The elastic mechanism includes a helical spring (8) disposed in the shaft hole, a steel ball (7) is disposed at the outer end of the helical spring (8), and the center of the steel ball (7) is within the shaft hole.

6. A universal support arm, characterized in that, It includes a plurality of universal arm joints as described in any one of claims 1 to 5 connected end to end, and the first adapter of the universal arm joint is connected to the adjacent universal arm joint through the pin shaft structure.

7. A treatment device, comprising a treatment instrument and a treatment head disposed outside the treatment instrument, characterized in that, The treatment instrument is further provided with the universal arm as described in claim 6, and the universal arm is used to support and guide the treatment head.

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