Novel electrocardio measuring device

Abstract

The invention belongs to the technical field of medical auxiliary equipment, and discloses a novel electrocardiogram measuring device which comprises a base plate, the base plate is connected with a mechanical arm base body and an electrocardiograph, the mechanical arm base body is connected with a mechanical arm set, and the mechanical arm set is connected with a palm assembly comprising an adjusting base body. The adjusting base body is connected with a fixed gear ring, a driving sun gear, a first driven planetary gear and a second driven planetary gear, and the driving sun gear, the first driven planetary gear and the second driven planetary gear are connected with a middle finger connecting piece, an index finger connecting piece and a ring finger connecting piece respectively. The middle finger connecting piece, the index finger connecting piece and the ring finger connecting piece are connected with a chest lead piece, an upper limb lead piece and a lower limb lead piece respectively, and the chest lead piece, the upper limb lead piece and the lower limb lead piece are further connected with induction electrodes. The problems that electrode wires of an electrocardiograph in the prior art are disordered, inconvenient to store, low in examination speed, prone to making mistakes and prone to bringing skin injuries such as subcutaneous bleeding and bruise to a patient are solved.

Description

Technical Field

[0001] The invention relates to the technical field of medical auxiliary equipment, in particular to a novel electrocardiogram measuring device. Background Art

[0002] An electrocardiograph is a device that can automatically record the bioelectric signals (electrocardiogram) generated by myocardial excitation during cardiac activity to obtain an electrocardiogram, which has great guiding significance for medical diagnosis. Medical staff can use electrocardiograms to diagnose whether patients have heart diseases, or use electrocardiograms to reflect the real-time physical condition of patients. Therefore, electrocardiographs are frequently used in clinical diagnosis and treatment. However, the electrocardiograph is equipped with a large number of various wires, which are inconvenient to store, resulting in messy placement. When the electrocardiograph is moved to the bedside, the electrode wires are often tangled together. It often takes time to organize the electrode wires before the examination, which affects the examination time. At the same time, during the use of the electrocardiograph, the messy electrode wires can easily trip medical staff, causing injuries to medical staff or the electrocardiograph cannot work properly. In addition, the multiple lead wires of the electrocardiograph are independent of each other. Medical staff rely solely on color or text recognition, which affects the acquisition speed and is prone to errors. Furthermore, negative pressure suction is often used to stick Ag / AgCl electrodes to the patient's body for the collection of the patient's ECG signals. This method not only brings discomfort to the patient, but may also cause varying degrees of skin damage to the patient, such as subcutaneous bleeding and bruising. Summary of the invention

[0003] The present invention is intended to provide a novel electrocardiogram measuring device to solve the problems of the prior art electrocardiograph having messy electrode wires, inconvenient storage, slow inspection speed, multiple independent lead wires, slow inspection speed, and prone to errors, and using negative pressure suction to fix the electrodes, which may cause subcutaneous bleeding, bruises, and other skin injuries of varying degrees to the patient.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A novel electrocardiogram measuring device comprises a substrate, wherein the substrate is connected to an electrocardiograph having a mechanical arm base and a display screen, the mechanical arm base is connected to a mechanical arm group, the end joint of the mechanical arm group is connected to a palm component, the palm component is rotatably connected to a middle finger connector, an index finger connector and a ring finger connector, the middle finger connector is connected to six chest lead components via a length adjustment component, the index finger connector is connected to two upper limb lead components via the length adjustment component, the ring finger connector is connected to two lower limb lead components via the length adjustment component, the six chest lead components, the two upper limb lead components and the two lower limb lead components are all connected to sensing electrodes, each of the sensing electrodes is connected to the electrocardiograph via an independent lead wire, and the lead wire is sequentially passed through the mechanical arm group, the middle finger connector and / or the index finger connector and / or the ring finger connector, the length adjustment component, the chest lead component and / or the upper limb lead component and / or the lower limb lead component.

[0006] Further, the palm assembly includes an adjustment base, the adjustment base is provided with a groove, the inner side of the adjustment base is fixedly connected to a fixed gear ring, the inner side of the adjustment base is rotatably connected to an active sun gear, the active sun gear is externally meshed with a first driven planetary gear and a second driven planetary gear, and the first driven planetary gear and the second driven planetary gear are both internally meshed with the fixed gear ring; the middle finger connector is coaxially fixedly connected to the active sun gear, the index finger connector is coaxially fixedly connected to the first driven planetary gear, the ring finger connector is coaxially fixedly connected to the second driven planetary gear, and the middle finger connector, the index finger connector and the ring finger connector are all slidably penetrated into the groove.

[0007] Furthermore, the active sun gear is fixedly connected to an adjustment handle arranged on the outside of the adjustment base.

[0008] Furthermore, the first driven planetary gear and the second driven planetary gear are arranged in mirror symmetry with the vertical center plane of the middle finger connecting member as a reference plane.

[0009] Furthermore, the six chest lead pieces, the two upper limb lead pieces, and the two lower limb lead pieces are all connected via lead rods and damping shafts, and the sensing electrodes are connected to the lower sides of the lead rods.

[0010] Furthermore, the lead rod is a telescopic rod.

[0011] Furthermore, a support and transport assembly for transporting the electrocardiograph measuring device is connected to the lower side of the base plate, and a plurality of universal wheel assemblies are connected to the lower side of the support and transport assembly.

[0012] Furthermore, a height adjustment component for adjusting the horizontal height of the substrate is connected between the substrate and the supporting and transporting component, and the height adjustment component is a press-type adjustment cylinder.

[0013] Further, the length adjustment component includes a left externally threaded barrel, an internally threaded sleeve and a right externally threaded barrel, the left end of the left externally threaded barrel is fixedly connected to the middle finger connecting piece and / or the index finger connecting piece and / or the ring finger connecting piece, and the right end of the right externally threaded barrel is fixedly connected to the chest lead piece and / or the upper limb lead piece and / or the lower limb lead piece; the external threads of the left externally threaded barrel and the right externally threaded barrel have opposite rotation directions, and the right end of the left externally threaded barrel and the left end of the right externally threaded barrel are both connected to the left and right ends of the internally threaded sleeve through threads.

[0014] Furthermore, the robotic arm group includes at least three groups of motion joints, and the robotic arm base realizes the movement of the palm component in three directions of X-axis, Y-axis and Z-axis by controlling the operation of the robotic arm group.

[0015] The principle and beneficial effects of the technical solution are:

[0016] 1. A novel electrocardiogram measuring device provided by the present invention is connected to a palm assembly through a mechanical arm assembly, the palm assembly is rotatably connected to a middle finger connector, an index finger connector and a ring finger connector, the middle finger connector is connected to six chest lead components through a length adjustment component, the index finger connector is connected to two upper limb lead components through a length adjustment component, the ring finger connector is connected to two lower limb lead components through a length adjustment component, and the six chest lead components, two upper limb lead components and two lower limb lead components are all connected to sensing electrodes. When collecting the patient's electrocardiogram signal, the position of each lead component is adjusted using the mechanical arm base and the length adjustment component so that the sensing electrode contacts the patient's body surface, and the electrocardiograph is started to collect the patient's electrocardiogram signal. In the process of collecting ECG signals, the sensing electrodes are only in direct contact with the patient's body surface, which can effectively avoid unnecessary subcutaneous injuries to the patient and avoid causing discomfort to the patient; the sensing electrodes in different areas are sorted and classified through the middle finger connector, the index finger connector and the ring finger connector, and the chest lead, the upper limb lead and the lower limb lead are used to connect the sensing electrodes. When collecting ECG signals from the patient, the ECG collection can be completed quickly and accurately, reducing the patient's waiting time and improving the rescue time; the lead wire connecting the ECG machine and the sensing electrode is arranged on the inner side of the transmission component (mechanical arm group, the middle finger connector and / or the index finger connector and / or the ring finger connector, the length adjustment component, the chest lead and / or the upper limb lead and / or the lower limb lead), and there is no problem of messy electrode wires and inconvenient storage during the use of the ECG measuring device, and the lead wires can be effectively prevented from being tangled or broken, thereby extending the service life of the instrument and reducing expenses;

[0017] 2. A novel electrocardiogram measuring device provided by the present invention comprises a fixed gear ring, a driving sun gear, a first driven planetary gear and a second driven planetary gear connected in an adjusting base of a palm assembly, a middle finger connecting piece, an index finger connecting piece and a ring finger connecting piece connected to the driving sun gear, the first driven planetary gear and the second driven planetary gear respectively, and the first driven planetary gear and the second driven planetary gear are meshed with the outside of the driving sun gear, and the first driven planetary gear and the second driven planetary gear are also meshed with the inside of the fixed gear ring at the same time, and the driving sun gear is rotated so that the first driven planetary gear and the second driven planetary gear rotate in opposite directions with the rotation center of the driving sun gear as the center, that is, by rotating the driving sun gear, the electrocardiogram measuring device can be efficiently and smoothly measured. The relative position (angle) relationship of the middle finger connector, the index finger connector and the ring finger connector is stably and accurately adjusted. The middle finger connector, the index finger connector and the ring finger connector are slidably penetrated in the groove, so that during the adjustment process, the groove guides and limits the middle finger connector, the index finger connector and the ring finger connector, further improving the stability of the adjustment; the active sun gear is fixedly connected to the adjustment handle on the outside of the adjustment base, further improving the convenience of adjustment; the first driven planetary gear and the second driven planetary gear are mirror-symmetrically arranged with the vertical center plane of the middle finger connector as the reference plane, so that during the adjustment process, it is convenient to simply and intuitively know the relative angle relationship between the middle finger connector, the index finger connector and the ring finger connector;

[0018] 3. A novel ECG measuring device provided by the present invention has six chest lead pieces, two upper limb lead pieces and two lower limb lead pieces connected by lead rods and damping shafts, and the position / angle of each lead rod can be adjusted conveniently, and the function is reliable and the stability is good. The sensing electrode is connected to the lower side of the lead rod, which further improves the contact effect between the sensing electrode and the patient's body surface and improves the reliability of collecting ECG signal data. The lead rod is a telescopic rod, which further improves the convenience and accuracy of adjusting the relative position of each sensing electrode.

[0019] 4. A novel ECG measuring device provided by the present invention has a supporting transport assembly connected to the lower side of the base plate to facilitate the transport of the entire ECG measuring device, and a height adjustment assembly to adjust the height of the entire ECG measuring device; a mechanical arm assembly with at least three sets of motion joints is selected to further improve the applicability and scope of application of the entire ECG measuring device;

[0020] 5. The present invention provides a novel electrocardiogram measuring device, in which the length adjustment component adopts a structure in which the two ends of an internal threaded sleeve are respectively connected to a left external threaded cylinder and a right external threaded cylinder by threads. The internal threaded sleeve is rotated to make the left external threaded cylinder and the right external threaded cylinder move toward each other (away from / closer to each other), thereby realizing the adjustment of the length of the entire component. The structure is simple, and the adjustment is convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a novel electrocardiogram measuring device of the present invention;

[0022] Figure 2 for Figure 1 The local method view at A in the middle;

[0023] Figure 3 This is a front view of a novel electrocardiogram measuring device of the present invention;

[0024] Figure 4 for Figure 3 Cross-sectional view of BB.

[0025] The names of the corresponding marks in the accompanying drawings are:

[0026] Base plate 1, electrocardiograph 2, support and transport component 3, robot arm base 4, robot arm group 5, palm component 6, slot 7, fixed gear ring 8, active sun gear 9, middle finger connector 10, first driven planetary gear 11, index finger connector 12, second driven planetary gear 13, ring finger connector 14, length adjustment component 15, chest lead component 16, upper limb lead component 17, lower limb lead component 18, adjustment handle 19, lead rod 20, damping shaft 21, induction electrode 22, height adjustment component 23. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments:

[0028] like Figures 1 to 4 As shown, a novel electrocardiogram measuring device comprises a base plate 1, a supporting and transporting assembly 3 for transporting the electrocardiogram measuring device is connected to the lower side of the base plate 1, six sets of universal wheel assemblies are connected to the lower side of the supporting and transporting assembly 3, a height adjustment assembly 23 for adjusting the horizontal height of the base plate 1 is connected between the base plate 1 and the supporting and transporting assembly 3, and the height adjustment assembly 23 is a press-type adjustment cylinder;

[0029] The upper side of the base plate 1 is connected to a mechanical arm base 4 and an electrocardiograph 2 with a display screen, the mechanical arm base 4 is connected to a mechanical arm group 5 having three sets of motion joints, the end joint of the mechanical arm group 5 is connected to a palm assembly 6, and the mechanical arm base 4 realizes the movement of the palm assembly 6 in three directions of the X axis, the Y axis and the Z axis by controlling the operation of the three sets of joints of the mechanical arm group 5;

[0030] The palm assembly 6 includes an adjustment base, which is provided with a groove 7. A fixed ring gear 8 is fixedly connected to the inner side of the adjustment base. A driving sun gear 9 is rotatably connected to the inner side of the adjustment base. A first driven planetary gear 11 and a second driven planetary gear 13 are externally meshed with the driving sun gear 9, and the first driven planetary gear 11 and the second driven planetary gear 13 are both internally meshed with the fixed ring gear 8, and the driving sun gear 9 is fixedly connected to an adjustment handle 19 arranged on the outer side of the adjustment base; the driving sun gear 9 is coaxially fixedly connected to a middle finger connector 10, the first driven planetary gear 11 and the second driven planetary gear 13 are mirror-symmetrically arranged with the vertical center plane of the middle finger connector 10 as a reference plane, the first driven planetary gear 11 is coaxially fixedly connected to an index finger connector 12, the second driven planetary gear 13 is coaxially fixedly connected to a ring finger connector 14, and the middle finger connector 10, the index finger connector 12 and the ring finger connector 14 are all slidably penetrated in the groove. 7; The middle finger connector 10 is connected to six chest lead pieces 16 through a length adjustment component 15, the index finger connector 12 is connected to two upper limb lead pieces 17 through a length adjustment component 15, and the ring finger connector 14 is connected to two lower limb lead pieces 18 through a length adjustment component 15. The six chest lead pieces 16, the two upper limb lead pieces 17, and the two lower limb lead pieces 18 are all connected through a lead rod 20 and a damping shaft 21, and the lead rod 20 is a telescopic rod ( The lead rod 20 is connected to a sensing electrode 22 on the lower side, and each sensing electrode 22 is connected to the electrocardiograph 2 through an independent lead wire, and the lead wires are sequentially passed through the mechanical arm group 5, the middle finger connector 10 and / or the index finger connector 12 and / or the ring finger connector 14, the length adjustment component 15, the chest lead 16 and / or the upper limb lead 17 and / or the lower limb lead 18.

[0031] Among them, the length adjustment component 15 includes a left externally threaded barrel, an internally threaded sleeve and a right externally threaded barrel, the left end of the left externally threaded barrel is fixedly connected to the middle finger connector 10 and / or the index finger connector 12 and / or the ring finger connector 14, and the right end of the right externally threaded barrel is fixedly connected to the chest lead piece 16 and / or the upper limb lead piece 17 and / or the lower limb lead piece 18; the external threads of the left externally threaded barrel and the right externally threaded barrel have opposite rotation directions, and the right end of the left externally threaded barrel and the left end of the right externally threaded barrel are connected to the left and right ends of the internally threaded sleeve through threads.

[0032] The specific implementation process is as follows:

[0033] Before using the electrocardiogram measuring device, the base plate 1 is pushed, and the entire electrocardiogram measuring device is transported to a designated position under the action of the universal wheel assembly supporting the transport assembly 3, and the height of the entire electrocardiogram measuring device is adjusted by the height adjustment assembly 23; then, according to the specific conditions of the patient, the mechanical arm base 4 is used to control the movement of the three groups of joints of the mechanical arm assembly 5, so that the spatial position of the palm assembly 6 on the X-axis, Y-axis and Z-axis is adjusted, and the angle relationship between the middle finger connector 10, the index finger connector 12 and the ring finger connector 14 is adjusted by twisting the adjustment handle 19; then the long and short fingers are respectively rotated to adjust the angle between the middle finger connector 10, the index finger connector 12 and the ring finger connector 14; The internal threaded sleeve of the degree adjustment component 15 is used to adjust the position of the chest lead 16 and / or the upper limb lead 17 and / or the lower limb lead 18, and the lead rod 20 is rotated along the central axis of the damping shaft 21 to adjust the angle of each sensing electrode 22; the height of the sensing electrode 22 is adjusted again by the mechanical arm base 4, so that each sensing electrode 22 contacts with various positions on the patient's body surface; finally, the electrocardiograph 2 is started to complete the collection of the patient's electrocardiogram signal; after the electrocardiogram signal collection is completed, the mechanical arm base 4 controls the mechanical arm group 5 to separate the sensing electrode 22 from the patient's body surface.

[0034] Among them, the sensing electrodes 22 connected to the six chest lead pieces 16 realize the collection of the patient's chest wall ECG, the sensing electrodes 22 connected to the two upper limb lead pieces 17 realize the collection of the patient's upper arm ECG, and the sensing electrodes 22 connected to the two lower limb lead pieces 18 realize the collection of the patient's thigh ECG. In the process of collecting ECG signals, the sensing electrodes 22 are only in direct contact with the patient's body surface, which can effectively avoid unnecessary subcutaneous damage to the patient caused by negative pressure suction and avoid causing discomfort to the patient; the sensing electrodes 22 in different areas are sorted and classified by the middle finger connector 10, the index finger connector 12 and the ring finger connector 14, and the chest lead pieces 16, the upper limb lead pieces 17 and The lower limb lead piece 18 is connected to the sensing electrode 22, and when the patient's ECG signal is collected, the ECG collection can be completed quickly and accurately, reducing the patient's waiting time and improving the treatment time; the lead wire connecting the ECG machine 2 and the sensing electrode 22 is arranged on the inner side of the transmission component (mechanical arm group 5, middle finger connector 10 and / or index finger connector 12 and / or ring finger connector 14, length adjustment component 15, chest lead piece 16 and / or upper limb lead piece 17 and / or lower limb lead piece 18), and there is no problem of messy electrode wires and inconvenient storage during the use of the ECG measuring device, and the lead wire can be effectively prevented from being tangled or broken, thereby extending the service life of the instrument and reducing expenses;

[0035] The fixed gear ring 8, the active sun gear 9, the first driven planetary gear 11 and the second driven planetary gear 13 are connected in the adjustment base of the palm assembly 6, the middle finger connecting piece 10, the index finger connecting piece 12 and the ring finger connecting piece 14 are respectively connected to the active sun gear 9, the first driven planetary gear 11 and the second driven planetary gear 13, the first driven planetary gear 11 and the second driven planetary gear 13 are externally meshed with the active sun gear 9, and the first driven planetary gear 11 and the second driven planetary gear 13 are also internally meshed with the fixed gear ring 8, rotating the active sun gear 9. The male gear 9 allows the first driven planetary gear 11 and the second driven planetary gear 13 to rotate in opposite directions with the rotation center of the active sun gear 9 as the center, that is, by rotating the active sun gear 9, the relative position (angle) relationship of the middle finger connector 10, the index finger connector 12 and the ring finger connector 14 can be adjusted efficiently, smoothly and accurately; the groove 7 guides and limits the middle finger connector 10, the index finger connector 12 and the ring finger connector 14 to improve the stability of the adjustment; the main adjustment handle 19 can improve the convenience of adjustment;

[0036] The six chest lead pieces 16, the two upper limb lead pieces 17, and the two lower limb lead pieces 18 are all connected through the lead rods 20 and the damping shaft 21, and the position / angle of each lead rod 20 can be adjusted conveniently, and the function is reliable and the stability is good. The sensing electrode 22 is connected to the lower side of the lead rod 20 to improve the contact effect between the sensing electrode 22 and the surface of the patient's body, thereby improving the reliability of collecting ECG signal data;

[0037] A support transport assembly 3 is connected to the lower side of the base plate 1 to facilitate the transport of the entire ECG measuring device, and a height adjustment assembly 23 adjusts the height of the entire ECG measuring device; a mechanical arm assembly 5 with at least three sets of motion joints is selected to further improve the applicability and scope of application of the entire ECG measuring device;

[0038] The length adjustment component 15 adopts a structure in which the two ends of the internal threaded sleeve are respectively connected to the left external threaded cylinder and the right external threaded cylinder by threads. The internal threaded sleeve is rotated to make the left external threaded cylinder and the right external threaded cylinder move toward each other (move away from / approach each other), thereby realizing the adjustment of the length of the entire component. It has a simple structure and is convenient and quick to adjust.

[0039] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the technical solution of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A new type of electrocardiogram measuring device, It is characterized in that The invention comprises a base plate, wherein the base plate is connected to a mechanical arm base and an electrocardiograph having a display screen, the mechanical arm base is connected to a mechanical arm group, the end joint of the mechanical arm group is connected to a palm assembly, the palm assembly is rotatably connected to a middle finger connector, an index finger connector and a ring finger connector, the middle finger connector is connected to six chest lead components via a length adjustment component, the index finger connector is connected to two upper limb lead components via the length adjustment component, the ring finger connector is connected to two lower limb lead components via the length adjustment component, the six chest lead components, the two upper limb lead components and the two lower limb lead components are all connected to sensing electrodes, each of the sensing electrodes is connected to the electrocardiograph via a separate lead wire, and the lead wire is sequentially passed through the mechanical arm group, the middle finger connector and / or the index finger connector and / or the ring finger connector, the length adjustment component, the chest lead component and / or the upper limb lead component and / or the lower limb lead component.

2. A novel electrocardiogram measuring device according to claim 1, It is characterized in that The palm assembly includes an adjustment base, the adjustment base is provided with a groove, the inner side of the adjustment base is fixedly connected to a fixed gear ring, the inner side of the adjustment base is rotatably connected to an active sun gear, the active sun gear is externally meshed with a first driven planetary gear and a second driven planetary gear, and the first driven planetary gear and the second driven planetary gear are both internally meshed with the fixed gear ring; the middle finger connector is coaxially fixedly connected to the active sun gear, the index finger connector is coaxially fixedly connected to the first driven planetary gear, the ring finger connector is coaxially fixedly connected to the second driven planetary gear, and the middle finger connector, the index finger connector and the ring finger connector are all slidably penetrated into the groove.

3. A novel electrocardiogram measuring device according to claim 2, It is characterized in that The active sun gear is fixedly connected with an adjustment handle arranged on the outside of the adjustment base.

4. A novel electrocardiogram measuring device according to claim 2, It is characterized in that The first driven planetary gear and the second driven planetary gear are arranged in mirror symmetry with the vertical center plane of the middle finger connecting member as a reference plane.

5. A novel electrocardiogram measuring device according to claim 1, It is characterized in that The six chest lead pieces, the two upper limb lead pieces and the two lower limb lead pieces are all connected via lead rods and damping shafts, and the sensing electrodes are connected to the lower side of the lead rods.

6. A novel electrocardiogram measuring device according to claim 5, It is characterized in that The lead rod is a telescopic rod.

7. A novel electrocardiogram measuring device according to claim 1, It is characterized in that A supporting and transporting assembly for transporting the electrocardiograph measuring device is connected to the lower side of the base plate, and a plurality of universal wheel assemblies are connected to the lower side of the supporting and transporting assembly.

8. A novel electrocardiogram measuring device according to claim 7, It is characterized in that A height adjustment component for adjusting the horizontal height of the substrate is connected between the substrate and the supporting and transporting component, and the height adjustment component is a press-type adjustment cylinder.

9. A novel electrocardiogram measuring device according to claim 1, It is characterized in that The length adjustment component includes a left externally threaded barrel, an internally threaded sleeve and a right externally threaded barrel. The left end of the left externally threaded barrel is fixedly connected to the middle finger connector and / or the index finger connector and / or the ring finger connector, and the right end of the right externally threaded barrel is fixedly connected to the chest lead component and / or the upper limb lead component and / or the lower limb lead component; the external threads of the left externally threaded barrel and the right externally threaded barrel have opposite rotation directions, and the right end of the left externally threaded barrel and the left end of the right externally threaded barrel are both connected to the left and right ends of the internally threaded sleeve through threads.

10. A novel electrocardiogram measuring device according to claim 1, It is characterized in that The robotic arm group includes at least three groups of motion joints, and the robotic arm base realizes the movement of the palm component in three directions of X-axis, Y-axis and Z-axis by controlling the operation of the robotic arm group.

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