CN106361435A

CN106361435A - Medical auxiliary equipment provided with wrist

Info

Publication number: CN106361435A
Application number: CN201610838548.2A
Authority: CN
Inventors: 王文庆
Original assignee: Dongguan Lianzhou Intellectual Property Operation and Management Co Ltd
Current assignee: Quanzhou Quangang District Gu Le Ju furniture business
Priority date: 2016-09-21
Filing date: 2016-09-21
Publication date: 2017-02-01
Anticipated expiration: 2036-09-21
Also published as: CN106361435B

Abstract

The invention discloses medical auxiliary equipment provided with a wrist. The medical auxiliary equipment comprises a robot body, a wrist mechanism mounted on the robot body and a mechanical claw mounted on the wrist mechanism. The mechanical claw comprises a claw frame, two pairs of claws hinged to the claw frame and a claw drive mechanism mounted on the claw frame and used for driving the two pairs of claws to act; a power source of the claw drive mechanism is a crank and rocker mechanism; under the drive of the claw drive mechanism, the two pairs of claws perform closing and opening actions. In the operation, medical personnel act the robot body and the wrist on the robot body, so that the mechanical claw is at a to-be-taken object; then the mechanical claw takes out the redundant object in a patient, so that the effects of convenience, quickness and no pollution are realized.

Description

A kind of medical auxiliary equipment for being provided with wrist

Technical field

The present invention relates to medical apparatus and instruments, in particular to a kind of medical auxiliary equipment for being provided with wrist.

Background technology

In operation, medical worker takes object, such as cotton balls, gauze, other internal fifth wheels from doctors and patients' body, conventional handss, Tweezers, shears, such instrument is difficult and internal fifth wheel is exhausted by inconvenience completely, or, internal fifth wheel is exhausted ratio completely Cumbersome.

Content of the invention

Technical problem solved by the invention：Medical worker in operation is difficult or inconvenience will be complete for fifth wheel in sufferer body Exhaust.

For solving above-mentioned technical problem, the present invention provides following technical scheme：A kind of medical auxiliary equipment for being provided with wrist, Including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the operation in large arm Handss, the forearm being fixed in large arm, the wrist installed in forearm front end, the mechanical claw hand in wrist；Waist rotation member around Base body is rotated, and large arm is rotated around waist rotation member；

The wrist include horizonal base plate, the first threaded rod being slidably mounted on horizonal base plate and the second threaded rod and Horizontal moving body that first threaded rod and the second threaded rod are spirally connected, bottom are flexibly connected with horizontal moving body and top and a spheroid The first expansion link being fixedly connected, the spheroid support being fixed on horizonal base plate；The first threaded rod horizontal cross is arranged, the Two threaded rod levels are longitudinally disposed, and the spheroid is movably arranged on spheroid support, and the mechanical claw hand is on spheroid；

The mechanical claw hand includes cleft hand frame, two pairs of cleft hands being hinged in cleft hand frame, is arranged in cleft hand frame For driving the cleft hand drive mechanism of two pairs of cleft hand actions；The cleft hand drive mechanism include stake body, the first locking body, second Locking body；The stake body is provided with crank rocker driving gear, and crank rocker driving gear includes matching somebody with somebody with cleft hand housing slide The second expansion link that the first connecting rod and second connecting rod and slide bar that the slide bar and slide bar of conjunction is hinged is hinged, crank and rocker mechanism； The first connecting rod is hinged with the first locking body, and second connecting rod is hinged with the second locking body, in the rocking bar in crank and rocker mechanism Sky, the second expansion link activity are plugged in rocking bar；Stake body is provided with the lifting to the first locking body and the second locking body and carries out The second guide post being oriented to；Two cleft hands in first pair of cleft hand in two pairs of cleft hands are symmetrical set, two pairs of cleft hands In second pair of cleft hand in two cleft hands before and after be symmetrical arranged, the bottom of two cleft hands in first pair of cleft hand opens up inclination and sets The first slide slot that puts, the bottom of two cleft hands in second pair of cleft hand open up the second slide slot being obliquely installed, and described first The first sliding pin being slidably matched with the first slide slot is provided with the top of locking body, is provided with and slides with second at the top of the second locking body The second sliding pin that groove is slidably matched.

Above-mentioned technical proposal is pressed, a kind of operation principle of the medical auxiliary equipment for being provided with wrist of the present invention is as follows：

First, medical worker holds and manipulates handss, rotates large arm or waist rotation member, is in wrist and mechanical claw hand thereon Its near vicinity to be taken.

Second, in wrist, the rotation of the first threaded rod can drive horizontal moving body transverse translation, the rotation of the second threaded rod Horizontal moving body longitudinal translation can be driven, the horizontal moving body for vertically and horizontally translating drives spheroid in spheroid by the first expansion link Any rotation on frame, the spheroid of any rotation drive mechanical claw hand thereon arbitrarily to put in space as the wrist of natural person Dynamic.

3rd, in mechanical claw hand, the rocking bar in crank and rocker mechanism swings, and rocking bar drives slide bar phase by the second expansion link Cleft hand frame is moved laterally, first connecting rod drives the first locking body to decline, second connecting rod drives the second locking body to rise, the One locking body drives the first sliding pin to decline, and as the first slide slot is obliquely installed, therefore, the first sliding pin being vertically lowered can be ordered about In first pair of cleft hand, arbitrary cleft hand is rotated around its hinged place with cleft hand frame, thus, first pair of cleft hand makees opposite swing；With When, the second locking body drives the second sliding pin to rise, and is obliquely installed (the direction that the second slide slot is inclined and the due to the second slide slot It is in opposite direction that one slide slot is inclined), therefore, vertically the second sliding pin of rising orders about arbitrary cleft hand in second pair of cleft hand and surrounds which Rotate with the hinged place of cleft hand frame, thus, second pair of cleft hand makees opposite swing；So far, two pairs of cleft hands are in draw shape in, for grabbing Object is taken, now, rocking bar is rocked to high order end and rests on high order end.

4th, after object is removed doctors and patients' body by manipulator by medical worker, the rocking bar in crank and rocker mechanism is again Secondary action, is rocked to low order end from high order end, drives slide bar to make reverse transverse shifting, and first connecting rod is driven on the first locking body Rise, second connecting rod drives the second locking body to decline, the first locking body drives the first sliding pin to rise, meanwhile, the second locking body drives Second sliding pin declines, and two pairs of cleft hands are in actuate out shape, for discharging the object of crawl.

By above-mentioned technical proposal, first pair of cleft hand connects the first locking body, and second pair of cleft hand connects the second locking body, bent Handle endplay device drives the first locking body and the second locking body to make reverse movement by first connecting rod and second connecting rod, makes first To cleft hand and the action simultaneously of the second pair of cleft hand and motion amplitude is identical, it is easy to accurately and fully capture sufferer intrabody object.On State wrist and mechanical claw hand coordinates rotatable waist rotation member and large arm, facilitate medical worker thing to be taken from sufferer body.

Used as one kind explanation of the present invention to wrist, the horizonal base plate is square-shaped, and the forward edge of horizonal base plate is opened If the 5th slide slot, the posterior edges of horizonal base plate open up the 6th slide slot, and the 5th slide slot and the 6th slide slot are horizontally disposed And be parallel to each other, first is sliding combined with the 5th slide slot and slides block, be sliding combined with second and slide block in the 6th slide slot, The front end of first threaded rod is articulated in first and slides on block, and the rear end of the first threaded rod is articulated in second and slides on block, institute State first and slide and be provided with block the 3rd motor, the output shaft of the 3rd motor is coupled with the first threaded rod；The left side of horizonal base plate The 3rd slide slot of edge, the right side edge of horizonal base plate open up the 4th slide slot, the 3rd slide slot and the 4th slide slot water Put down and arrange and be parallel to each other, the 3rd is sliding combined with the 3rd slide slot and slides block, be sliding combined with the 4th in the 4th slide slot Block is slided, the left end of second threaded rod is articulated in the 3rd and slides on block, and the right-hand member of the second threaded rod is articulated in the 4th and slides On block, the described 3rd slides, and the output shaft of the 4th motor is coupled with the second threaded rod.By above stating Bright, while driving horizontal moving body to translate, horizontal moving body drives the second threaded rod and the 3rd to slide block to the first threaded rod Block is slided with the 4th while translation；In the same manner, while driving horizontal moving body to translate, horizontal moving body drives the second threaded rod First threaded rod and first slide block and second slide block and meanwhile translation.

Used as one kind explanation of the present invention to wrist, the horizontal moving body is provided with first lug and the second lug, and first Lug is located at the top of the second lug, and first threaded rod is spirally connected with first lug, and the second threaded rod is spirally connected with the second lug. The setting of above-mentioned first lug and the second lug can make the first threaded rod and the second threaded rod non-interference.

Used as one kind explanation of the present invention to wrist, the bottom of the horizontal moving body is provided with spin, and spin can be with respect to water Translation kinetoplast is rolled, and spin is contacted with the surface of horizonal base plate.Horizontal moving body is driven in the first threaded rod and the second threaded rod When vertically and horizontally translating, spin is rolled on horizonal base plate.

As one kind explanation of the present invention to wrist, the one horizontally disposed rotation of top pivot joint of the horizontal moving body Block, moving block are provided with the 3rd lug and the 4th lug, a fixing axle of lying across between the 3rd lug and the 4th lug, and described first The bottom of expansion link is provided with the first hole with fixing axle clearance fit.Above-mentioned design is the first expansion link bottom and move horizontally The mode that body is flexibly connected, this kind of mode can be during horizontal moving body be translated, and the first expansion link can be relative to level Moving body makees arbitrary swing.

Used as one kind explanation of the present invention to wrist, the spheroid support includes that a horizontal top, horizontal top open up one Circular gap, the medial wall of circular gap are curved, and the spheroid is movably embedded in circular gap；The spheroid is provided with company Connect the ring flange of mechanical claw hand.As described above, the arc diameter of circular gap medial wall can be same as the ball of spheroid Footpath size.

As one kind explanation of the present invention to wrist, first base below the horizonal base plate, is provided with, first base is pacified The front end of forearm is mounted in, the 3rd threaded rod in first base, is articulated with, first base is provided with one first guide post, the 3rd screw thread Bar and the first guide post are each perpendicular to first base, and the horizonal base plate is provided with the block and with of being spirally connected being spirally connected with the 3rd threaded rod The guide pad that one guide post coordinates, is fixed with the 5th gear on the 3rd threaded rod, and the 5th gear is engaged with the 6th gear, the 6th tooth On the output shaft of the 5th motor, the 5th motor is fixed in first base wheel；First expansion link include upper boom and Lower beam, upper boom are in sleeve-shaped, and lower beam is polished rod, and lower beam activity is plugged in upper boom, and upper boom is provided with for detecting displacement First sensor, horizontal moving body are provided with the first sensor auxiliary used cooperatively with first sensor；Described it is spirally connected on block Second sensor is provided with, first base is provided with the second sensor auxiliary used cooperatively with second sensor, second sensor Electrically connect with the 5th motor.

As described above, under the driving of horizontal moving body, spheroid during rotation swing, stretch by the first expansion link Contracting motion, the distance that the first expansion link is elongated or shortened are predicted by first sensor and first sensor auxiliary.When installed in ball With any when transferring to be located at side of spheroid, the total length of whole arm diminishes mechanical claw hand on body, and mechanical claw hand can not Touch respective objects.Now, the first expansion link for predicting is elongated or shortened by first sensor and first sensor auxiliary Distance feeds back to master controller, and master controller is processed to the distance that the first expansion link is elongated or shortened, to know whole handss The variable quantity of arm total length, afterwards, the 5th motor action of main controller controls, the 3rd threaded rod action of the 5th Motor drive and drive Dynamic horizonal base plate rises, and to compensate the reduction volume of whole arm total length, enables mechanical claw hand to touch corresponding object.

Used as one kind explanation of the present invention to mechanical claw hand, the cleft hand frame includes the cleft hand frame on spheroid Base plate, the cleft hand frame support bar being vertically arranged on cleft hand framework soleplate, the cleft hand for being fixed on cleft hand frame support bar top Frame top board；Lower section of the cleft hand drive mechanism on the cleft hand framework soleplate and positioned at cleft hand frame top board, the pawl Four hinge holes are opened up on handset mounting top board, and four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.By upper State bright, in each hinge hole, be fixed with swivel pin, four cleft hands are hinged on four hinges in man-to-man mode by swivel pin Connect in hole.The bottom of arbitrary cleft hand is located at the lower section of hinge hole, i.e. first slide slot and the second slide slot of inclination is respectively positioned on hinge Connect the lower section in hole.

Used as one kind explanation of the present invention to mechanical claw hand, the cleft hand frame is provided with integrated photographic head and illumination dress Put, the integrated photographic head and illuminator are located between two pairs of cleft hands.The photographic head is electrically connected with display, in illumination Under the illumination of device, medical worker can observe the object in front of mechanical claw hand from display.

Used as one kind explanation of the present invention to mechanical claw hand, the stake body includes second base, support plate；Second bottom Seat is fixedly installed in cleft hand frame, and second guide post is fixed in second base, and the support plate is horizontally fixed on second The top of guide post；First locking body includes the first lifting chassis, a pair first lead columns, the first latch segment, first recessed Shape block；The first connecting rod is hinged on the first lifting chassis, and the first lifting chassis opens up the first guiding slot port, and described first leads It is slidably matched to notch with the second guide post；The pair of first lead column is vertically arranged on the first lifting chassis, described A pair first pilot holes are opened up on plate, and a pair first lead columns are coordinated in a pair first pilot holes in man-to-man mode, institute The first latch segment is stated installed in the top of the first lead column, first spill block is installed in the top of the first latch segment, described First sliding pin is installed in the top of the first spill block；Second locking body includes the second lifting chassis, the second lead column, locking Disk, the second spill block；The second connecting rod is hinged on the second lifting chassis, and the second lifting chassis opens up the second guiding slot port, Second guiding slot port is slidably matched with the second guide post；Second lead column is vertically arranged on the second lifting chassis, Second lifting chassis is located at the lower section on the first lifting chassis；The first lifting chassis opens up the second pilot hole, on the support plate The 3rd pilot hole is opened up, second lead column is upward through the second pilot hole and the 3rd pilot hole；The locking plate level peace The top of the second lead column is mounted in, on locking plate, second sliding pin is arranged on the second spill to second spill block The top of block；The 4th pilot hole is opened up on the locking plate, and first lead column passes through the 4th pilot hole, first locking Block is located at the top of locking plate.

As described above, the rocking bar in crank and rocker mechanism simultaneously drives first connecting rod and second connecting rod action, and first connects Bar drives first to lift chassis lifting, and second connecting rod drives second to lift chassis lifting, and the lifting on the first lifting chassis is first Carry out under the guiding of guiding slot port and the second guide post, the lifting on the second lifting chassis is in the second guiding slot port and the second guide post Guiding under carry out.

Used as one kind explanation of the present invention to mechanical claw hand, the cleft hand frame is provided with laterally steering block, laterally steering Block opens up laterally steering groove, and the first lifting chassis is located at the top of laterally steering block, and the second lifting chassis is located at laterally steering block Lower section, the slide bar is provided with square slider, and square slider is slidably matched with laterally steering groove；In the crank and rocker mechanism Rocking bar be hinged in the second base of stake body, the crank in crank and rocker mechanism is coupled with the 6th motor, the 6th motor pacify It is mounted in second base.As described above, slide bar is slided in laterally steering groove by square slider thereon.

As the present invention to base body one kind explanation, the base body be provided with symmetrical first level guide rail and Second horizontal guide rail, is sliding combined with first level slide block on first level guide rail, be sliding combined with the second horizontal guide rail Two cross sliding clocks, the waist rotation member horizontal cross are arranged, and the left and right two ends of waist rotation member are cylindrical, the left end of waist rotation member It is articulated in first level slide block, the right-hand member of waist rotation member is articulated in the second cross sliding clock；The large arm is vertically arranged, large arm Bottom be articulated in the middle part of waist rotation member, the manipulator is fixed in large arm installed in the top of large arm, the forearm Portion, the wrist is installed in the top of forearm.As described above, waist rotation member can be along first level guide rail and the second horizontal guide rail Mobile, to increase the space of mechanical claw hand.

Used as one kind explanation of the present invention to base body, the base body is provided with brake structure, and brake structure includes solid The brake rotation that a pair of support plates being scheduled on base body, the brake lever being articulated on a pair of support plates, one end are fixedly connected with brake lever Turn what component, the brake coupling assembly that one end is hinged with the brake rotary components other end and the brake coupling assembly other end were hinged Lever assembly, is hinged in the middle part of lever assembly on support plate, and the cross section of the brake lever is in regular hexagon；Second level Slide block is provided with keep plate, and keep plate is connected by adjustable spring with the second cross sliding clock, and keep plate is located at waist rotation member right-hand member The side in face, the brake lever are close to keep plate.As described above, one end of medical worker's presses lever component, lever assembly Itself and support plate hinged place tilting is surrounded, lever assembly drives brake rotary components to rotate by coupling assembly of braking, brake rotation Component driver brake lever rotates, and the crest line of brake lever is against on keep plate towards a left side, and then, waist transfer part is against on the left of keep plate On part right side, waist rotation member is braked；When the other end of staff's presses lever component makes lever assembly reset When, lever assembly drives brake rotary components to reversely rotate by coupling assembly of braking, and brake rotary components driving brake bar is anti- To rotation, the crest line of brake lever leaves keep plate and no longer orders about keep plate and be moved to the left and brake waist rotation member.

In above-mentioned brake structure, the brake rotary components are included the brake rotating seat being fixedly connected with brake lever and are stopped The brake swingle that car rotating seat is fixedly connected；The brake coupling assembly includes that the second brake being hinged with brake swingle is connected The first brake connecting rod that extension bar is fixedly connected with the second brake connecting rod；The lever assembly includes being connected with first brake The brake liner plate that the brake bearing that bar is hinged is fixedly connected with brake bearing, the brake bearing are hinged on support plate.

The base body is provided with the second brake structure, and the second brake structure includes a pair second be fixed on base body The second brake rotation that support plate, the second brake lever being articulated on a pair second support plates, one end are fixedly connected with the second brake lever The the second brake coupling assembly and the second brake coupling assembly that component, one end are hinged with the second brake rotary components other end is another The second lever assembly that one end is hinged, is hinged in the middle part of the second lever assembly on the second support plate, the horizontal stroke of second brake lever Section is in regular hexagon；The first level slide block is provided with the second keep plate, and the second keep plate is passed through with first level slide block Second adjustable spring connects, and the second keep plate is located at the side of waist rotation member left side, and second brake lever is close to the second system Dynamic plate；The base body is provided with vertical rod, is provided with the 3rd sliding pin, is combined with lever on the 3rd sliding pin at the top of vertical rod, lever Middle part opens up the bar shaped chute being slidably matched with the 3rd sliding pin, and the left end of lever is hinged with the lever assembly in brake structure, thick stick The right-hand member of bar is hinged with the second lever assembly in the second brake structure.As described above, brake structure and the second brake structure It is symmetrical set, both 26S Proteasome Structure and Functions are identical, in operation, medical worker presses lever assembly, you can driven by lever Dynamic second lever assembly linkage, in the same manner, medical worker presses the second lever assembly, you can joined by lever actuated lever assembly Dynamic.The brake structure of linkage and the second brake structure are braked to the right-hand member and left end of waist rotation member simultaneously.

Used as a kind of explanation of the present invention to relation between waist rotation member and large arm, the waist rotation member is provided with large arm and stops Bassinet structure, the large arm brake structure include the basal disc being fixedly installed on waist rotation member, a pair of brakings on basal disc Piece, the solution lock slide being slidably arranged on basal disc；Brake disc is fixed with the large arm, a pair of brake(-holder) blocks are symmetrical set The periphery of brake disc, one end of a pair of brake(-holder) blocks are hinged and other end elastic connection；The solution lock slide elastic connection is in basal disc On, solution lock slide be provided with translatable enter a pair of brake(-holder) block elastic connection one end opening the wedge of a pair of brake(-holder) blocks.By upper State bright, in operation, medical worker on the other hand in four finger grippings live in manipulator, remaining one refers to pressable wedge, promotes unblock Center translation of the slide block to basal disc, wedge travel in a pair of brake(-holder) block elastic connections one end to open a pair of brake(-holder) blocks, such as This, large arm is changed into rotatable state by the initial state by a pair of brake(-holder) block frictional dampinges.

With regard to above-mentioned large arm brake structure, the basal disc is fixed on waist rotation member by support column；On the support column It is provided with swivel pin；The pair of brake(-holder) block includes the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, first The left end of the left end of brake(-holder) block and the second brake(-holder) block is hinged on swivel pin, the right side of the right-hand member of the first brake(-holder) block and the second brake(-holder) block End passes through the first adjustable spring elastic connection；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with Second fore-set, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；Described First brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above, First adjustable spring has makes the trend that the first brake(-holder) block and the second brake(-holder) block close up, and the setting of the first fore-set and the second fore-set Then there is the effect for stopping this kind of trend.

With regard to above-mentioned large arm brake structure, the solution lock slide is provided with a pair of alignment pins, a pair of alignment pins and wedge It is arranged on solution lock slide in front and back；The pair of alignment pin includes the first alignment pin being symmetrical set and the second alignment pin, The right-hand member of first brake(-holder) block is provided with the first location hole, and the right-hand member of the second brake(-holder) block is provided with the second location hole, flexible first Under the elastic force of spring, when the first fore-set and the second fore-set offset, the first alignment pin and second on the solution lock slide of translation is determined Position pin correspondingly can be inserted in the first location hole and the second location hole.As described above, when medical worker promote solution lock slide to During the center translation of basal disc, the first alignment pin and the second alignment pin depart from the first location hole and the second location hole, meanwhile, wedge Stretch between the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, and opened；After medical worker's release solution lock slide, solution Lock slide resets, and wedge leaves the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, meanwhile, the first alignment pin and second is positioned Pin correspondingly inserts the first location hole and the second location hole, to lock a pair of brake(-holder) blocks.

With regard to above-mentioned large arm brake structure, the basal disc is provided with setting block, erects block and is provided with the second adjustable spring, the Block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of two adjustable springs.

Description of the drawings

The present invention is described further below in conjunction with the accompanying drawings：

Fig. 1 is a kind of structural representation of the operating robot for being provided with wrist of the present invention；

Fig. 2 is the structural representation of wrist a in Fig. 1；

Fig. 3 is the structural representation in Fig. 2 from another view wrist a gained；

Fig. 4 is the structural representation of mechanical claw hand 30 in Fig. 1；

Fig. 5 is the structural representation of arbitrary cleft hand in first pair of cleft hand 51 in Fig. 4；

Fig. 6 is the structural representation of arbitrary cleft hand in second pair of cleft hand 52 in Fig. 4；

Fig. 7 is the structural representation of the first spill block 625 in Fig. 4；

Fig. 8 is the structural representation of large arm brake structure 90 in Fig. 1；

Fig. 9 is the structural representation for solving lock slide 923 in Fig. 8；

Figure 10 is brake structure 70, the combining structure schematic diagram of the second brake structure 700 in Fig. 1；

Figure 11 is the structural representation of brake structure 70 in Figure 10.

Symbol description in figure：

10th, base body；11st, first level guide rail；12nd, the second horizontal guide rail；13rd, first level slide block；130th, the second system Dynamic plate；14th, the second cross sliding clock；140th, keep plate；

21st, waist rotation member；22nd, large arm；23rd, manipulator；24th, forearm；

30th, mechanical claw hand；

40th, cleft hand frame；41st, cleft hand framework soleplate；42nd, cleft hand frame support bar；43rd, cleft hand frame top board；44th, integrated Photographic head and illuminator；45th, laterally steering block；

50th, two pairs of cleft hands；51st, first pair of cleft hand；511st, the first slide slot；512nd, the first hinge hole；52nd, second pair of pawl Handss；521st, the second slide slot；522nd, the second hinge hole；

60th, cleft hand drive mechanism；613rd, the second guide post；614th, second base；615th, support plate；621st, the first sliding pin； 622nd, the first lifting chassis；623rd, the first lead column；624th, the first latch segment；625th, the first spill block；626th, the first gathering sill Mouthful；632nd, the second lifting chassis；633rd, the second lead column；634th, locking plate；635th, the second spill block；636th, the second gathering sill Mouthful；641st, slide bar；642nd, first connecting rod；643rd, second connecting rod；644th, the second expansion link；645th, rocking bar；646th, the 6th motor；

70th, brake structure；701st, support plate；71st, brake lever；72nd, brake rotary components；721st, brake rotating seat；722nd, stop Car swingle；73rd, brake coupling assembly；731st, first brake connecting rod；732nd, the second brake connecting rod；74th, lever assembly； 741st, brake bearing；742nd, brake liner plate；700th, the second brake structure；75th, vertical rod；76th, the 3rd sliding pin；77th, lever；

90th, large arm brake structure；912nd, brake disc；921st, basal disc；922nd, brake(-holder) block；9221st, the first adjustable spring； 9222nd, location hole；923rd, lock slide is solved；924th, wedge；925th, support column；927th, alignment pin；928th, block is erect；9281st, Two adjustable springs；

A, wrist；A31, horizonal base plate；A32, the first threaded rod；A321, first slide block；A322, second slide block； A323, the 3rd motor；A33, the second threaded rod；A331, the 3rd slide block；A332, the 4th slide block；A333, the 4th motor； A34, horizontal moving body；A341, first lug；A342, the second lug；A343, moving block；A344, the 3rd lug；A35, ball Body；A350, ring flange；A36, the first expansion link；A361, first sensor；A362, first sensor auxiliary；A37, spheroid Frame；A370, horizontal top；A38, first base；A381, the 3rd threaded rod；A382, the first guide post；A383, the 5th gear； A384, the 6th gear；A385, the 5th motor；A386, second sensor；A387, second sensor auxiliary.

Specific embodiment

Such as Fig. 1, a kind of medical auxiliary equipment for being provided with wrist, including base body 10, the waist transfer part being articulated on base body Part 21, the large arm 22 being articulated on waist rotation member, the manipulator 23 in large arm, the forearm 24 being fixed in large arm, peace Wrist a of forearm front end, the mechanical claw hand 30 in wrist is mounted in, waist rotation member is rotated around base body, and large arm turns around waist Part is rotated.

In conjunction with Fig. 2, Fig. 3, the wrist includes horizonal base plate a31, the first threaded rod being slidably mounted on horizonal base plate Horizontal moving body a34 that a32 and the second threaded rod a33 and the first threaded rod and the second threaded rod are spirally connected, bottom and move horizontally Body is flexibly connected and top the first expansion link a36 being fixedly connected with a spheroid a35, the spheroid support being fixed on horizonal base plate a37；The first threaded rod horizontal cross is arranged, and the second threaded rod level is longitudinally disposed, and the spheroid is movably arranged on spheroid On support, the mechanical claw hand is on spheroid.

In wrist a, the horizonal base plate a31 is square-shaped, and the forward edge of horizonal base plate opens up the 5th slide slot, level The posterior edges of base plate open up the 6th slide slot, and the 5th slide slot and the 6th slide slot are horizontally disposed with and are parallel to each other, and the 5th slides First is sliding combined with row groove and slides block a321, be sliding combined with second and slide block a322 in the 6th slide slot, described first The front end of threaded rod a32 is articulated in first and slides on block, and the rear end of the first threaded rod is articulated in second and slides on block, and described first Slide, the output shaft of the 3rd motor is coupled with the first threaded rod.The left side of horizonal base plate Edge opens up the 3rd slide slot, and the right side edge of horizonal base plate opens up the 4th slide slot, the 3rd slide slot and the 4th slide slot level Arrange and be parallel to each other, the 3rd is sliding combined with the 3rd slide slot and slides block a331, be sliding combined with the in the 4th slide slot Four slide block a332, and the left end of the second threaded rod a33 is articulated in the 3rd and slides on block, and the right-hand member of the second threaded rod is articulated in 4th slides on block, and the described 3rd slides, the output shaft and the second threaded rod of the 4th motor Connection.

In wrist a, horizontal moving body a34 is provided with first lug a341 and the second lug a342, and first lug is located at The top of the second lug, the first threaded rod a32 are spirally connected with first lug, and the second threaded rod a33 is spirally connected with the second lug.Institute The bottom for stating horizontal moving body is provided with spin, spin can relative level moving body roll, spin is connect with the surface of horizonal base plate a31 Touch.The one horizontally disposed moving block a343 of top pivot joint of the horizontal moving body, moving block be provided with the 3rd lug a344 and 4th lug, a fixing axle of lying across between the 3rd lug and the 4th lug, the bottom of the first expansion link a36 are provided with and fixation First hole of axle clearance fit.

In wrist a, the spheroid support a37 includes horizontal top a370, and horizontal top opens up a circular gap, circular The medial wall of gap is curved, and the spheroid a35 is movably embedded in circular gap；The spheroid is provided with connection mechanical claw hand Ring flange a350.

In wrist a, first base a38 below the horizonal base plate a31, is provided with, first base is before forearm 24 End, is articulated with the 3rd threaded rod a381 in first base, first base is provided with one first guide post a382, the 3rd threaded rod with First guide post is each perpendicular to first base, and the horizonal base plate a31 is provided with the block and with of being spirally connected being spirally connected with the 3rd threaded rod The guide pad that one guide post coordinates, is fixed with the 5th gear a383 on the 3rd threaded rod, and the 5th gear is nibbled with the 6th gear a384 Close, on the output shaft of the 5th motor a385, the 5th motor is fixed in first base the 6th gear.Described first stretches Bar a36 includes upper boom and lower beam, and upper boom is in sleeve-shaped, and lower beam is polished rod, and lower beam activity is plugged in upper boom, and upper boom is provided with use In the first sensor a361 of detection displacement, horizontal moving body is provided with the first sensor used cooperatively with first sensor Auxiliary a362；The block that is spirally connected is provided with second sensor a386, and first base is provided with and is used cooperatively with second sensor Second sensor auxiliary a387, second sensor are electrically connected with the 5th motor.

In conjunction with Fig. 4 to Fig. 7, the mechanical claw hand include cleft hand frame 40, two pairs of cleft hands 50 being hinged in cleft hand frame, Cleft hand drive mechanism 60 in cleft hand frame for two pairs of cleft hand actions of driving.The cleft hand drive mechanism includes support Body, the first locking body, the second locking body；The stake body is provided with crank rocker driving gear, crank rocker driving gear bag Include the slide bar 641 and the first connecting rod 642 that is hinged of slide bar and second connecting rod 643 that coordinate with cleft hand housing slide and slide bar is hinged The second expansion link 644, crank and rocker mechanism；The first connecting rod is hinged with the first locking body, and second connecting rod and second is locked Body is hinged, and the rocking bar 645 in crank and rocker mechanism is hollow, and the second expansion link activity is plugged in rocking bar；Stake body is provided with right The second guide post 613 that the lifting of the first locking body and the second locking body is oriented to.First pair of pawl in two pairs of cleft hands Two cleft hands in handss 51 are symmetrical set, and symmetrically set before and after two cleft hands in second pair of cleft hand 52 in two pairs of cleft hands Put, the bottom of two cleft hands in first pair of cleft hand opens up the first slide slot 511 being obliquely installed, two in second pair of cleft hand The bottom of cleft hand opens up the second slide slot 521 being obliquely installed, and is provided with and slides with the first slide slot at the top of first locking body Dynamic the first sliding pin 621 for coordinating, is provided with the second sliding pin being slidably matched with the second slide slot at the top of the second locking body.

In mechanical claw hand 30, the cleft hand frame 40 includes cleft hand framework soleplate 41 on spheroid, is vertically arranged Cleft hand frame support bar 42 on cleft hand framework soleplate, the cleft hand frame top board 43 for being fixed on cleft hand frame support bar top； Lower section of the cleft hand drive mechanism 60 on the cleft hand framework soleplate and positioned at cleft hand frame top board, the cleft hand frame top Four hinge holes are opened up on plate, and four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.

In mechanical claw hand 30, the cleft hand frame is provided with integrated photographic head and illuminator 44, and described integrated takes the photograph As head and illuminator are located between two pairs of cleft hands.

In mechanical claw hand 30, the stake body includes second base 614, support plate 615；The second base is fixedly installed on In cleft hand frame 40, second guide post 613 is fixed in second base, and the support plate is horizontally fixed on the second guide post Top.First locking body includes that the first lifting chassis 622, a pair first lead columns 623, the first latch segments 624, first are recessed Shape block 625；The first connecting rod 642 is hinged on the first lifting chassis, and the first lifting chassis opens up the first guiding slot port 626, First guiding slot port is slidably matched with the second guide post；The pair of first lead column is vertically arranged in the first lifting chassis On, a pair first pilot holes are opened up on the support plate, a pair first lead columns are coordinated in man-to-man mode to be led at a pair first Into hole, installed in the top of the first lead column, first spill block is installed in the first latch segment for first latch segment Top, first sliding pin 621 is installed in the top of the first spill block.Second locking body include the second lifting chassis 632, Second lead column 633, locking plate 634, the second spill block 635；The second connecting rod 643 is hinged on the second lifting chassis, the Two lifting chassis open up the second guiding slot port 636, and second guiding slot port is slidably matched with the second guide post；Described second leads It is vertically arranged on the second lifting chassis to post, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting Chassis opens up the second pilot hole, opens up the 3rd pilot hole on the support plate, and second lead column is upward through the second pilot hole With the 3rd pilot hole；The locking plate is horizontally arranged at the top of the second lead column, and second spill block is arranged on locking plate On, second sliding pin is installed in the top of the second spill block；The 4th pilot hole is opened up on the locking plate, and described first is oriented to Post passes through the 4th pilot hole, first latch segment to be located at the top of locking plate.

In mechanical claw hand 30, the cleft hand frame 40 is provided with laterally steering block 45, and laterally steering block opens up laterally steering Groove, the first lifting chassis 622 are located at the top of laterally steering block, and the second lifting chassis 632 is located at the lower section of laterally steering block, institute State slide bar 641 and be provided with square slider, square slider is slidably matched with laterally steering groove；Rocking bar in the crank and rocker mechanism 645 are hinged in the second base 614 of stake body, and the crank in crank and rocker mechanism is coupled with the 6th motor 646, the 6th motor In second base.

Such as Fig. 1, the base body 10 is provided with symmetrical first level guide rail 11 and the second horizontal guide rail 12, and first First level slide block 13 is sliding combined with horizontal guide rail, is sliding combined with the second cross sliding clock 14, institute on the second horizontal guide rail The setting of 21 horizontal cross of waist rotation member is stated, the left and right two ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first In cross sliding clock, the right-hand member of waist rotation member is articulated in the second cross sliding clock；The large arm 22 is vertically arranged, the bottom pivot of large arm The middle part of waist rotation member is connected on, the manipulator 23 is fixed on the middle part of large arm, institute installed in the top of large arm, the forearm 24 Wrist a is stated installed in the top of forearm.

In conjunction with Fig. 1, Figure 10, Figure 11, the base body 10 is provided with brake structure 70, and brake structure includes being fixed on base The brake rotation group that a pair of support plates 701, the brake lever 71, one end being articulated on a pair of support plates on body are fixedly connected with brake lever The brake coupling assembly 73 and the brake coupling assembly other end that part 72, one end is hinged with the brake rotary components other end is hinged Lever assembly 74, is hinged in the middle part of lever assembly on support plate, and the cross section of the brake lever is in regular hexagon；Second water Smooth block 14 is provided with keep plate 140, and keep plate is connected by adjustable spring with the second cross sliding clock, and keep plate is located at waist transfer part The side of 21 right side of part, the brake lever are close to keep plate.

In brake structure 70, brake rotating seat 721 that the brake rotary components 72 include being fixedly connected with brake lever 71, The brake swingle 722 being fixedly connected with brake rotating seat；The brake coupling assembly 73 includes and brakes what swingle was hinged The first brake connecting rod 731 that second brake connecting rod 732 is fixedly connected with the second brake connecting rod；The lever assembly 74 Including the brake bearing 741 that is hinged with first brake connecting rod and the brake brake liner plate 742 that is fixedly connected of bearing, described stop Car bearing is hinged on support plate 701.

Above-mentioned base body 10 is provided with the second brake structure 700, and the second brake structure includes being fixed on base body 10 A pair second support plates, the second brake lever being articulated on a pair second support plates, one end be fixedly connected with the second brake lever second The the second brake coupling assembly and the second brake that brake rotary components, one end are hinged with the second brake rotary components other end connects The second lever assembly that the connected components other end is hinged, is hinged in the middle part of the second lever assembly on the second support plate, and described second stops The cross section of car bar is in regular hexagon；The first level slide block 13 is provided with the second keep plate 130, the second keep plate and first Cross sliding clock is connected by the second adjustable spring, and the second keep plate is located at the side of 21 left side of waist rotation member, and described second stops The second keep plate is close to by car bar.The base body is provided with vertical rod 75, is provided with the 3rd sliding pin 76, on the 3rd sliding pin at the top of vertical rod Lever 77 is combined with, the bar shaped chute being slidably matched with the 3rd sliding pin, the left end and brake structure of lever in the middle part of lever, is opened up Lever assembly 74 in 70 is hinged, and the right-hand member of lever is hinged with the second lever assembly in the second brake structure 700.

In conjunction with Fig. 1, Fig. 8, Fig. 9, the waist rotation member 21 is provided with large arm brake structure 90, the large arm brake structure bag Include the basal disc 921 being fixedly installed on waist rotation member, a pair of the brake(-holder) blocks 922 being arranged on basal disc, be slidably arranged on basal disc Solution lock slide 923；It is fixed with brake disc in the large arm, a pair of brake(-holder) blocks are symmetrical set the periphery in brake disc, one One end of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection is set on solution lock slide on basal disc Have translatable enter a pair of brake(-holder) block elastic connection one end opening the wedge 924 of a pair of brake(-holder) blocks.

In above-mentioned large arm brake structure 90, the basal disc is fixed on waist rotation member by support column 925；Set on support column There is swivel pin；The pair of brake(-holder) block includes the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, the first system The left end of the left end of moving plate and the second brake(-holder) block is hinged on swivel pin, the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block Connected by the first adjustable spring elasticity 9221；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block sets There are the second fore-set, the first fore-set and the second fore-set to be oppositely arranged, the first fore-set and the second fore-set are located in the first adjustable spring；Institute The first brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block is stated, the first brake(-holder) block and the second brake(-holder) block surround brake disc 912.

In above-mentioned large arm brake structure 90, the solution lock slide is provided with a pair of alignment pins 927, a pair of alignment pins and wedge shape It is arranged on before and after block on solution lock slide；The pair of alignment pin includes the first alignment pin being symmetrical set and the second positioning Pin, the right-hand member of first brake(-holder) block is provided with the first location hole 9222, and the right-hand member of the second brake(-holder) block is provided with the second location hole, the Under the elastic force of one adjustable spring, when the first fore-set and the second fore-set offset, translation solution lock slide on the first alignment pin and Second alignment pin correspondingly can be inserted in the first location hole and the second location hole.

In above-mentioned large arm brake structure 90, the basal disc is provided with setting block 928, erects block and is provided with the second adjustable spring 9281, block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of the second adjustable spring.

In practical operation, a kind of workflow of the medical auxiliary equipment for being provided with wrist of the present invention is as follows：

First, medical worker holds and manipulates handss 23, unties locking of the large arm brake structure 90 to large arm 22, and brake knot The locking of structure 70 and the second brake structure 700 to waist rotation member 21, rotation large arm 22 or waist rotation member 21, or make waist rotation member 21 translate along first level guide rail 11 and the second horizontal guide rail 12, the mechanical claw hand 30 in wrist a is close at object to be taken.

Second, in wrist a, the rotation of the first threaded rod a32 can drive horizontal moving body a34 transverse translation, move horizontally Body a34 drives the second threaded rod a33 and the thereon the 3rd to slide block a331 and the 4th and slides block a332 transverse translations；Second screw thread The rotation of bar a33 can drive horizontal moving body a34 longitudinal translation, and horizontal moving body a34 drives the first threaded rod a32 and thereon First slides block a321 and second slides block a322 transverse translations；Horizontal moving body a34 for vertically and horizontally translating is flexible by first Bar a36 drives spheroid a35 any rotations on spheroid support a37, the spheroid 35 of any rotation to drive mechanical claw hand 30 thereon Arbitrarily swing in space as the wrist of natural person.

3rd, in mechanical claw hand 30, the rocking bar 645 in crank and rocker mechanism swings, and rocking bar is driven by the second expansion link 644 The laterally steering groove of laterally steering block 45 of the moving slide-bar 641 in cleft hand frame 40 moves laterally, and first connecting rod 642 drives the One locking body declines, and second connecting rod 643 drives the second locking body to rise, and the first locking body drives the first sliding pin 621 to decline, due to First slide slot 511 is obliquely installed, and therefore, the first sliding pin for being vertically lowered can order about arbitrary cleft hand in first pair of cleft hand 51 and surround Which is rotated with the hinged place of cleft hand frame 40, thus, first pair of cleft hand 51 makees opposite swing；Meanwhile, the second locking body drives the Two sliding pins rise, as the second slide slot is obliquely installed the (direction that the direction that the second slide slot is inclined is inclined with the first slide slot On the contrary), therefore, the second sliding pin for vertically rising orders about arbitrary cleft hand in second pair of cleft hand 52 and surrounds its hinge with cleft hand frame 40 Place's rotation is connect, thus, second pair of cleft hand makees opposite swing；So far, two pairs of cleft hands for capturing object, now, are shaken in shape is drawn in Bar 645 is rocked to high order end and rests on high order end.

4th, the rocking bar after object is removed doctors and patients' body by manipulator 23 by medical worker, in crank and rocker mechanism 645 actions again, are rocked to low order end from high order end, drive slide bar 641 to make reverse transverse shifting, and first connecting rod 642 drives First locking body rises, and second connecting rod 643 drives the second locking body to decline, and the first locking body drives the first sliding pin 621 to rise, with When, the second locking body drives the second sliding pin to decline, and two pairs of cleft hands are in actuate out shape, for discharging the object of crawl.

Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention Thought, will change in specific embodiments and applications, this specification content is should not be construed as to this Bright restriction.

Claims

1. a kind of medical auxiliary equipment for being provided with wrist, including base body (10), the waist rotation member (21) being articulated on base body, The large arm (22) being articulated on waist rotation member, the manipulator (23) being arranged in large arm, the forearm (24) being fixed in large arm, peace Be mounted in the wrist (a) of forearm front end, the mechanical claw hand (30) in the wrist, waist rotation member is rotated around base body, large arm around Waist rotation member is rotated；It is characterized in that：

The wrist includes horizonal base plate (a31), the first threaded rod (a32) being slidably mounted on horizonal base plate and the second screw thread Horizontal moving body (a34), bottom and the horizontal moving body activity that bar (a33) and the first threaded rod and the second threaded rod are spirally connected connects Connect and top the first expansion link (a36) being fixedly connected with a spheroid (a35), the spheroid support being fixed on horizonal base plate (a37)；The first threaded rod horizontal cross is arranged, and the second threaded rod level is longitudinally disposed, and the spheroid is movably arranged on ball On body support frame, the mechanical claw hand is on spheroid；

The mechanical claw hand includes cleft hand frame (40), two pairs of cleft hands (50) being hinged in cleft hand frame, is arranged on cleft hand machine It is used for the cleft hand drive mechanism (60) for driving two pairs of cleft hand actions on frame；The cleft hand drive mechanism includes stake body, the first lock Tight body, the second locking body；The stake body is provided with crank rocker driving gear, and crank rocker driving gear includes and cleft hand machine The slide bar (641) that frame is slidably matched and the first connecting rod (642) that slide bar is hinged and second connecting rod (643) and slide bar be hinged Two expansion links (644), crank and rocker mechanism；The first connecting rod is hinged with the first locking body, second connecting rod and the second locking body It is hinged, the rocking bar (645) in crank and rocker mechanism is hollow, and the second expansion link activity is plugged in rocking bar；Stake body is provided with right The second guide post (613) that the lifting of the first locking body and the second locking body is oriented to；The first couple in two pairs of cleft hands Two cleft hands in cleft hand (51) are symmetrical set, right before and after two cleft hands in second pair of cleft hand (52) in two pairs of cleft hands Claim to arrange, the bottom of two cleft hands in first pair of cleft hand opens up the first slide slot (511) being obliquely installed, in second pair of cleft hand The bottom of two cleft hands open up the second slide slot (521) being obliquely installed, be provided with and first at the top of first locking body The first sliding pin (621) that slide slot is slidably matched, is provided with second be slidably matched with the second slide slot at the top of the second locking body Sliding pin.

2. a kind of medical auxiliary equipment for being provided with wrist as claimed in claim 1, it is characterised in that：In wrist (a), the water Flat underside (a31) is square-shaped, and the forward edge of horizonal base plate opens up the 5th slide slot, and the posterior edges of horizonal base plate open up Six slide slots, the 5th slide slot and the 6th slide slot are horizontally disposed and are parallel to each other, and are sliding combined with first in the 5th slide slot Block (a321) is slided, and second is sliding combined with the 6th slide slot and slides block (a322), the front end of the first threaded rod (a32) It is articulated in first to slide on block, the rear end of the first threaded rod is articulated in second and slides on block, described first slides 3rd motor (a323), the output shaft of the 3rd motor are coupled with the first threaded rod；

The left side edge of horizonal base plate opens up the 3rd slide slot, and the right side edge of horizonal base plate opens up the 4th slide slot, and the 3rd slides Row groove and the 4th slide slot are horizontally disposed with and are parallel to each other, and be sliding combined with the 3rd and slide block (a331) in the 3rd slide slot, the The 4th being sliding combined with four slide slots and sliding block (a332), the left end of the second threaded rod (a33) is articulated in the 3rd and slides On block, the right-hand member of the second threaded rod is articulated in the 4th and slides on block, and the described 3rd slides, The output shaft of the 4th motor is coupled with the second threaded rod.

3. a kind of medical auxiliary equipment for being provided with wrist as claimed in claim 1, it is characterised in that：In wrist (a), the water Translation kinetoplast (a34) is provided with first lug (a341) and the second lug (a342), and first lug is located at the top of the second lug, institute State the first threaded rod (a32) to be spirally connected with first lug, the second threaded rod (a33) is spirally connected with the second lug；

The bottom of the horizontal moving body is provided with spin, and spin can the rolling of relative level moving body, spin and horizonal base plate (a31) Surface contact；

The one horizontally disposed moving block (a343) of top pivot joint of the horizontal moving body, moving block are provided with the 3rd lug (a344) and the 4th lug a, fixing axle of lying across between the 3rd lug and the 4th lug, the bottom of the first expansion link (a36) It is provided with the first hole with fixing axle clearance fit.

4. a kind of medical auxiliary equipment for being provided with wrist as claimed in claim 1, it is characterised in that：In wrist (a), the ball Body support frame (a37) includes that a horizontal top (a370), horizontal top open up a circular gap, and the medial wall of circular gap is in arc Shape, spheroid (a35) are movably embedded in circular gap；The spheroid is provided with the ring flange of connection mechanical claw hand (a350).

5. a kind of medical auxiliary equipment for being provided with wrist as claimed in claim 1, it is characterised in that：In wrist (a), the water First base (a38) is provided with below flat underside (a31), and first base is arranged on forearm (24) front end, pivot joint in first base There are the 3rd threaded rod (a381), first base to be provided with one first guide post (a382), the 3rd threaded rod is equal with the first guide post Perpendicular to first base, horizonal base plate (a31) is provided with and block and is matched somebody with somebody with the first guide post with being spirally connected of being spirally connected of the 3rd threaded rod The guide pad of conjunction, is fixed with the 5th gear (a383) on the 3rd threaded rod, the 5th gear is engaged with the 6th gear (a384), and the 6th On the output shaft of the 5th motor (a385), the 5th motor is fixed in first base gear；

First expansion link (a36) includes upper boom and lower beam, and upper boom is in sleeve-shaped, and lower beam is polished rod, and lower beam activity is plugged in In upper boom, upper boom is provided with for detecting that the first sensor (a361) of displacement, horizontal moving body are provided with and the first sensing The first sensor auxiliary (a362) that device is used cooperatively；The block that is spirally connected is provided with second sensor (a386), in first base The second sensor auxiliary (a387) used cooperatively with second sensor is provided with, second sensor is electrically connected with the 5th motor.

6. a kind of medical auxiliary equipment for being provided with wrist as claimed in claim 1, it is characterised in that：In mechanical claw hand (30), Cleft hand frame (40) include cleft hand framework soleplate (41) on spheroid (a35), are vertically arranged in cleft hand frame ground Cleft hand frame support bar (42) on plate, cleft hand frame top board (43) for being fixed on cleft hand frame support bar top；The cleft hand Lower section of the drive mechanism (60) on the cleft hand framework soleplate and positioned at cleft hand frame top board, opens on the cleft hand frame top board If four hinge holes, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；

The cleft hand frame is provided with integrated photographic head and illuminator (44), the integrated photographic head and illuminator position Between two pairs of cleft hands.

7. a kind of medical auxiliary equipment for being provided with wrist as claimed in claim 1, it is characterised in that：In mechanical claw hand (30), The stake body includes second base (614), support plate (615)；The second base is fixedly installed in cleft hand frame (40), institute State the second guide post (613) to be fixed in second base, the support plate is horizontally fixed on the top of the second guide post；

First locking body include the first lifting chassis (622), a pair first lead columns (623), the first latch segment (624), First spill block (625)；First connecting rod (642) are hinged on the first lifting chassis, and the first lifting chassis opens up first and leads To notch (626), first guiding slot port is slidably matched with the second guide post；The pair of first lead column is vertically arranged in On first lifting chassis, a pair first pilot holes on the support plate, are opened up, a pair first lead columns are coordinated in man-to-man mode In a pair first pilot holes, first latch segment is arranged on installed in the top of the first lead column, first spill block The top of the first latch segment, described first sliding pin (621) are installed in the top of the first spill block；

Second locking body includes the second lifting chassis (632), the second lead column (633), locking plate (634), the second spill Block (635)；Second connecting rod (643) are hinged on the second lifting chassis, and the second lifting chassis opens up the second guiding slot port (636), second guiding slot port is slidably matched with the second guide post；Second lead column is vertically arranged in the second lifting bottom On disk, the second lifting chassis is located at the lower section on the first lifting chassis；The first lifting chassis opens up the second pilot hole, described The 3rd pilot hole is opened up on plate, and second lead column is upward through the second pilot hole and the 3rd pilot hole；The locking plate water Safety is mounted in the top of the second lead column, and on locking plate, second sliding pin is arranged on second to second spill block The top of spill block；Open up the 4th pilot hole on the locking plate, first lead column passes through the 4th pilot hole, described first Latch segment is located at the top of locking plate；

In mechanical claw hand (30), cleft hand frame (40) are provided with laterally steering block (45), and laterally steering block is opened up laterally leads To groove, the first lifting chassis (622) is located at the top of laterally steering block, and the second lifting chassis (632) is located at laterally steering block Lower section, slide bar (641) are provided with square slider, and square slider is slidably matched with laterally steering groove；The crank rocker machine Rocking bar (645) in structure is hinged in the second base (614) of stake body, the crank and the 6th motor in crank and rocker mechanism (646) couple, the 6th motor is in second base.

8. a kind of medical auxiliary equipment for being provided with wrist as claimed in claim 1, it is characterised in that：On base body (10) Symmetrical first level guide rail (11) and the second horizontal guide rail (12) is provided with, on first level guide rail, first is sliding combined with Cross sliding clock (13), is sliding combined with the second cross sliding clock (14) on the second horizontal guide rail, waist rotation member (21) level is horizontal To setting, the left and right two ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first level slide block, waist rotation member Right-hand member be articulated in the second cross sliding clock；Large arm (22) are vertically arranged, and the bottom of large arm is articulated in waist rotation member Portion, described manipulator (23), installed in the top of large arm, forearm (24) are fixed on the middle part of large arm, wrist (a) peace It is mounted in the top of forearm.

9. a kind of medical auxiliary equipment for being provided with wrist as claimed in claim 8, it is characterised in that：On base body (10) Brake structure (70) is provided with, brake structure includes a pair of the support plates (701) being fixed on base body, is articulated on a pair of support plates Brake rotary components (72), one end and brake rotary components other end hinge that brake lever (71), one end are fixedly connected with brake lever The lever assembly (74) that the brake coupling assembly (73) and the brake coupling assembly other end for connecing is hinged, the middle part hinge of lever assembly It is connected on support plate, the cross section of the brake lever is in regular hexagon；Second cross sliding clock (14) are provided with keep plate (140), keep plate is connected by adjustable spring with the second cross sliding clock, and keep plate is located at the side of waist rotation member (21) right side It is close to keep plate in side, the brake lever；

Brake rotary components (72) includes the brake rotating seat (721) being fixedly connected with brake lever (71) and brake rotation The brake swingle (722) that seat is fixedly connected；Brake coupling assembly (73) includes that be hinged with brake swingle second is stopped The first brake connecting rod (731) that car connecting rod (732) is fixedly connected with the second brake connecting rod；Lever assembly (74) Including the brake liner plate (742) that the brake bearing (741) being hinged with first brake connecting rod is fixedly connected with brake bearing, institute State brake bearing to be hinged on support plate (701)；

Base body (10) are provided with the second brake structure (700), and the second brake structure includes being fixed on base body (10) A pair second support plates, the second brake lever being articulated on a pair second support plates, one end be fixedly connected with the second brake lever The second brake coupling assembly and the second brake that two brake rotary components, one end are hinged with the second brake rotary components other end The second lever assembly that the coupling assembly other end is hinged, is hinged in the middle part of the second lever assembly on the second support plate, described second The cross section of brake lever is in regular hexagon；First level slide block (13) are provided with the second keep plate (130), the second keep plate It is connected by the second adjustable spring with first level slide block, the second keep plate is located at the side of waist rotation member (21) left side, institute State the second brake lever and be close to the second keep plate；

The base body is provided with vertical rod (75), is provided with the 3rd sliding pin (76), is combined with lever on the 3rd sliding pin at the top of vertical rod (77), the bar shaped chute being slidably matched with the 3rd sliding pin is opened up in the middle part of lever, in the left end of lever and brake structure (70) Lever assembly (74) is hinged, and the right-hand member of lever is hinged with the second lever assembly in the second brake structure (700).

10. a kind of medical auxiliary equipment for being provided with wrist as claimed in claim 1, it is characterised in that：The waist rotation member (21) large arm brake structure (90) is provided with, and the large arm brake structure includes the basal disc being fixedly installed on waist rotation member (921) a pair of brake(-holder) blocks (922), on basal disc, the solution lock slide (923) being slidably arranged on basal disc；The large arm On be fixed with brake disc, a pair of brake(-holder) blocks are symmetrical set the periphery in brake disc, and one end of a pair of brake(-holder) blocks is hinged and another One end elastic connection；Described solution lock slide elastic connection on basal disc, solution lock slide be provided with translatable enter a pair of brake(-holder) block bullets Property connects one end to open the wedge (924) of a pair of brake(-holder) blocks；

The basal disc is fixed on waist rotation member by support column (925)；Support column is provided with swivel pin；The pair of brake(-holder) block Including the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, the left end of the first brake(-holder) block and the second brake(-holder) block Left end is hinged on swivel pin, and the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block is by the first adjustable spring elasticity (9221) connect；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with the second fore-set, the first fore-set It is oppositely arranged with the second fore-set, the first fore-set and the second fore-set are located in the first adjustable spring；First brake(-holder) block and second The equal semicircular in shape of brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc (912)；

The solution lock slide is provided with a pair of alignment pins (927), is arranged on solution lock slide before and after a pair of alignment pins and wedge； The pair of alignment pin includes that the first alignment pin being symmetrical set and the second alignment pin, the right-hand member of first brake(-holder) block set The right-hand member for having the first location hole (9222), the second brake(-holder) block is provided with the second location hole, under the elastic force of the first adjustable spring, when When one fore-set and the second fore-set offset, the first alignment pin and the second alignment pin on the solution lock slide of translation can correspondingly insert the In one location hole and the second location hole；

The basal disc is provided with setting block (928), erects block and is provided with the second adjustable spring (9281), and the one of the second adjustable spring Block, the other end connection solution lock slide of the second adjustable spring are erect in end connection.