Mechanical arm

Abstract

The invention provides a mechanical arm which comprises a joint and at least two supporting arms, the at least two supporting arms are connected through the joint, and the joint comprises a first joint and a second joint. According to the mechanical arm, the first joint is locked and unlocked through the locking assembly, the second joint is locked through meshing connection of the first fluted disc and the second fluted disc, the first joint and the second joint both have high 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 guaranteed, and the mechanical arm is convenient to use. The stability of the mechanical arm is guaranteed, and when the mechanical arm is used for a navigation operation of a surgical robot, the operation safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a mechanical arm. Background Art

[0002] With the popularization of navigation minimally invasive surgery in clinical practice, and the trend of miniaturization of surgical assisting robots, the positioning accuracy and stability requirements for small surgical robots are getting higher and higher. The robotic arms of small surgical robots on the market are generally implemented with ball joint structures. This joint structure relies on the friction between the parts after the joint is locked to keep the arm locked, which is prone to the problem of insufficient joint locking force. Once the joint locking force is insufficient, the related arms of the robotic arm will move unexpectedly, which will cause the entire robotic arm or even the robot system to shift, making its positioning inaccurate, leading to the failure of navigation surgery and even serious consequences such as patient casualties. Therefore, how to improve the locking force and stability of the hand robotic arm is an urgent problem to be solved. Summary of the invention

[0003] In view of the defects in the prior art, an object of the present invention is to provide a robotic arm whose joints have large locking force and good stability, and which can provide stable support for surgical robots or other medical devices.

[0004] The present invention provides a mechanical arm, comprising a joint and at least two arms, wherein the at least two arms are connected through the joint, and the joint comprises a first joint and a second joint; the first joint comprises a shell, a connecting rod, and a locking assembly, wherein: the shell comprises a first shell and a second shell, the first shell is provided with a first connecting piece, the second shell is provided with a second connecting piece, the first connecting piece and the second connecting piece are rotatably connected, and a cavity is provided inside the shell; the locking assembly and at least a part of the connecting rod are located in the cavity, the locking assembly comprises a top block and a tooth block, the top block is connected to the connecting rod; the locking assembly has a locking state and an unlocking state, when the locking assembly is in the locking state, the tooth block is connected to the first connecting piece, and when the locking assembly is in the unlocking state, the tooth block is disengaged from the first connecting piece.

[0005] In one embodiment, the support arm includes a first support arm and a second support arm, the first joint connects the first support arm and / or the second support arm, and the second support arm connects the second joint.

[0006] In one embodiment, the support arm includes a first support arm, a second support arm, and a third support arm, the first support arm and the second support arm are connected via the first joint, and the second support arm and the third support arm are connected via the second joint.

[0007] In one embodiment, the robotic arm further comprises a control switch, and the control switch is arranged on any one of the arms.

[0008] In one embodiment, the control switch includes a first control switch and a second control switch, the first control switch is used to control the switching of the first joint between a locked state and an unlocked state, and the second control switch is used to control the switching of the second joint between a locked state and an unlocked state.

[0009] In one embodiment, the first control switch includes a button and a button rotating part, the button is fixedly connected to the button rotating part, and the button rotating part is connected to the connecting rod.

[0010] In one embodiment, the rotating portion is rotatably connected to the supporting arm.

[0011] In one embodiment, at least one of the arms or at least one of the first joints is connected to a fixing clip.

[0012] In one embodiment, the second connecting member is connected to the first connecting member via a bearing.

[0013] In one embodiment, a top block inclined surface is provided on the top block, a tooth block inclined surface is provided on the tooth block, and the tooth block inclined surface abuts against the top block inclined surface.

[0014] In one embodiment, the top block has a top block first end and a top block second end, and a top block inclined surface is provided on a side surface of the top block.

[0015] In one embodiment, the tooth block is provided with a first end and a second end of the tooth block, the tooth block inclined surface is provided at the first end of the tooth block, and the second end of the tooth block is connected to the first connecting member in a locked state.

[0016] In one embodiment, in the locked state, the second end of the tooth block is meshedly connected with the first connecting member.

[0017] In one embodiment, a tooth block rack is provided at the second end of the tooth block, and a first connecting member rack is provided on the first connecting member. In a locked state, the tooth block rack is meshed with the first connecting member rack.

[0018] In one embodiment, the tooth block further includes a tooth block side surface, and a tooth block spring is provided between the tooth block side surface and the second connecting member.

[0019] In one embodiment, the spring is used to impart a force to the tooth block toward the inclined surface of the top block.

[0020] In one embodiment, the top block has a top block first end and a top block second end, a top block spring is provided between the top block first end and the second connecting member, and the other end opposite to the top block first end is the top block second end.

[0021] In one embodiment, the first end of the top block and / or the second end of the top block can be rotatably connected to the connecting rod.

[0022] In one embodiment, the first end of the top block and / or the second end of the top block are connected to the connecting rod via a universal joint.

[0023] In one embodiment, the first joint further includes a steering assembly, and the steering assembly is rotatably connected to the housing.

[0024] In one embodiment, one end of the connecting rod is rotatably connected to the steering assembly.

[0025] In one embodiment, a connecting portion is provided on the shell, and the rotating portion is connected to the connecting portion via a fixing pin.

[0026] In one embodiment, the rotating portion is L-shaped and has a first rotating portion end and a second rotating portion end, and the first rotating portion end and the second rotating portion end are respectively connected to at least one of the connecting rods.

[0027] In one embodiment, the second joint includes a control link, a first gear plate, and a second gear plate, wherein the control link is connected to the first gear plate, and when the second joint is in a locked state, the first gear plate is meshed and connected with the second gear plate.

[0028] In one embodiment, the second joint further includes a third housing and a fourth housing, and the fourth housing is connected to the second gear plate.

[0029] In one embodiment, a gear spring is provided between the first gear and the third housing.

[0030] In one embodiment, a toothed disc spring is provided between the first toothed disc and the second toothed disc.

[0031] In one embodiment, a first toothed disc through hole is provided inside the first toothed disc, and the connecting rod passes through the first toothed disc through hole.

[0032] In one embodiment, a second toothed disc through hole is provided inside the second toothed disc, and the connecting rod passes through the second toothed disc through hole.

[0033] 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 member is connected to the second button, and the other end of the second rotating member is connected to the control link.

[0034] In one embodiment, the second control switch further includes a limit member, the limit member is fixedly connected to the support arm, the limit member is provided with a limit member through hole, and the control connecting rod passes through the limit member through hole.

[0035] Compared with the prior art, the robotic arm provided by the present invention has the following beneficial effects:

[0036] 1. The first joint is locked and unlocked by a locking assembly, and the second joint is locked by the meshing connection of the first gear plate and the second gear plate. Both the first joint and the second joint have a high locking force, which avoids the accidental unlocking of the robotic arm due to insufficient locking force, ensures the stability of the robotic arm, and ensures the safety of the surgery when used for navigation surgery of the surgical robot.

[0037] 2. When the first control switch and the second control switch are set, the locking and unlocking of one or more arms can be controlled by controlling the first control switch, and the locking and unlocking of the corresponding arms can be controlled by controlling the second control switch. The locking and unlocking of the first joint and the second joint are not affected by each other and can be adjusted according to actual conditions, which is easy to operate.

[0038] 3. The robotic arm can carry heavier loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0040] Figure 1 A schematic diagram of the structure of a mechanical arm according to an embodiment of the present invention;

[0041] Figure 2 A schematic structural diagram of a first joint according to an embodiment of the present invention;

[0042] Figure 3 A schematic structural diagram of a first joint locking assembly showing an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of the structure of a tooth block of a first joint according to an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of the structure of a second joint shown in one embodiment of the present invention;

[0045] Figure 6 A schematic structural diagram of a first toothed disc showing an embodiment of the present invention;

[0046] Figure 7 A schematic diagram of the structure of a second toothed disc showing an embodiment of the present invention;

[0047] Figure 8 A schematic diagram of the structure of a first control switch according to an embodiment of the present invention;

[0048] Fig. 9 A schematic diagram of the structure of a second control switch according to an embodiment of the present invention;

[0049] Fig.10 The figure is a schematic diagram of the structure of a second control switch according to an embodiment of the present invention.

[0050] Reference numerals:

[0051] 1. Shell; 2. Steering assembly; 10. Cavity; 11. First connecting member; 12. Second connecting member; 18. First shell; 19. Second shell; 13. Through hole; 14. Universal joint; 20. Rotating part; 21. First end of rotating part; 22. Second end of rotating part; 23. Fixed pin; 24. Connecting part; 31. Top block; 311. First end of top block; 312. Second end of top block; 313. Inclined surface of top block; 314. Top block spring; 32. Tooth block; 321. First end of tooth block; 322. Second end of tooth block; 323. Tooth block Block inclined surface; 324, tooth block side; 325, tooth block spring; 33, first connecting rod; 34, second connecting rod; 51, first arm; 52, second arm; 53, third arm; 61, first joint; 62, second joint; 7, button; 71, button rotating part; 72, second control switch; 73, second button; 74, second rotating part; 75, limit part; 81, first tooth disc; 82, second tooth disc; 83, control connecting rod; 84, tooth disc spring; 85, third shell; 86, fourth shell; 9, fixing clamp. DETAILED DESCRIPTION

[0052] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0053] As used in the present invention, the singular forms "one", "an" and "the" include plural objects, the term "or" is generally used to include the meaning of "and / or", the term "several" is generally used to include the meaning of "at least one", and the term "at least two" is generally used to include the meaning of "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, the term "proximal end" is generally the end close to the operator, the term "distal end" is generally the end close to the patient, "one end" and "the other end" as well as "proximal end" and "distal end" generally refer to two corresponding parts, which include not only the endpoints, and the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be two The connection within an element or the interaction relationship between two elements. In addition, as used in the present invention, an element is arranged on another element, which usually only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the connection, coupling, cooperation or transmission between the two elements can be direct or indirect through an intermediate element, and it cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element can be in any position such as inside, outside, above, below or one side of another element, unless the content clearly indicates otherwise. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] The core idea of ​​the present invention is to provide a mechanical arm to solve the problems in the prior art that the locking force of the joints is insufficient and the arm is prone to accidental movement.

[0055] This embodiment provides a mechanical arm, referring to Figure 1 The robot arm includes a first arm 51, a second arm 52, a third arm 53, three first joints 61, and a second joint 62. 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 the steering assembly of another adjacent first joint 61 through a connecting rod. Two control switches are provided on the third arm 53, which respectively control the switching of the first joint 61 and the second joint 62 between the locked state and the unlocked state. The first joint 61 located at one end of the first arm 51 is also connected to a fixing clamp 9, which can be connected to an operating bed, a fixing frame or other fixing devices to fix the entire robot arm.

[0056] Reference Figure 2 to Figure 4 The first joint includes a shell 1, a connecting rod, a steering assembly 2, and a locking assembly. Among them, a cavity 10 is provided inside the shell 1, and the cavity 10 runs through the entire joint and the mechanical arm. The steering assembly 2 and the locking assembly are arranged inside the cavity 10. The shell 1 includes a first shell 18 and a second shell 19. A first connecting member 11 is provided on the inner wall of the first shell 18. The first shell 18 and the first connecting member 11 can be integrally formed or detachably connected. The second shell 19 is connected to the second connecting member. The second shell 19 and the second connecting member 12 can be integrally formed or detachably connected. The first connecting member 11 and the second connecting member 12 are connected by a bearing. The first connecting member 11 and the second connecting member 12 can rotate relative to each other, that is, the first shell 18 and the second shell 19 can also rotate relative to each other. The connecting rod can have multiple sections. In this embodiment, the connecting rod includes a first connecting rod 33 and a second connecting rod 34.

[0057] In addition, the first joint also includes a steering assembly 2, which includes a rotating part 20 and a connecting part 24, wherein the connecting part 24 is fixedly connected to the inner wall of the first shell 18, and the rotating part 20 is in an L-like shape, and the rotating part 20 has a rotating first end 21 and a rotating part second end 22, and a fixed pin shaft 23 is provided on the connecting part 24, and the connecting part 24 is connected to the middle position of the rotating part 20, i.e., the corner of the L shape, through the fixed pin shaft 23. The first end 21 of the rotating part is connected to the locking assembly of the first joint corresponding thereto through the first connecting rod 33, and the second end 22 of the rotating part is connected to the locking assembly of another first joint through the second connecting rod 34. The setting of the rotating assembly can change the direction of the connecting rod, and at the same time connect multiple first joints in series, so that multiple joints in different directions can be set on the robot arm, and the locking or unlocking of all joints on the robot arm can be controlled by one operation.

[0058] Reference Figure 2 to Figure 4, the locking assembly is located inside the cavity 10, and the locking assembly includes a top block 31 and a tooth block 32. A through hole 13 is provided in the middle of the second connecting member 12, and the through hole 13 is connected to the cavity 10, and the top block 31 passes through the through hole 13. Under the restriction of the second connecting member 12, the top block 31 can only move along the axial direction of the through hole 13. 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 also provided on the side of the middle position of the top block 31, that is, the top block first end 311 and the top block second end 312 are respectively located on both sides of the top block inclined surface 313. The top block first end connection 311 is connected to the first connecting rod 33, specifically, the first connecting rod 33 can be connected to the first end 21 of the steering assembly through a pin shaft or a universal joint, and the first connecting rod 33 can be composed of one or more sub-connecting rods. When the first connecting rod 33 is composed of multiple sub-connecting rods, each sub-connecting rod is connected to the adjacent sub-connecting rod through a universal joint. The first connecting rod 33 and the top block 31 can be fixedly connected or connected via a universal joint 14. In this embodiment, the first end 311 of the top block is connected to the first connecting rod 33 via a universal joint 14. The second end 312 of the top block is connected to the second housing 19 or a second connecting rod 34 of another adjacent first joint. The top block 31 is connected to the second connecting member 12 via a top block spring 314 at a position close to the first end 311 of the top block. In the absence of external force, the top block spring 314 in this embodiment is in a compressed state, that is, in Figure 2 and Figure 3 Middle top block spring 314 makes top block 31 have the trend of moving to the left to the certain pressure of top block 31. Certainly, top block spring 314 also can be in the state of being stretched, as long as give the trend of top block moving to the left.

[0059] like Figure 2 to Figure 4As shown, the tooth block 32 has a first end 321, a second end 322, and a side surface 324. The tooth block 32 is conical in shape at a position close to the first end 321, and cylindrical in shape at a position close to the second end 322. A plurality of tooth blocks 32 can be provided in the cavity 10, for example, two. The tooth block 32 can only move in a direction toward or away from the axis of the top block or the cavity, but cannot rotate in the circumferential direction of the top block. A tooth block spring 325 is provided between the side surface 324 of the tooth block and the inner wall of the second connecting member 12. When in a locked state or an unlocked state, the tooth block spring 325 is compressed, giving a force to the locking tooth block 32 in the axial direction of its top block 31, that is, whether in a locked state or an unlocked state, the tooth block 32 has a tendency to approach the top block 31. A tooth block inclined surface 323 is provided at the first end 321 of the tooth block, and the tooth block inclined surface 323 abuts against the top block inclined surface 313 under the action of the tooth block spring 325. The tooth width inclined surface 323 can be in the shape of a spherical surface, a conical surface, or a truncated cone side surface, and can be in line contact or surface contact with the top block inclined surface 313 and maintain a certain action force. A tooth block rack is provided at the second end 322 of the tooth block, and a first connecting member rack matching with the tooth block rack is provided on the inner wall of the first connecting member 11. When the tooth block rack on the tooth block 31 is meshed and connected with the first connecting member rack on the first connecting member 11, the tooth block 32 and the first connecting member 11 cannot rotate relative to each other, that is, the first shell 18 and the second shell 19 cannot rotate relative to each other, and the locking assembly is in a locked state at this time. When the top block 31 is subjected to external force and causes the top block 31 to move to the right, the top block inclined surface 313 moves to the right, and the tooth block 32 moves toward the axial direction close to the top block 31 under the action of the tooth block spring 325, that is, the tooth block 32 moves toward the inside of the cavity 10, and the connection between the second end 322 of the tooth block and the first connecting member 11 is gradually weakened and disengaged. When the second end 322 of the tooth block is completely disengaged from the first connecting member 11, the first connecting member 11 and the second connecting member 12 can move relative to each other, and the locking assembly enters the unlocked state. When it is necessary to switch from the unlocked state to the locked state, the external force applied to the top block 31 is removed, and the top block 31 moves to the left to return to the previous position. Under the action of the top block inclined surface 313, the tooth block 32 moves toward the outside and resumes the meshing connection state with the first connecting member 11. At this time, the first connecting member 11 and the second connecting member 12 can no longer rotate, that is, the locking assembly returns to the locked state. In addition, the external force applied to the top block 31 can be transmitted through the first connecting member 33 or the second connecting member 34 without having to act directly on the top block 31. Due to the rotatable connection between the top block 31 and the first connecting member 33 or the second connecting member 34, the top block 31 can move along the direction of its axis driven by the top block spring 314.

[0060] The first joint provided in this embodiment maintains the stability of the first joint in a locked state through the meshing connection between the tooth block and the first connecting piece. The potential energy of the tooth block spring or the top block spring makes the first joint more secure and more stable in the locked state. The joint locking force will not be too low or accidentally unlocked, thereby ensuring safety and stability during the operation.

[0061] Reference Figure 5 to Figure 7 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, and the second toothed disc 82 is connected to the fourth housing 86. The control link 83 is arranged on the first toothed disc 81, on a side away from the second toothed disc 82. Matching gears are arranged on the opposite sides between the first toothed disc 81 and the second toothed disc 82. A toothed disc spring 84 is arranged between the first toothed disc 81 and the third housing 85. The toothed disc spring 84 applies a force to the first toothed disc 81 toward the left so that the gears on the first toothed disc 81 and the second toothed disc 82 are meshed and connected. At this time, the first toothed disc 81 and the second toothed disc 82 cannot rotate relative to each other, and the second joint is in a locked state. Figure 5 As shown, when the control link 83 is subjected to a force toward the right and the force is greater than the force of the sprocket spring 84, it drives the first sprocket 81 to move toward the right, and the first sprocket 81 is gradually separated from the second sprocket 82. When the gears on the first sprocket 81 and the second sprocket 82 are completely separated, the first sprocket 81 and the second sprocket 82 can rotate relative to each other, and the second joint is in an unlocked state, so that the angle between the first sprocket 81 and the second sprocket 82 can be adjusted.

[0062] The first toothed disc 81 and the second toothed disc 82 are respectively provided with corresponding through holes in their middle parts, and the first connecting rod 33 or the second connecting rod 34 passes through the corresponding through holes.

[0063] Reference Figure 1 and Figure 8 to Figure 10 The third arm 53 is provided with a first control switch and a second control switch. The first control switch can control the locking and unlocking of the first joint, and the second control switch can control the locking and unlocking of the second joint.

[0064] Reference Figure 1 and Figure 8, the first control switch includes a button 7 and a button rotating part 71, one end of the button 7 is fixedly connected to the button rotating part 71, the button 7 and the button rotating part 71 are in an L-shaped structure, and are connected to the third arm 53 at the angle through a pin, and the button rotating part 71 can be rotatably connected to the first connecting rod 33 or the second connecting rod 34. Whether the button rotating part 71 is connected to the first connecting rod 33 or the second connecting rod 34 is determined according to the degree of freedom of the robot arm and the number and installation direction of the required first joints. In this embodiment, the button rotating part 71 is rotatably connected to the second connecting rod 34 as an example. When the button 7 is pressed, the button 7 rotates clockwise, driving the button rotating part 71 to rotate clockwise, so that the second connecting rod 34 moves to the right, and the top rod 31 moves to the right, so that the first joint switches from the locked state to the unlocked state. At the same time, the connecting rod of each first joint undergoes corresponding movement, so that all joints enter the unlocked state, and any joint can be adjusted at this time. When the button 71 is released, the external force on the connecting rod and the top block disappears, and the second connecting rod 34 moves toward the left, driving the button rotation 71 and the button to return to the initial position, and all the first joints return to the locked state. In addition, during the unlocking or locking process of the first control switch, the first connecting rod or the second connecting rod connecting each first joint moves, driving all the first joints to switch between the unlocked state and the locked state.

[0065] Reference Figure 8 to Figure 10 The second control switch 72 includes a second button 73, a second rotating member 74, and a stopper 75. The second rotating member 74 is L-shaped or semicircular, and its middle position can be rotatably connected to the third arm 53, for example, connected to the third arm 53 through a pin shaft. One end of the second rotating member 74 is connected to the second button 73, and the other end of the second rotating member 74 is connected to the control link 83. The third arm 53 is provided with a stopper 75, and the stopper 75 is provided with a stopper through hole (not shown in the figure). The control link 83 passes through the stopper through hole. The stopper 75 can limit the movement direction of the control link 83 so that it can only move along its axial direction. In order to ensure the normal rotation of the second rotating member 74, a pin hole can be set on the second rotating member 74 and a pin shaft can be set on the control link 83, and the pin shaft can slide in the pin hole.

[0066] The mechanical arm provided in this embodiment is connected through multiple first joints and one second joint. Both the first joints and the second joints have a high locking force, and the locking state is stable. The mechanical arm can carry a heavier load and has high safety. Moreover, the first control switch can realize the switching of all the first joints between the unlocked state and the locked state, and the through-hole second control switch can realize the switching of the second joints between the unlocked state and the locked state, which increases the flexibility of the mechanical arm in practical applications and is simple and convenient to operate.

[0067] The above is a description of the specific embodiments of the present invention, which is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be based on the attached claims.

Claims

1. A robotic arm, characterized in that: It includes a joint and at least two arms, the at least two arms are connected by the joint, the joint includes a first joint and a second joint; the first joint includes a shell, a connecting rod, and a locking assembly, wherein: the shell includes a first shell and a second shell, the first shell is provided with a first connecting piece, the second shell is provided with a second connecting piece, the first connecting piece and the second connecting piece are rotatably connected, and a cavity is provided inside the shell; at least a part of the locking assembly and the connecting rod are located in the cavity, the locking assembly includes a top block and a tooth block, the top block is connected to the connecting rod; the locking assembly has a locked state and an unlocked state, when the locking assembly is in the locked state, the tooth block is connected to the first connecting piece, and when the locking assembly is in the unlocked state, the tooth block is disengaged from the first connecting piece.

2. The robotic arm according to claim 1, characterized in that: The top block is provided with a top block inclined surface, the tooth block is provided with a tooth block inclined surface, and the tooth block inclined surface abuts against the top block inclined surface.

3. The robotic arm according to claim 2, characterized in that: The tooth block is provided with a first end and a second end of the tooth block, the tooth block inclined surface is provided at the first end of the tooth block, and the second end of the tooth block is connected to the first connecting member in a locked state.

4. The robotic arm according to claim 3, characterized in that: In the locked state, the second end of the tooth block is meshed and connected with the first connecting member.

5. The robotic arm according to claim 3, characterized in that: The tooth block further comprises a tooth block side surface, and a tooth block spring is arranged between the tooth block side surface and the second connecting member.

6. The robotic arm according to claim 2, characterized in that: The top block has a top block first end and a top block second end. A top block spring is arranged between the top block first end and the second connecting member. The other end opposite to the top block first end is the top block second end.

7. The robot arm according to claim 6, characterized in that: The first end of the top block and / or the second end of the top block can be rotatably connected to the connecting rod.

8. The robotic arm according to claim 1, characterized in that: The first joint further comprises a steering assembly, the steering assembly is rotatably connected to the housing, and one end of the connecting rod is rotatably connected to the steering assembly.

9. The robot arm according to claim 8, characterized in that: The steering assembly includes a rotating part and a connecting part. The connecting part is fixedly connected to the housing, and the rotating part is rotatably connected to the connecting part.

10. The robotic arm according to claim 1, characterized in that: The second joint includes a control link, a first gear plate, and a second gear plate, wherein the control link is connected to the first gear plate, and when the second joint is in a locked state, the first gear plate is meshed and connected with the second gear plate.

11. The mechanical arm according to claim 10, characterized in that: A toothed disc spring is provided between the first toothed disc and the second toothed disc.

12. The robotic arm according to claim 10, characterized in that: The second joint further includes a third housing and a fourth housing, the fourth housing is connected to the second gear disc, and a gear disc spring is provided between the first gear disc and the third housing.

13. The robot arm according to claim 10, characterized in that: A first toothed disc through hole is provided inside the first toothed disc, and the connecting rod passes through the first toothed disc through hole; a second toothed disc through hole is provided inside the second toothed disc, and the connecting rod passes through the second toothed disc through hole.

14. The robotic arm according to claim 1, characterized in that: The robotic arm also includes a control switch, which includes a first control switch and a second control switch, the first control switch is used to control the switching of the first joint between a locked state and an unlocked state, and the second control switch is used to control the switching of the second joint between a locked state and an unlocked state.

15. The robot arm according to claim 14, characterized in that: The first control switch includes a button and a button rotating part, the button is fixedly connected to the button rotating part, and the button rotating part is connected to the connecting rod.

16. The mechanical arm according to claim 14, characterized in that: 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.

17. The robot arm according to claim 16, characterized in that: The second control switch further includes a limiter, the limiter is fixedly connected to the support arm, the limiter is provided with a limiter through hole, and the control connecting rod passes through the limiter through hole.

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