Free arm flexible to control and high in precision and stability

Abstract

The utility model discloses a free arm with flexible control, high precision and stability, which comprises a lower main rod main body, a middle main rod main body and an upper main rod main body, and further comprises a spherical hinge arranged between the lower main rod main body and the middle main rod main body and used for forming interconnection between the lower main rod main body and the middle main rod main body; the movable joint and the spherical hinge are arranged between the middle main rod main body and the upper main rod main body and are used for forming interconnection between the middle main rod main body and the upper main rod main body; the positioning bracket is arranged at one end of the upper main rod main body and is used for positioning a medical instrument; the movable clamping block assembly is arranged on the outer side of the lower main rod body. Through the arrangement of the spherical hinge and the movable joint, the lower main rod main body and the middle main rod main body as well as the middle main rod main body and the upper main rod main body can move universally, and the universal main rod has the advantages of flexible and accurate control and large torsion angle.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a free arm with flexible control, high precision and stability. Background Art

[0002] Surgery refers to medical technology in which medical institutions and their medical personnel carry out medical operations such as removing diseased tissue, repairing injuries, reconstructing morphology or function, transplanting cell tissues or organs, and implanting medical devices in a part of the human body for the purpose of diagnosing or treating diseases;

[0003] During surgery, surgical instruments need to be fixed on the operating table through a positioning device to facilitate the doctor's operation. Chinese Patent 00214703.3 discloses a medical multifunctional universal arm, which includes a movable arm and a universal arm. The lower end of the movable arm is connected to the upper end of the universal arm. The universal arm is composed of a horizontal rotation joint and a vertical rotation joint. The universal arm rotates on the movable arm. Since the universal arm is not flexible, it has the disadvantages of being not flexible and convenient during operation, having a small range of motion, and the instrument cannot be accurately positioned.

[0004] To this end, the utility model provides a free arm with flexible control, high precision and stability to solve the above problems. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a free arm with flexible control, high precision and stability, which solves the above problems.

[0006] To achieve the above objectives, the utility model is implemented through the following technical solutions: a free arm with flexible control, high precision and stability, including a lower main rod body, a middle main rod body and an upper main rod body, and also includes:

[0007] A ball hinge, the ball hinge being disposed between the lower main rod body and the middle main rod body, and being used to form an interconnection between the lower main rod body and the middle main rod body;

[0008] A movable joint, wherein the ball hinge is disposed between the middle main rod body and the upper main rod body, and is used to form an interconnection between the middle main rod body and the upper main rod body;

[0009] A positioning bracket, which is arranged at one end of the upper main rod body and is used to position the medical device;

[0010] The movable clamping block assembly is arranged on the outer side of the lower main rod body.

[0011] Preferably, the ball hinge includes a lower main rod ball head seat and a middle main rod ball head seat sleeve, the top end of the lower main rod main body is threadedly connected with a lower main rod ball head screw, one end of the middle main rod main body close to the lower main rod ball head screw is fixedly connected with the lower main rod ball head seat, and the lower main rod ball head seat is movably connected to the outside of the lower main rod ball head screw, one side of the lower main rod ball head seat is sleeved with a middle main rod ball head seat sleeve, the middle main rod lower seat is assembled inside the middle main rod ball head seat sleeve, and a first top pipe is arranged inside the middle main rod main body.

[0012] Preferably, the positioning bracket includes a middle block of a movable joint, the top and bottom ends of the middle block of the movable joint are rotatably connected to a movable joint body, a second jacking pipe is arranged inside the upper main rod body, the middle main rod body and the first jacking pipe and the upper main rod body and the second jacking pipe are respectively threadedly connected to the outsides of the two movable joint bodies, a movable joint shaft body is fixedly connected to the middle part of the middle block of the movable joint, and the movable joint shaft body extends to the inside of the movable joint body, and a movable joint force handwheel is assembled at the bottom end of the movable joint shaft body, and the bottom end of the movable joint force handwheel is connected by screws There is a handwheel cover plate, the bottom end of the movable joint shaft body is threadedly connected with a movable joint shaft screw, and the movable joint shaft screw is located inside the movable joint force handwheel, the top of the movable joint force handwheel is fixedly connected with a movable joint handwheel gasket, a movable joint handwheel compression spring is fixedly connected between the movable joint handwheel gasket and one of the movable joint bodies, the top and bottom ends of the outer side of the movable joint shaft body are fixedly connected with a movable joint adjustment block through an adjustment block pin, and the two movable joint adjustment blocks are respectively located inside the two movable joint bodies, and the inside of the movable joint body is fixedly connected with a movable joint inner gasket.

[0013] Preferably, the positioning bracket includes a clamp-shaped bracket head, a bracket head screw and a positioning clamp block, the top end of the clamp-shaped bracket head is threadedly connected to the bracket head screw, and the end of the bracket head screw located on the inner side of the clamp-shaped bracket head is connected to the positioning clamp block through a screw, one side of the clamp-shaped bracket head is threadedly connected to the upper main rod ball head screw, one end of the upper main rod body close to the clamp-shaped bracket head is fixedly connected to the upper main rod ball head seat, and the upper main rod ball head screw is movably connected to the inside of the upper main rod ball head seat, and the end of the upper main rod ball head seat away from the clamp-shaped bracket head is sleeved with an upper main rod ball head carrying sleeve, the upper main rod ball head carrying sleeve is provided with a ball head adjustment block and a connection to the upper main rod seat, and the ball head adjustment block is located between the connection to the upper main rod seat and the upper main rod ball head seat.

[0014] Preferably, the movable clamping block assembly includes a bracket seat, a clamping handwheel screw, a movable screw and a movable block. The outer side of the lower main rod body is sleeved with a bracket seat, one side of the bracket seat is threadedly connected to the clamping handwheel screw, one end of the bracket seat is threadedly connected to the movable screw, the bottom end of the movable screw is fixedly connected to a fixing screw handwheel, and the end of the movable screw located inside the bracket seat is connected to the movable block.

[0015] Preferably, a ball screw washer is provided at the connection between the lower main rod body and the lower main rod ball screw.

[0016] Preferably, a handwheel inlaid nut is fixedly connected to the middle of the movable joint force handwheel, a positioning screw is fixedly connected to the bottom end of the movable joint shaft body, and the movable joint force handwheel is connected to the outside of the positioning screw through the handwheel inlaid nut.

[0017] Preferably, a threaded hole is provided on the outer side of the flexible joint body, and a threaded section is provided on one end of the middle main rod body, the first top pipe, the upper main rod body, and the second top pipe close to the flexible joint body, and the middle main rod body, the first top pipe, the upper main rod body, and the second top pipe are connected inside the threaded hole close to the flexible joint body through the threaded section.

[0018] Preferably, the top end of the bracket head screw is fixedly connected to a force-bearing cross bar, and the outer side of the force-bearing cross bar is provided with anti-slip grooves.

[0019] Preferably, one end connected to the upper main rod seat is wedge-shaped.

[0020] Beneficial Effects

[0021] The utility model provides a free arm with flexible control, high precision and stability. Compared with the prior art, it has the following beneficial effects:

[0022] The free arm has flexible control, high precision and stability. Through the arrangement of ball hinges and movable joints, the lower main rod body and the middle main rod body, as well as the middle main rod body and the upper main rod body can move in all directions, and has the advantages of flexible and accurate control and a large torsion angle.

[0023] The free arm, which features flexible control, high precision and stability, can conveniently complete the positioning of medical devices through the structural coordination of the positioning bracket and the upper main rod body, and can perform universal adjustment on the clamp-shaped bracket head, and has stable rotation and low friction, which can help the operation to proceed smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the utility model;

[0025] Figure 2 It is a side view of the ball hinge of the utility model;

[0026] Figure 3 It is a structural schematic diagram of the movable joint of the utility model;

[0027] Figure 4 It is a structural schematic diagram of the positioning bracket of the utility model;

[0028] Figure 5 It is a structural schematic diagram of the movable clamping block assembly of the utility model.

[0029] In the figure, 1 is the main body of the lower main rod; 2 is the main body of the middle main rod; 3 is the main body of the upper main rod; 4 is the ball hinge; 5 is the movable joint; 6 is the positioning bracket; 7 is the movable clamping block assembly; 8 is the ball head seat of the lower main rod; 9 is the ball head seat sleeve of the middle main rod; 10 is the lower seat of the middle main rod; 11 is the ball head screw washer; 12 is the first top pipe; 13 is the ball head screw of the lower main rod; 14 is the middle block of the movable joint; 15 is the main body of the movable joint; 16 is the main body of the movable joint shaft; 17 is the handwheel inlaid nut; 18 is the force handwheel of the movable joint; 19 is the handwheel cover plate; 20 is the screw of the movable joint shaft ; 21. Gasket for the handwheel of the flexible joint; 22. Compression spring for the handwheel of the flexible joint; 23. Adjustment block pin; 24. Adjustment block for the flexible joint; 25. Gasket inside the flexible joint; 26. Clamp-shaped bracket head; 27. Bracket head screw; 28. Positioning clamp block; 29. ​​Ball head screw for the upper main rod; 30. Ball head seat for the upper main rod; 31. Ball head adjustment block; 32. Ball head carrying sleeve for the upper main rod; 33. Connect the upper main rod seat; 34. Bracket seat; 35. Clamping handwheel screw; 36. Movable screw; 37. Movable block; 38. Fixing screw handwheel; 39. Bottom screw for the main rod. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] Embodiment 1:

[0032] See also Figure 1-5 A free arm with flexible control, high precision and stability, comprising a lower main rod body 1, a middle main rod body 2 and an upper main rod body 3, and also comprising:

[0033] A ball hinge 4, which is disposed between the lower main rod body 1 and the middle main rod body 2, and is used to form an interconnection between the lower main rod body 1 and the middle main rod body 2;

[0034] The movable joint 5 and the ball hinge 4 are arranged between the middle main rod body 2 and the upper main rod body 3 to form an interconnection between the middle main rod body 2 and the upper main rod body 3;

[0035] A positioning bracket 6, which is arranged at one end of the upper main rod body 3 and is used to position the medical device;

[0036] A movable clamping block assembly 7, which is arranged on the outer side of the lower main rod body 1;

[0037] The ball hinge 4 includes a lower main rod ball head seat 8 and a middle main rod ball head seat sleeve 9, the top of the lower main rod body 1 is threadedly connected with a lower main rod ball head screw 13, one end of the middle main rod body 2 close to the lower main rod ball head screw 13 is fixedly connected with the lower main rod ball head seat 8, and the lower main rod ball head seat 8 is movably connected to the outer side of the lower main rod ball head screw 13, one side of the lower main rod ball head seat 8 is sleeved with the middle main rod ball head seat sleeve 9, the middle main rod ball head seat sleeve 9 is equipped with a middle main rod lower seat 10, and the middle main rod body 2 is provided with a first top pipe 12;

[0038] In detail, a ball screw washer 11 is provided at the connection between the lower main rod body 1 and the lower main rod ball screw 13. The provision of the ball screw washer 11 can greatly improve the stability of the connection between the lower main rod ball screw 13 and the lower main rod body 1.

[0039] The positioning bracket 6 includes a movable joint middle block 14, the top and bottom ends of the movable joint middle block 14 are rotatably connected to the movable joint body 15, the interior of the upper main rod body 3 is provided with a second jacking pipe, the middle main rod body 2 and the first jacking pipe 12 and the upper main rod body 3 and the second jacking pipe are respectively threadedly connected to the outside of the two movable joint bodies 15, the middle part of the movable joint middle block 14 is fixedly connected to the movable joint shaft body 16, and the movable joint shaft body 16 extends to the inside of the movable joint body 15, the bottom end of the movable joint shaft body 16 is equipped with a movable joint force handwheel 18, and the bottom end of the movable joint force handwheel 18 is connected to the handwheel cover plate 1 by screws 9. The bottom end of the movable joint shaft body 16 is threadedly connected with a movable joint shaft screw 20, and the movable joint shaft screw 20 is located inside the movable joint force handwheel 18, and the top of the movable joint force handwheel 18 is fixedly connected with a movable joint handwheel gasket 21, and a movable joint handwheel compression spring 22 is fixedly connected between the movable joint handwheel gasket 21 and one of the movable joint bodies 15, and the top and bottom ends of the outer side of the movable joint shaft body 16 are fixedly connected with a movable joint adjustment block 24 through an adjustment block pin 23, and the two movable joint adjustment blocks 24 are respectively located inside the two movable joint bodies 15, and the inside of the movable joint body 15 is fixedly connected with a movable joint inner gasket 25;

[0040] Preferably, a threaded hole is provided on the outer side of the movable joint body 15, and a threaded section is provided on the middle main rod body 2, the first jacking tube 12, the upper main rod body 3, and the second jacking tube near the movable joint body 15, and the middle main rod body 2, the first jacking tube 12, the upper main rod body 3, and the second jacking tube are connected to the inner side of the threaded hole through the threaded section near the movable joint body 15. By setting the threaded hole, the upper main rod body 3 and the upper main rod body 3 can be easily disassembled and mounted;

[0041] Furthermore, a handwheel inlaid nut 17 is fixedly connected to the middle of the movable joint force handwheel 18, a positioning screw is fixedly connected to the bottom end of the movable joint shaft body 16, and the movable joint force handwheel 18 is connected to the outside of the positioning screw through the handwheel inlaid nut 17. The structural coordination of the positioning screw and the handwheel inlaid nut 17 enables the handwheel inlaid nut 17 to be stably assembled with the movable joint shaft body 16;

[0042] The positioning bracket 6 includes a clamp-shaped bracket head 26, a bracket head screw 27 and a positioning clamp block 28, the top of the clamp-shaped bracket head 26 is threadedly connected with the bracket head screw 27, and the end of the bracket head screw 27 located on the inner side of the clamp-shaped bracket head 26 is connected to the positioning clamp block 28 through a screw, and one side of the clamp-shaped bracket head 26 is threadedly connected with an upper main rod ball head screw 29, and the end of the upper main rod body 3 close to the clamp-shaped bracket head 26 is fixedly connected to the upper main rod ball head seat 30, and the upper main rod ball head screw 29 is movably connected to the inside of the upper main rod ball head seat 30, and the end of the upper main rod ball head seat 30 away from the clamp-shaped bracket head 26 is sleeved with an upper main rod ball head carrying sleeve 32, and the upper main rod ball head carrying sleeve 32 is provided with a ball head adjustment block 31 and a connection to the upper main rod seat 33, and the ball head adjustment block 31 is located between the connection to the upper main rod seat 33 and the upper main rod ball head seat 30;

[0043] Further, the clamp-shaped bracket head 26 is rotated to make it universally adjustable under the support of the upper main rod ball head screw 29. After adjustment, the upper main rod seat 33 is pulled to make it move outside the upper main rod ball head seat 30, and the ball head adjustment block 31 is pushed to fit closely with the upper main rod ball head screw 29 by connecting the upper main rod seat 33 to lock the position of the clamp-shaped bracket head 26.

[0044] Among them, the top of the bracket head screw 27 is fixedly connected with a force-bearing cross bar, and the outer side of the force-bearing cross bar is provided with anti-slip grooves. Through the setting of the force-bearing cross bar, personnel can easily rotate the bracket head screw 27 to ensure the displacement effect of the positioning clamp 28;

[0045] It can be understood that one end of the upper main rod seat 33 is wedge-shaped. By utilizing the shape characteristics of the upper main rod seat 33, when the upper main rod seat 33 is pressed, the ball head adjustment block 31 can be pushed to move, so that the ball head adjustment block 31 is closely fitted with the upper main rod ball head screw 29, thereby locking the position of the clamp-shaped bracket head 26;

[0046] Embodiment 2:

[0047] See also Figure 1-5 , this embodiment provides a technical solution based on the first embodiment: the movable clamping block assembly 7 includes a bracket seat 34, a clamping handwheel screw 35, a movable screw 36 and a movable block 37, the outer side of the lower main rod body 1 is sleeved with a bracket seat 34, one side of the bracket seat 34 is threadedly connected to the clamping handwheel screw 35, one end of the bracket seat 34 is threadedly connected to the movable screw 36, the bottom end of the movable screw 36 is fixedly connected to the fixing screw handwheel 38, and one end of the movable screw 36 located inside the bracket seat 34 is connected to the movable block 37;

[0048] It can be understood that the movable screw 36 is rotated by the movable block 37 to cause the fixed screw hand wheel 38 to move inside the bracket seat 34 to position the object inside the bracket seat 34, and the holding hand wheel screw 35 can be loosened to reduce the friction between the bracket seat 34 and the lower main rod body 1, and then the bracket seat 34 is pulled to slide on the outer side of the lower main rod body 1, so as to change the height of the bracket seat 34;

[0049] The bottom end of the lower main rod body 1 is connected with a main rod bottom screw 39 by screws, and the bottom end of the main rod bottom screw 39 is fixedly connected with an anti-skid pad, and the bottom end of the anti-skid pad is provided with anti-skid grooves.

[0050] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0051] Working principle: Place the medical device inside the clamp-shaped bracket head 26, then rotate the bracket head screw 27, and cooperate with the connection between the bracket head screw 27 and the clamp-shaped bracket head 26, so that the clamp-shaped bracket head 26 drives the positioning clamp block 28 to move and contact the medical device, and finally position the medical device inside the clamp-shaped bracket head 26;

[0052] The movable screw 36 can be rotated by the movable block 37 to cause the fixed screw hand wheel 38 to move inside the bracket seat 34, so as to position the object inside the bracket seat 34, and the holding hand wheel screw 35 can be loosened to reduce the friction between the bracket seat 34 and the lower main rod body 1, and then the bracket seat 34 can be pulled to slide on the outer side of the lower main rod body 1, so as to change the height of the bracket seat 34;

[0053] The middle main rod body 2 is pulled to adjust it in a universal direction with the lower main rod ball screw 13 as the fulcrum, so as to change the position of the clamp-shaped bracket head 26. After adjustment, the middle main rod ball seat sleeve 9 is pushed to displace it outside the lower main rod ball seat 8, so that the middle main rod lower seat 10 and the lower main rod ball screw 13 are closely fitted, thereby increasing the friction force when the lower main rod ball seat 8 moves, thereby forming the locking of the middle main rod body 2 after adjustment;

[0054] The upper main rod body 3 can be pulled to rotate under the support of the middle joint block 14, changing the working position of the clamp-shaped bracket head 26. After adjustment, the joint shaft screw 20 is tightened to make the joint body 15 fit closely with the middle joint block 14, increase the friction between the joint body 15 and the middle joint block 14, and lock the position of the upper main rod body 3.

[0055] Rotate the clamp-shaped bracket head 26 to make it universally adjustable under the support of the upper main rod ball head screw 29. After adjustment, pull the upper main rod seat 33 connected to make it displaced outside the upper main rod ball head seat 30, and push the ball head adjustment block 31 to fit tightly with the upper main rod ball head screw 29 by connecting the upper main rod seat 33 to lock the position of the clamp-shaped bracket head 26.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A free arm with flexible control, high precision and stability, characterized by: It comprises a lower main rod body (1), a middle main rod body (2) and an upper main rod body (3), and also comprises: A ball hinge (4), the ball hinge (4) being arranged between the lower main rod body (1) and the middle main rod body (2) and being used to form an interconnection between the lower main rod body (1) and the middle main rod body (2); A movable joint (5), wherein the ball hinge (4) is arranged between the middle main rod body (2) and the upper main rod body (3) and is used to form an interconnection between the middle main rod body (2) and the upper main rod body (3); A positioning bracket (6), the positioning bracket (6) being arranged at one end of the upper main rod body (3) and being used for positioning the medical device; A movable clamping block assembly (7), wherein the movable clamping block assembly (7) is arranged on the outside of the lower main rod body (1).

2. A free arm with flexible control, high precision and stability according to claim 1, characterized in that: The ball hinge (4) comprises a lower main rod ball head seat (8) and a middle main rod ball head seat sleeve (9); the top end of the lower main rod body (1) is threadedly connected to a lower main rod ball head screw (13); one end of the middle main rod body (2) close to the lower main rod ball head screw (13) is fixedly connected to the lower main rod ball head seat (8); and the lower main rod ball head seat (8) is movably connected to the outer side of the lower main rod ball head screw (13); one side of the lower main rod ball head seat (8) is sleeved with a middle main rod ball head seat sleeve (9); the interior of the middle main rod ball head seat sleeve (9) is equipped with a middle main rod lower seat (10); and the interior of the middle main rod body (2) is provided with a first top pipe (12).

3. A free arm with flexible control, high precision and stability according to claim 1, characterized in that: The positioning bracket (6) includes a movable joint middle block (14), the top and bottom ends of the movable joint middle block (14) are rotatably connected to a movable joint body (15), a second jacking pipe is arranged inside the upper main rod body (3), the middle main rod body (2) and the first jacking pipe (12) and the upper main rod body (3) and the second jacking pipe are respectively threadedly connected to the outsides of the two movable joint bodies (15), the middle part of the movable joint middle block (14) is fixedly connected to a movable joint shaft body (16), and the movable joint shaft body (16) extends to the inside of the movable joint body (15), the bottom end of the movable joint shaft body (16) is equipped with a movable joint force hand wheel (18), and the bottom end of the movable joint force hand wheel (18) is connected to a hand wheel cover plate ( 19), the bottom end of the movable joint shaft body (16) is threadedly connected with a movable joint shaft screw (20), and the movable joint shaft screw (20) is located inside the movable joint force handwheel (18), the top end of the movable joint force handwheel (18) is fixedly connected with a movable joint handwheel gasket (21), and a movable joint handwheel compression spring (22) is fixedly connected between the movable joint handwheel gasket (21) and one of the movable joint bodies (15), the top and bottom ends of the outer side of the movable joint shaft body (16) are fixedly connected with a movable joint adjustment block (24) through an adjustment block pin (23), and the two movable joint adjustment blocks (24) are respectively located inside the two movable joint bodies (15), and the inside of the movable joint body (15) is fixedly connected with a movable joint inner gasket (25).

4. A free arm with flexible control, high precision and stability according to claim 1, characterized in that: The positioning bracket (6) comprises a clamp-shaped bracket head (26), a bracket head screw (27) and a positioning clamp block (28); the top end of the clamp-shaped bracket head (26) is threadedly connected to the bracket head screw (27); one end of the bracket head screw (27) located on the inner side of the clamp-shaped bracket head (26) is connected to the positioning clamp block (28) through a screw; one side of the clamp-shaped bracket head (26) is threadedly connected to an upper main rod ball head screw (29); one end of the upper main rod body (3) close to the clamp-shaped bracket head (26) is fixed An upper main rod ball head seat (30) is fixedly connected, and the upper main rod ball head screw (29) is movably connected inside the upper main rod ball head seat (30), and an upper main rod ball head mounting sleeve (32) is sleeved on one end of the upper main rod ball head seat (30) away from the clamp-shaped bracket head (26), and a ball head adjustment block (31) and an upper main rod seat (33) are arranged inside the upper main rod ball head mounting sleeve (32), and the ball head adjustment block (31) is located between the upper main rod seat (33) and the upper main rod ball head seat (30).

5. A free arm with flexible control, high precision and stability according to claim 1, characterized in that: The movable clamping block assembly (7) comprises a bracket seat (34), a clamping handwheel screw (35), a movable screw (36) and a movable block (37); the bracket seat (34) is sleeved on the outer side of the lower main rod body (1); one side of the bracket seat (34) is threadedly connected to the clamping handwheel screw (35); one end of the bracket seat (34) is threadedly connected to the movable screw (36); the bottom end of the movable screw (36) is fixedly connected to a fixing screw handwheel (38); and one end of the movable screw (36) located inside the bracket seat (34) is connected to the movable block (37).

6. A free arm with flexible control, high precision and stability according to claim 2, characterized in that: A ball screw washer (11) is provided at the connection between the lower main rod body (1) and the lower main rod ball screw (13).

7. A free arm with flexible control, high precision and stability according to claim 3, characterized in that: The middle part of the movable joint force-bearing handwheel (18) is fixedly connected with a handwheel inlaid nut (17), the bottom end of the movable joint shaft body (16) is fixedly connected with a positioning screw, and the movable joint force-bearing handwheel (18) is connected to the outer side of the positioning screw through the handwheel inlaid nut (17).

8. A free arm with flexible control, high precision and stability according to claim 3, characterized in that: A threaded hole is provided on the outer side of the movable joint body (15); a threaded section is provided on one end of the middle main rod body (2), the first top tube (12), the upper main rod body (3), and the second top tube close to the movable joint body (15); and the middle main rod body (2), the first top tube (12), the upper main rod body (3), and the second top tube close to the movable joint body (15) are connected inside the threaded hole through the threaded section.

9. A free arm with flexible control, high precision and stability according to claim 4, characterized in that: The top end of the bracket head screw (27) is fixedly connected to a load-bearing cross bar, and the outer side of the load-bearing cross bar is provided with anti-slip grooves.

10. A free arm with flexible control, high precision and stability according to claim 4, characterized in that: One end connected to the upper main rod seat (33) is wedge-shaped.

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