Joint locking mechanism of passive robotic arm

A joint locking mechanism of a passive robotic arm, comprising:

• an output assembly, including a joint output shaft, and a friction disk fixed to the joint output shaft;
• a braking assembly, including a threaded shaft arranged coaxially with the joint output shaft, a threaded sleeve threaded to the threaded shaft, a rotary disk connected fixedly to the threaded shaft, an end cap rotatable relative to the rotary disk, and a scroll spring generating a rotational force on the threaded shaft, in which the scroll spring has a first end connected fixedly to the end cap and a second end connected to the rotary disk or the threaded shaft, and the threaded sleeve is abutted tightly against the friction disk;
• and
• a housing, wherein the threaded sleeve is positioned within the housing, the housing is provided with a guide slot extending along the joint output shaft, and at least one positioning hole is provided in the threaded sleeve;
• the mechanism further comprising a pin extending through the guide slot with an end portion thereof inserted in the positioning hole.