Mechanical arm joint and universal arm

Abstract

The invention provides a mechanical arm joint and a universal arm. The mechanical arm joint comprises a shell, a flexible connecting piece and a locking assembly, and a first connecting piece and a second connecting piece of the mechanical arm joint are rotatably connected; the locking assembly comprises a top block and a tooth block, a top block cavity is formed 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 abuts against the tooth block. The mechanical arm joint has high locking force, and the problem that a robot system is unstable due to accidental movement of a supporting arm is solved; the multiple joints of the universal arm are connected through the steering mechanism, locking and unlocking of all the joints of the universal arm can be controlled through one-time operation, and operation is easy, convenient and flexible. And the universal arm is provided with a more compatible fixed interface and can bear a heavier load.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a mechanical arm joint and a universal 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 support 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 relevant support 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 of the joints of the surgical robot support arm is an urgent problem to be solved. Summary of the invention

[0003] In view of the defects in the prior art, the purpose of the present invention is to provide a robotic arm joint and a universal arm. The robotic arm joint has a large locking force and the universal arm has good stability, which can provide stable support for surgical robots or other medical devices.

[0004] One aspect of the present invention provides a mechanical arm joint, comprising a housing, a flexible connector, and a locking assembly, wherein:

[0005] The housing comprises a first housing and a second housing, the first housing is provided with a first connecting member, the second housing is provided with a second connecting member, and the first connecting member and the second connecting member are rotatably connected;

[0006] The locking assembly is located in the shell cavity, and the locking assembly includes a top block and a tooth block. A top block cavity is provided inside the top block, and the top block cavity is communicated with the shell cavity. At least a portion of the flexible connector is provided in the top block cavity, and the top block abuts against the tooth block.

[0007] In one embodiment, the locking assembly has a locking state and an unlocking state. In the locking state, the tooth block is connected to the first connecting member, and in the unlocking state, the tooth block is disconnected from the first connecting member.

[0008] In one embodiment, a housing cavity is provided inside the housing, and at least a portion of the flexible connector is located in the housing cavity.

[0009] In one embodiment, the first connecting member and the second connecting member are connected via a bearing.

[0010] 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.

[0011] 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.

[0012] In one embodiment, in the locked state, the second end of the tooth block is meshedly connected with the first connecting member.

[0013] 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.

[0014] 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.

[0015] In one embodiment, the spring is used to impart a force to the tooth block toward the inclined surface of the top block.

[0016] 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 connecting member, and the other end opposite to the top block first end is the top block second end.

[0017] In one embodiment, a top block spring is provided between the first end of the top block and the second connecting member.

[0018] In one embodiment, a plurality of claws are provided at the second end of the top block, a gap is provided between two adjacent claws, and a plane perpendicular to the axis of the flexible connector or the axis or center line of the top block is the first plane.

[0019] In one embodiment, there are at least two claws.

[0020] In one embodiment, the projection of the claw piece on the first plane is located in a circular ring.

[0021] In one embodiment, one end of the claw piece connected to the top block is the claw piece connecting end, and the other end of the claw piece is the claw piece free end, and the diameter of the ring where the projection of the claw piece free end on the first plane is located is smaller than the diameter of the ring where the projection of the claw piece connecting end on the first plane is located.

[0022] In one embodiment, the locking assembly further includes a fastener, and the fastener is located at the second end of the top block and the outer surface of the claw piece.

[0023] In one embodiment, the fastener is connected to the second end of the top block via internal and external threads.

[0024] In one embodiment, the fastener is connected to the housing via internal and external threads or via a bearing.

[0025] In one embodiment, the fastener has a fastener connecting end and a fastener fixing end, and the fastener connecting end is connected to the top block.

[0026] In one embodiment, a projection of the fixing end of the fastener on the first plane is inside a projection of the connecting end of the fastener on the first plane.

[0027] In one embodiment, the inner surface of the fastener connection end is provided with an internal thread, and the second end of the top block or the outer surface of the claw piece is provided with a thread matching the internal thread.

[0028] In one embodiment, the fastener is a special-shaped nut.

[0029] In one embodiment, the robotic arm joint further includes a steering mechanism, and the steering mechanism is rotatably connected to the shell.

[0030] In one embodiment, the steering mechanism is a pulley, and the flexible connector passes around the pulley.

[0031] In one embodiment, the steering mechanism further includes a connecting portion, and the connecting portion is fixedly connected to the first housing or the second housing.

[0032] In one embodiment, the pulley is arranged on the connecting portion.

[0033] Another aspect of the present invention provides a universal arm, which includes the mechanical arm joint and at least two support arms, and two adjacent support arms are connected by one or more of the mechanical arm joints.

[0034] In one embodiment, the universal arm further comprises a control switch, and the control switch is arranged on any one of the supporting arms or the joint of the mechanical arm.

[0035] In one embodiment, the control switch is used to control the switching of the universal arm between a locked state and an unlocked state.

[0036] In one embodiment, the control switch includes a button and a rotating part, the button is fixedly connected to the rotating part, and the rotating part is connected to the locking assembly.

[0037] In one embodiment, the rotating portion is connected to the flexible connecting member.

[0038] In one embodiment, the rotating portion is rotatably connected to the supporting arm.

[0039] In one embodiment, a fixing clamp is provided on at least one of the arms or at least one of the mechanical arm joints.

[0040] Compared with the prior art, the mechanical arm joint and the universal arm provided by the present invention have the following beneficial effects:

[0041] 1. The joint of the robot arm is locked by the force between the top block and the tooth block, which has a high locking force and will not cause the robot system to be unstable due to accidental movement of the arm;

[0042] 2. Each joint is connected by a flexible connector. The locking and unlocking of all joints of the universal arm can be controlled by one operation, which reduces the complexity of the joint structure, reduces the weight and volume of the joint, improves the stability of the overall structure, and improves the convenience of operation;

[0043] 3. The universal arm has a more flexible fixing method, a more compatible fixing interface, and can carry heavier loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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:

[0045] Figure 1 A schematic structural diagram of a universal arm according to an embodiment of the present invention;

[0046] Figure 2 This is a schematic structural diagram of a third support arm according to an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of the structure of a mechanical arm joint according to an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of the structure of a gear block according to an embodiment of the present invention;

[0049] Figure 5 A schematic diagram of the structure of a top block shown in one embodiment of the present invention;

[0050] Figure 6 A cross-sectional view of a top block showing an embodiment of the present invention.

[0051] Reference numerals:

[0052] 11. First connecting member; 12. Second connecting member; 18. First housing; 19. Second housing; 2. Wire rope; 21. Pulley; 22. Connecting part; 31. Top block; 311. First end of top block; 312. Second end of top block; 313. Inclined surface of top block; 314. Claw; 315. Claw connecting end; 316. Free end of claw; 317. Gap; 34. Top block spring; 32. Tooth block; 321. First end of tooth block; 322. The second end of the tooth block; 323, the inclined surface of the tooth block; 324, the side surface of the tooth block; 325, the spring of the tooth block; 4, the fastener; 41, the fastening connection end; 42, the fixed end of the fastener; 51, the first arm; 52, the second arm; 53, the third arm; 61, the first joint; 62, the second joint; 63, the third joint; 64, the fourth joint; 65, the fifth joint; 66, the sixth joint; 7, the button; 71, the button rotating part; 9, the fixing clamp. DETAILED DESCRIPTION

[0053] 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.

[0054] As used in the present invention, the singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features. 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 usually the end close to the operator, and the term "distal end" is usually the end close to the patient. "One end" and "the other end" as well as "proximal end" and "distal end" usually refer to two corresponding parts, which include not only the endpoints. 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 body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. In addition, as used in the present invention, an element is arranged on another element, which usually only means that there is a connection, coupling, matching or transmission relationship between the two elements, and the connection, coupling, matching 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 on one side of another element, unless the content clearly indicates otherwise. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] The core idea of ​​the present invention is to provide a mechanical arm joint and a universal arm to solve the problem of insufficient locking force of the joint in the prior art.

[0056] Example 1

[0057] This embodiment provides a mechanical arm joint, which includes a housing, a flexible connector, and a locking assembly. Figure 3 to Figure 6The housing includes a first housing 18 and a second housing 19. A first connector 11 is provided on the first housing 18. The first housing 18 and the first connector 11 can be integrally formed or detachably connected. A second connector 12 is provided on the inner wall of the second housing 19. The second housing 19 and the second connector 12 can be integrally formed or detachably connected. The first connector 11 and the second connector 12 are connected by a bearing. The first connector 11 and the second connector 12 can rotate relative to each other, that is, the first housing 18 and the second housing 19 can also rotate relative to each other. The first housing 18 and the second housing 19 have interconnected housing cavities (not shown in the figure), and the flexible connector passes through the housing cavity (not shown in the figure). The flexible connector can be a slender structure with certain flexibility, strength and rigidity, such as a steel wire rope, a belt, or a chain, a rack or other structure that can be bent, and can perform mechanical transmission and traction. In this embodiment, the flexible connector takes a steel wire rope as an example.

[0058] The locking assembly is located inside the shell cavity (not shown in the figure), and the locking assembly includes a top block 31 and a tooth block 32. A cylindrical top block cavity (not shown in the figure) is provided near the axis of the top block 31, and the top block cavity is connected to the shell cavity (not shown in the figure). The steel wire rope 2 passes through the top block cavity. The axis of the top block 31 coincides with the axis of the portion of the steel wire rope 2 located in the cavity. The plane perpendicular to the axis of the top block 31 is called the first plane. A part of the top block 31 is arranged inside the second connecting member 12. Under the restriction of the second connecting member 12, the top block 31 can only move along the direction of its axis. The top block 31 has a top block first end 311 and a top block second end 312. A top block inclined surface 313 is also provided on the side of the top block 31, facing the first connecting member 11.

[0059] Reference Figure 3 , the first end 311 of the top block is connected to the second connecting member 12 through the top block spring 34. In the absence of external force, the top block spring 34 is compressed, that is, the top block spring 34 exerts a certain thrust on the top block 31, so that the top block 31 has a tendency to move to the right. Of course, the top block spring 34 can also be in a stretched state, giving the top block a pulling force, so that it has a tendency to move to the right. Figure 3 , Figure 5 and Figure 6, the other end opposite to the first end 311 of the top block is the second end 312 of the top block, the second end 312 of the top block is provided with a plurality of claws 314, there is a certain gap 317 between two adjacent claws 314, one end of the claw 314 connected to the second end 312 of the top block is the claw connection end 315, and the other end opposite to the first end 315 of the claw is the claw free end 316. There are at least two claws 314, and four are used in this embodiment. The diameter of the ring where the projection of the claw free end 316 on the first plane is located is smaller than the diameter of the ring where the projection of the claw connection end 312 on the first plane is located, that is, the combination of the four claw free ends and the gaps therebetween is in the shape of a truncated cone. The steel wire rope 2 passes through the middle of the truncated cone, and when the free end of the claw is subjected to a force in the direction of its axis, it will move toward the center, the gap will be reduced, and the steel wire rope will be clamped. When the flexible connector adopts a structure such as a rack or a chain, a matching rack or a clamping structure can be provided at the free end of the claw piece to achieve the purpose of fixing the flexible connector at the free end of the claw piece.

[0060] Reference Figure 3 and Figure 6 A fastener 4 is also provided outside the claw piece 314. The fastener 4 has a fastener connection end 41 and a fastener fixing end 42. The fastener connection end 41 is provided on the outer surface of the second end 312 of the top block. The fastener connection end 41 is fixedly connected to the inner wall of the second housing 19 or the second connecting member 12. In addition, the fastener 4 can also be rotatably connected to the second housing 19 or the second connecting member through a bearing. When the claw piece 314 is located inside the fastener 4, as shown in FIG. Figure 3 As shown, when the claw 314 moves toward the left, it will receive a force from the fastener fixing end 42 toward the inside. The portion of the fastener 4 close to the fastener fixing end 42 also adopts a shape similar to a truncated cone, and the diameter of the projection of the fastener fixing end 42 on the first plane is smaller than the diameter of the projection of the fastener connecting end 41 on the first plane, and the diameter of the projection of the fastener fixing end 42 on the first plane is smaller than the diameter of the projection of the claw free end 316 on the first plane. Figure 6 As shown, when the top block 31 moves to the right, the free end 316 of the claw also moves to the right, gradually approaching the fastener fixed end 42, continues to move and then contacts the fastener fixed end 42, and is subjected to the inward force of the fastener fixed end 42, the gap 317 between the claws gradually decreases, and the free end 316 of the claw gradually moves inward until the internal wire rope 2 is tightly clamped.

[0061] In another embodiment, the fastener 4 does not need to be connected to the second housing 19, but the fastener connection end 41 is connected to the outer surface of the second end 312 of the top block through a thread. During the assembly process, the fastener connection end 41 is connected to the second end 312 of the top block. During the thread engagement process, the inclined surface inside the fastener fixed end 42 squeezes the claw piece 314, so that the claw piece is tightened toward the center, thereby clamping the wire rope. After the assembly is completed, when the mechanical arm joint is used normally, the wire rope 2, the claw piece 314, and the fastener 4 can form a stable whole, and no relative movement occurs between them.

[0062] Reference Figure 3 and Figure 4 The tooth block 32 is arranged in the housing cavity and inside the first connecting member 11. The tooth block 32 has a first end 321, a second end 322, and a side 324. A tooth block inclined surface 323 is arranged at the first end 321 of the tooth block, and the tooth block inclined surface 323 abuts against the top block inclined surface 313. The tooth block 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 force. A tooth block rack is arranged at the second end 322 of the tooth block, and a first connecting member rack matching with the tooth block rack is arranged on the inner wall of the first connecting member 11. When the locking assembly is in a locked state, the tooth block rack is meshed with the first connecting member rack, and the tooth block 32 and the first connecting member 11 cannot rotate relative to each other. The side 324 of the tooth block is close to the second connecting member 12, and a tooth block spring 325 is arranged between the side 324 of the tooth block and the second connecting member 12. In the locked state and the unlocked state, the tooth block spring 325 is in a compressed state, which can exert a force on the lock tooth block 32 toward the top block 31, so that the lock block slope 323 always rests on the top block slope 313 and exerts a certain force on the top block slope 313.

[0063] like Figure 3 As shown, when the entire joint is not subjected to external force, when the top block 31 is in the rightmost position under the force of the top block spring 34, the tooth block bevel 323 is in the outermost position, the second end 322 of the tooth block is connected to the first connecting member 11 through the rack, the tooth block 32 and the first connecting member 11 cannot rotate relative to each other, the first connecting member 11, the tooth block 32, the top block 31, and the second connecting member 12 cannot move relative to each other, and are in a stable state. At this time, the force acting on the tooth block spring 325 is the largest, and the locking assembly is in a locked state.

[0064] In addition, the mechanical arm joint also includes a steering mechanism, which can be a pulley, a belt wheel, a gear or other mechanism. In this embodiment, a pulley 21 that cooperates with a wire rope is used. A connecting portion 33 is provided on the inner wall of the second shell 19, and the pulley 21 is connected to the connecting portion 33, and the wire rope 2 is wound around the pulley. The pulley can change the direction of the wire rope, and multiple joints can be connected in series through a wire rope. Moreover, by controlling the movement of a wire rope, the movement of the top blocks of multiple joints can be driven, thereby realizing the switching of the locking assembly between the locked state and the unlocked state. Of course, the steering mechanism can also adopt other structures. For example, when the flexible connecting member adopts a chain structure, the steering structure can adopt a gear structure.

[0065] When the entire joint is not affected by external forces, the locking assembly is in a stable locking state. When the locking assembly needs to be switched to the unlocking state, Figure 3 A certain pulling force is applied to the left end of the steel wire rope shown. When the pulling force is greater than the pressure of the top block spring on the top block, the top block will be driven to move toward the left, and the claw piece will also move toward the left, gradually contacting the fixed end of the fastener, and being subjected to the force of the fixed end of the fastener toward the inside. Under the action of this force, the claw piece gathers inward to grasp the steel wire rope. At the same time, the inclined surface of the top block also moves toward the left. Since the tooth block is subjected to the force of the tooth block spring, the tooth block will gradually move inward, so that the second end of the tooth block is gradually separated from the first connecting member. When the second end of the tooth block is completely separated from the first connecting member, the locking assembly switches to the unlocked state. At this time, the first connecting member and the second connecting member can rotate relative to each other, that is, the first shell and the second shell can rotate relative to each other, and the relative angle between the first shell and the second shell can be adjusted. When the pulling force on the steel wire rope is released, the top block returns to the rightmost position under the force of the tooth block spring, that is, the locking assembly returns to the locked state.

[0066] The mechanical arm joint provided in this embodiment is locked by the action force between the inclined surface of the top block and the inclined surface of the tooth block. The potential energy of the tooth block spring or the top block spring can make the joint more stable and firm in the locked state, and will not be accidentally unlocked, thereby ensuring the safety and stability during the operation. The joint realizes the switching of the locking assembly between the locked state and the unlocked state through the control of the flexible connector, and the flexible connector can connect multiple joints in series, and the locking and unlocking of all joints of the universal arm can be controlled through one operation, which reduces the complexity of the joint structure, reduces the weight and volume of the joint, improves the stability of the overall structure, and greatly improves the convenience of operation.

[0067] Example 2

[0068] This embodiment provides a universal arm, which is composed of a plurality of arms, and each two adjacent arms are connected by the mechanical arm joint provided in Embodiment 1. Figure 1 and Figure 2The universal arm comprises a first arm 51, a second arm 52, and a third arm 53. One end of the first arm 51 is connected to a fixing clamp 9 through a first joint 61. The fixing clamp 9 can be connected to an operating bed, a fixing frame or other fixing devices to fix the entire universal arm. The other end of the first arm 51 is connected to one end of the second arm 52 through a second joint 62 and a third joint 63. The other end of the second arm 52 is connected to the third arm 53 through a fourth joint 64, a fifth joint 65 and a sixth joint 66. The flexible connector of each joint is a steel wire 2. One end of the steel wire 2 can be fixed on the top block of the first joint 61. The steel wire 2 connects the six joints in series. When the steel wire is pulled to move, the top blocks of all joints will be driven to move, so that all joints enter the unlocked state from the locked state. When the steel wire is released, the top blocks of all joints return to their original positions, and all joints return to the locked state. That is, by controlling a steel wire, the switching of all joints between the locked state and the unlocked state can be realized.

[0069] The third arm 53 is provided with a control switch. In this embodiment, the control switch adopts a button structure. All joints can be locked and unlocked by operating the button. Figure 2 , the control switch includes a button 7 and a button rotating part 71. One end of the button 7 is fixedly connected to the rotating part 71, and the combination of the button 7 and the rotating part 71 is an L-shaped structure. When the button 7 is pressed, the rotating part 71 can rotate clockwise. One end of the wire rope 2 is connected to the rotating part 71. When the button 7 is pressed, the rotating part 71 is driven to rotate clockwise, the wire rope 2 moves to the right, and the top rod 31 of the sixth joint moves to the right, so that the sixth joint 66 is switched from a locked state to an unlocked state. At the same time, the wire rope of each joint will move and drive the top block to move, so that all joints enter the unlocked state, and any joint can be adjusted at this time. When the button 7 is released, the end of the wire rope 2 close to the rotating part moves toward the initial position under the elastic force of the top block spring, driving the top blocks and rotating parts of all joints back to the initial position, that is, all joints are returned to the locked state.

[0070] The universal arm provided in this embodiment is connected through the mechanical arm joints provided in Example 1. The locking force of each joint is strong, the locking state of the entire universal arm is stable, it can carry heavier loads, and has high safety. Moreover, by operating a button to drive the movement of the flexible connecting part, all joints can be switched between the unlocked state and the locked state, which is easy to operate.

[0071] 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 joint, characterized in that: It includes a housing, a flexible connector, and a locking assembly, wherein: The housing comprises a first housing and a second housing, the first housing is provided with a first connecting member, the second housing is provided with a second connecting member, and the first connecting member and the second connecting member are rotatably connected; The locking assembly is located in the shell cavity, and the locking assembly includes a top block and a tooth block. A top block cavity is provided inside the top block, and the top block cavity is communicated with the shell cavity. At least a portion of the flexible connector is provided in the top block cavity, and the top block abuts against the tooth block.

2. The mechanical arm joint according to claim 1, characterized in that: The locking assembly has a locking state and an unlocking state. In the locking state, the tooth block is connected to the first connecting member, and in the unlocking state, the tooth block is disconnected from the first connecting member.

3. The mechanical arm joint according to claim 2, 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.

4. The mechanical arm joint according to claim 3, 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.

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

6. The mechanical arm joint according to claim 4, 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.

7. The mechanical arm joint according to claim 3, characterized in that: 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 connecting member, and the other end opposite to the top block first end is the top block second end.

8. The mechanical arm joint according to claim 7, characterized in that: A plurality of claws are provided at the second end of the top block, a gap is provided between two adjacent claws, and a plane perpendicular to the axis of the flexible connector or the axis or center line of the top block is the first plane.

9. The mechanical arm joint according to claim 8, characterized in that: One end of the claw piece connected to the top block is the claw piece connecting end, and the other end of the claw piece is the claw piece free end. The diameter of the ring where the projection of the claw piece free end on the first plane is located is smaller than the diameter of the ring where the projection of the claw piece connecting end on the first plane is located.

10. The mechanical arm joint according to claim 9, characterized in that: The locking assembly also includes a fastener, and the fastener is located at the second end of the top block and the outer surface of the claw piece.

11. The mechanical arm joint according to claim 10, characterized in that: The fastener has a fastener connecting end and a fastener fixing end, the fastener connecting end is connected to the top block, and the projection of the fastener fixing end on the first plane is inside the projection of the fastener connecting end on the first plane.

12. The mechanical arm joint according to claim 3, characterized in that: A steering mechanism is rotatably connected to the housing.

13. A universal arm, characterized in that: It comprises the mechanical arm joint as claimed in claim 1 and at least two supporting arms, and two adjacent supporting arms are connected via one or more of the mechanical arm joints.

14. The universal arm according to claim 13, characterized in that: It also includes a control switch, which is arranged on any support arm or mechanical arm joint.

15. The universal arm according to claim 14, characterized in that: The control switch comprises a button and a rotating part, wherein the button is fixedly connected to the rotating part, the rotating part can be rotatably connected to any support arm or mechanical arm joint, and the rotating part is connected to the flexible connecting piece.

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