CN205552500U

CN205552500U - Robot with investigation and medical aid function

Info

Publication number: CN205552500U
Application number: CN201521087022.2U
Authority: CN
Inventors: 苏茂
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-12-25
Filing date: 2015-12-25
Publication date: 2016-09-07
Anticipated expiration: 2025-12-25

Abstract

Robot with investigation and medical aid function, it has related to a mobilizable investigation rescue robot. The utility model discloses an it is relatively poor to current investigation and rescue robot running gear and arm mobility and flexibility, still, unable effective implementation investigation, required necessary action such as rescue, and cost an arm and a leg, the system is complicated, the reliability is poor, maintain shortcomings such as difficulty, the utility model provides a completely newly, the investigation and the medical aid robot that have powerful obstacle climbing ability and nimble arm, complicated topography can be passed through and the scene of the accident is reachd, realize investigation site environment, deliver the medicine for the wounded, functions such as the haul wounded.

Description

There is investigation and the robot of medical aid function

Technical field

The utility model relates to one and movably investigates rescue robot, can replace the mankind under hazardous environment, to danger Feelings launch investigation, and the wounded launch the work such as preliminary medical relief.

Background technology

Army of the country such as Anglo-American Law moral is successively equipped with some for detection, the mobile robot in the field such as get rid of the danger in recent years System, what the most representative and equipment was most works as first-elected PackBot510 series reconnaissance robot, and United States Forces is the widest in addition General it is equipped with the mechanisms such as the Talonbo reconnaissance robot that a kind of volume is slightly larger, upper installation mechanical arm, camera, paw, can be to front Position carries out scouting and dangerous material disposal.U.S. army's medical research and goods and materials strategic plan office (USAMRMC) also have developed one JAUS robot, the raw detection system of equipped coring, and raw for coring detection sensor is loaded on the mechanical arm of JAUS robot. CAMELEON type chemistry, biology, radioactivity, core and the unmanned ground location of explosive disposal of company of ECA robot of France research and development Vehicle, by integrated different task module, can carry out anti-improvised explosive devices, metaplasia detection, cleaning land mine at the same time or separately And the task such as marking contaminated region.

Medical aid Robotics is collection medical science, biomethanics, mechanics, Mechanics of Machinery, materialogy, computer graphical , computer vision, mathematical analysis, robot etc. block up the multidisciplinary novel crossed research field being integrated, and have important grinding Study carefully value, have a wide range of applications on dual-use, be a study hotspot of current robot field.Therapeutic machine Device people is mainly used in rescue and the transhipment etc. of the sick and wounded, and this type of robot is guided by Remote, so that it is guaranteed that pass through complexity The wounded are transported to base hospital by landform in time, and its appearance, by the injures and deaths probability of significant reduction battlefield medical personnel.Except Outside military first aid, this robot can be used for a lot of occasion, is particularly occurring earthquake, core biological and chemical attack or harmful substance to let out In the hazardous environment of dew, medical aid robot can be by outstanding lifting capacity and toughness one exrending boxing pin.

China the reason such as starts late due to the research of robot, movable reconnaissance robot design, manufacture and should With etc. aspect still have a certain distance with developed country, represent domestic robot research level surely belongs to Harbin Institute of Technology's machine Device people institute, robot of Shanghai Communications University and Shenyang Inst of Automation, Chinese Academy of Sciences robotics state key experiment Room, Harbin Institute of Technology have developed a " anti-terrorism robot ", and structural principle is sufficiently close to the Pacbot Series machine people of U.S. army, but outward Annular volume is slightly larger, and Shenyang Institute of Automation also have developed a " anti-terrorism explosion prevention robot ", uses one in the design of walking mechanism Planting the mode of variant wheel, " anti-terrorism robot " developed with Harbin Institute of Technology is slightly different.Both robots are used equally to radioactivity Material process, Resident Evil disposal, explosive disposal etc., can realize the work of getting rid of the danger under complicated terrain environment under personnel's remote control Industry.

Summary of the invention

The purpose of this utility model be for existing investigation and rescue robot walking mechanism and mechanical arm mobility and Flexibility is poor, and the method that there is no effectively performs the necessary operation that investigation, rescue etc. are required, and expensive, system complex, reliable Property the shortcoming such as poor, difficult in maintenance, it is proposed that a kind of brand-new, there is powerful obstacle climbing ability and the investigation of flexible mechanical arm and medical treatment Rescue robot.The utility model is by brand-new chassis design, in conjunction with link-type mechanical arm cleverly, by medical aid machine The practicality of people is greatly improved, and makes robot can be guided by Remote, it is ensured that it can pass through complicated landform arrival accident On-the-spot, it is achieved investigation site environment, the functions such as medicine, the haul wounded are delivered for the wounded.The utility model is to investigate for environment And the device of wounded's rescue, it is made up of mobile base and mechanical arm.The robot with investigation and medical aid function moves the end Seat is non-stressed body structure, uses crawler type walking mechanism, and mechanical arm is made up of 2-section pipe body, the head end of first segment body Being connected with mobile base by The Cloud Terrace, position, first segment body stage casing is provided with rearview camera, the end of first segment body and The head end of second section body is hinged, and the head end of second section body is provided with The Cloud Terrace and forward sight camera, and 2-section pipe body hinged place sets Be equipped with a grapple, can capture or discharge the medicine-chest being placed in mobile base rear, the end of second section body be provided with The Cloud Terrace and Main camera.The utility model design is simple, and reliability is high, complete function, excellent performance, its move base can pass through meadow, The complicated landform such as snowfield, mud ground, desert, sandstone ground, main camera is installed on mechanical arm tail end, can follow mechanical arm lifting, Rotation, pitching etc., and with arbitrarily angled observation field condition under the driving of mechanical arm tail end The Cloud Terrace, mechanical arm 2-section pipe body cuts with scissors The grapple that the place of connecing is arranged can capture the medicine-chest that car body rear is carried, and is delivered to the wounded and tentatively saves oneself.

Accompanying drawing explanation

Fig. 1 is the utility model entirety shaft side figure.

Fig. 2 is the integrally-built decomposing schematic representation of the utility model.

Fig. 3 is mobile base 100 overall structure decomposing schematic representation.

Fig. 4 is right-hand track chiain wheel mechanism 104-1 and the structural representation of left Athey wheel mechanism 104-2.

Fig. 5 is vehicle body frame 103 shaft side figure.

Fig. 6 is vehicle body frame 103 STRUCTURE DECOMPOSITION schematic diagram.

Fig. 7 is upper strata vehicle body frame 103-1 structural representation.

Tu8Shi lower floor vehicle body frame 103-2 structural representation.

Tu9Shi lower floor vehicle body frame front end 103-2-1 structural representation.

Figure 10 is lower floor's vehicle body frame rear end 103-2-2 structural representation.

Figure 11 mechanical arm is connected cradle head structure schematic diagram with mobile base.

Figure 12 mechanical arm first segment body and second section body connection diagram.

Figure 13 mechanical arm second section body end and main camera connection diagram.

Detailed description of the invention

The utility model main parts size:

100. move base 101. mechanical arm 102. medicine-chest

103. vehicle body frame 104-1. right-hand track chiain wheel mechanism 104-2. left Athey wheel mechanism

103-1. upper strata vehicle body frame 103-2. lower floor vehicle body frame 103-2-1. lower floor's vehicle body frame front end

103-2-2. lower floor vehicle body frame rear end 1. crawler belt 4. driving wheel

36. left track wheel drive motor 37. right side track wheel drive motors

Detailed description of the invention one: as depicted in figs. 1 and 2, described in have investigation and the robot of medical aid function, including Mobile base 100, mechanical arm 101, medicine-chest 102, the The Cloud Terrace on described mechanical arm 101 is fixed in the front portion of mobile base 100, institute State medicine-chest 102 and be positioned over the rear portion of mobile base 100.

Detailed description of the invention two: as shown in Fig. 3, Fig. 4 and Figure 10, described mobile base 100 includes vehicle body frame 103, the right side Athey wheel mechanism 104-1 and left Athey wheel mechanism 104-2, one end of the first crossbeam 22 of described vehicle body frame 103 and right-hand track chiain Inner bracing piece 2 and the outer support bar 3 of wheel mechanism 104-1 are affixed, and one end of the second cross beam 34 of described vehicle body frame 103 is with right Inner bracing piece 2 and the outer support bar 3 of Athey wheel mechanism 104-1 are affixed, and right-hand track chiain wheel mechanism 104-1 is fixed on car body frame On the right side of frame 103, the inner bracing piece 2 of the other end of the first crossbeam 22 of described vehicle body frame 103 and left Athey wheel mechanism 104-2 and Outer support bar 3 is affixed, the other end of the second cross beam 34 of described vehicle body frame 103 and the inner support of left Athey wheel mechanism 104-2 Bar 2 and outer support bar 3 are affixed, are fixed on the left of vehicle body frame 103 by left Athey wheel mechanism 104-2.Described right-hand track chiain is taken turns Mechanism 104-1 and left Athey wheel mechanism 104-2 by crawler belt 1, inner bracing piece 2, outer support bar 3, driving wheel the 4, first driven pulley 5, Second driven pulley 6, drive shaft the 7, first wheel shaft the 8, second wheel shaft 9 form, and described drive shaft 7 is fixed in the position, axle center of driving wheel 4 Putting, bearing 10-1 and bearing 10-2 is inserted at described drive shaft 7 two ends respectively, and described bearing 10-1 pedestal is fixed on inner bracing piece 2 Back segment, described bearing 10-2 pedestal is fixed on outer support bar 3 back segment, and described first wheel shaft 8 is arranged on the first position, driven pulley 5 axle center Putting, bearing 10-3 and bearing 10-4 is inserted at described first wheel shaft 8 two ends respectively, and described bearing 10-3 pedestal is fixed on inner bracing piece 2 stage casings, described bearing 10-4 pedestal is fixed on outer support bar 3 stage casing, and described second wheel shaft 9 is arranged on the second driven pulley 6 axle center Position, described second wheel shaft 9 two ends are inserted in bearing 10-5 and bearing 10-6 respectively, and described bearing 10-5 pedestal is fixed on inner support Bar 2 leading portion, described bearing 10-6 pedestal is fixed on outer support bar 3 leading portion, and described crawler belt 1 is by driving wheel the 4, first driven pulley 5 and Second driven pulley 6 surrounds so that it is all contact with crawler belt 1 inner surface, the drive shaft 7 of described right-hand track chiain wheel mechanism 104-1 and right wheel Universal joint 45 output is affixed, and the drive shaft 7 of described left Athey wheel mechanism 104-2 is affixed with revolver universal joint 44 output.

Detailed description of the invention three: as shown in Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 and Figure 10, described vehicle body frame 103 includes setting Standby case 11, car body superstructure 103-1, car body understructure 103-2, aluminium sheet 18 two ends of car body superstructure 103-1 are respectively Affixed with first aluminium sheet the 38, second aluminium sheet 39 rear end of car body understructure 103-2, the tail trimmer of car body superstructure 103-1 16 two ends are affixed with first column the 25, second column 23 upper end of car body understructure 103-2 respectively.Described car body superstructure 103-1 is by panel 12, the first longeron 13, the second longeron 14, tail trimmer 15,16, aluminium sheet 18, parts 17,21, girth member 19,20 Composition, described panel 12 both sides are respectively and fixedly connected with in first longeron the 13, second longeron 14 top.Described first longeron 13 front end is passed through Right-angle connector is vertical affixed with tail trimmer 15,16, and described second longeron 14 front end is by right-angle connector and tail trimmer 15,16 The most affixed, described first longeron 13 rear end, parts 17, aluminium sheet 18 one end are sequentially overlapped affixed, the affixed aluminium in girth member 19 one end Plate 18, the other end is with connecing the first longeron 13 rear end, and described second longeron 14 rear end, parts 21, aluminium sheet 18 other end are sequentially overlapped Affixed, girth member 20 one end is noisy to be connect aluminium and pulls 18, affixed second longeron 14 rear end of the other end.Described car body understructure 103-2 bag Include front end frame 103-2-1 and rearward end frame 103-2-2, first aluminium sheet the 38, second aluminium sheet 39 of described rearward end frame 103-2-2 It is respectively and fixedly connected with entablature 31 bottom in front end frame 103-2-1.

Described front end frame 103-2-1 by first column the 25, second column 23, first crossbeam 22, second cross beam 34, front add Strong parts 24, right strengthening part 26, left strengthening part 27, right support frame 28, left support frame 29, rear strengthening part the 35, the 3rd stand Post the 30, the 4th column 33, entablature 31, support member 32, base plate 21 form, and described first crossbeam 22 is fixed in the middle part of base plate 21, Described first column the 25, second column 23 lower end is respectively and fixedly connected with in first crossbeam 22 same side, described front strengthening part 24 1 End is fixed in the first column 25 upper end, and the other end is fixed in the second column 23 lower end, described right strengthening part 26, left strengthening part 27 one end are respectively and fixedly connected with in first crossbeam 22 same side, and described right strengthening part 26 other end is fixed on the 3rd column 30 End, described left strengthening part 27 other end is fixed in the 4th column 33 upper end, and described right support frame 28 bottom is fixed in the 3rd and stands Post 30 upper end, described left support frame 29 bottom is fixed in the 4th column 33 upper end, described 3rd column the 30, the 4th column 33 lower end Being respectively perpendicular and be fixed in second cross beam 34 top, described entablature 31 two ends are respectively perpendicular and are fixed in the 3rd column the 30, the 4th and stand Post 33 middle part, described support member 32, rear strengthening part 35 two ends are respectively perpendicular and are fixed in entablature 31, second cross beam 34 Between position, described second cross beam 34 bottom is affixed with base plate 21 rear end.

Described rearward end frame 103-2-2 is by first aluminium sheet the 38, second aluminium sheet 39, rear cross beam the 40, first support column 41, second Support column 42, electric machine support 43, right wheel universal joint 45, revolver universal joint 44, right wheel motor 37, revolver motor 36 form, described First aluminium sheet the 38, second aluminium sheet 39 rear end is fixed in the top at rear cross beam 40 two ends, side affixed in the middle part of described rear cross beam 40 One support column the 41, second support column 42 upper end, between described first support column 41 and the second support column 42 lower end, affixed motor props up Frame 43 one end, described right wheel motor 37 base is fixed in the second aluminium sheet 39 front lower portion, and described right wheel motor 37 front portion is fixed in At electric machine support 43 arc gap, described right wheel motor 37 rotary shaft is affixed with right wheel universal joint 45 one end, and described right wheel is universal Drive shaft 7 one end of the other end affixed right-hand track chiain wheel mechanism 104-1 of joint 45, described revolver motor 36 base is fixed in the first aluminium Plate 38 front lower portion, described revolver motor 36 front portion is fixed at electric machine support 43 arc gap, and described revolver motor 36 rotates Axle is affixed with revolver universal joint 44 one end, the driving of the affixed left Athey wheel mechanism 104-2 of the other end of described revolver universal joint 44 Axle 7 one end.

Detailed description of the invention four: as shown in Fig. 2, Figure 11, Figure 12 and Figure 13, described mechanical arm 101 by first segment body 45, Second section body 57, rearview camera the 63, first flat board member the 59, second flat board member 69, fourth drive 55-4, the 3rd rudder Dish 56-3, the 3rd flat board member 60, fourth panel parts 68, forward sight camera platform 64, grapple driver 58, universal driving shaft 61, Grapple the 62, the 5th flat board member the 66, the 6th flat board member 67, The Cloud Terrace 65 and main camera 70 form, described first segment body 45 Middle part is provided with rearview camera 63, described first segment body 45 head end both sides respectively with the first steering wheel 56-1, the second rudder Dish 56-2 is affixed, the rotary shaft of the described first affixed first driver 55-1 of steering wheel 56-1 shaft core position, described second steering wheel 56- The rotary shaft of the affixed second driver 55-2 of 2 shaft core positions, described first driver 55-1 is solid by accessory 46,47,48 Due to pedestal 49 one end, described second driver 55-2 is fixed on pedestal 49 other end, the affixed reinforcement in described pedestal 49 bottom 50, the affixed axle in described reinforcement 50 center 51, described axle 51 passes clutch shaft bearing 52, stator the 53, second bearing 54, with The rotary shaft of the 3rd driver 55-3 is affixed, and described 3rd driver 55-3 is affixed with stator 53, and described clutch shaft bearing 52 is solid Being scheduled on stator 53, described stator 53 is fixed on tail trimmer 15,16.Action implementation process: the first driver 55-1 and The drive shaft of the second driver 55-2 synchronizes rotating in same direction, drives first segment body 45 to drive around the first driver 55-1 and second The rotary shaft of device 55-2 rotates, and stator 53 and the 3rd driver 55-3 is fixed on vehicle body frame 103 front end, with the 3rd driver The mechanical arm 101 that 55-3 rotary shaft is affixed, is driven by the 3rd driver 55-3 and rotates around it axle rotation.

Described first segment body 45 end both sides are affixed with first flat board member the 59, second flat board member 69 respectively, described First flat board member 59 is parallel with the second flat board member 69, and described fourth drive 55-4 is fixed on the first flat board member 59, Its rotary shaft is vertical with the first flat board member 59, and the affixed 3rd steering wheel 56-3 of rotary shaft of described fourth drive 55-4 is in axle center Position, described 3rd affixed 3rd flat board member 60 of steering wheel 56-3, its axis perpendicular is in the 3rd flat board member 60, described second section Body 57 head end both sides are affixed with the 3rd flat board member 60, fourth panel parts 68 respectively, described 3rd flat board member 60 and Four flat board members 68 are parallel, and described forward sight camera platform 64 is fixed on the 3rd flat board member 60, fourth panel parts 68, institute Stating grapple driver 58 to be fixed on the first flat board member 59, its rotary shaft is vertical with the first flat board member 59, and described grapple drives The rotary shaft of dynamic device 58 is affixed with universal driving shaft 61, and the two axis coinciding, described grapple 62 is " G " shape, said two grapple 62 points Not being arranged on universal driving shaft 61 two ends affixed with it, said two grapple 62 initial position is consistent.Action implementation process: with the 4th The second section body 57 that driver 55-4 rotary shaft is affixed, is driven by fourth drive 55-4 and rotates around it axle rotation, and grapple drives Dynamic device 58 rotary shaft drives universal driving shaft 61 to rotate, thus drives two grapples 62 on universal driving shaft 61 to rotate, and changes its position shape State reaches to capture or the function of release medicine-chest 102.

Described second section body 57 end both sides are affixed with the 5th flat board member the 66, the 6th flat board member 67 respectively, described 5th flat board member 66 is parallel with the 6th flat board member 67, and described The Cloud Terrace 65 has a 4th steering wheel A and the 5th steering wheel B, and the described 4th Steering wheel A, the 5th steering wheel B axle center are mutually perpendicular to, and described 4th affixed 5th flat board member 66 of steering wheel A, its axis perpendicular is in the 5th Flat board member 66, the described 5th affixed main camera 70 of steering wheel B, its axle center and main camera 70 camera lens axis perpendicular.Action is real Execute process: the 4th steering wheel A of The Cloud Terrace 65 rotates, drive The Cloud Terrace around the axis rotation of the 4th steering wheel A, it is achieved the pitching of main camera 70 Motion, the 5th steering wheel B of The Cloud Terrace 65 rotates, and drives main camera 70 around the axis rotation of the 5th steering wheel B, it is achieved main camera 70 Left-right rotation.

Claims

1. there is investigation and a robot for medical aid function, for environment investigation and the device of wounded's rescue, by moving Base (100), mechanical arm (101) and medicine-chest (102) composition；

It is characterized in that:

The robot base with investigation and medical aid function is non-stressed body structure, uses crawler type walking mechanism, Mechanical arm is made up of 2-section pipe body, and the head end of first segment body (45) is connected with mobile base (100) by The Cloud Terrace, the first pipe joint Body (45) middle part is provided with rearview camera (63), and the end of first segment body (45) cuts with scissors with the head end of second section body (57) Connecing, the head end of second section body is provided with The Cloud Terrace and forward sight camera (64), and 2-section pipe body hinged place is provided with two grapples (62), can capture or discharge the medicine-chest (102) being placed in mobile base (100) rear, the end of second section body (57) is installed There are The Cloud Terrace (65) and main camera (70).

The most according to claim 1 have investigation and the robot of medical aid function, it is characterised in that: the described mobile end Seat (100) includes vehicle body frame (103), right-hand track chiain wheel mechanism (104-1) and left Athey wheel mechanism (104-2), described car body frame One end of the first crossbeam (22) of frame (103) is solid with the inner bracing piece (2) of right-hand track chiain wheel mechanism (104-1) and outer support bar (3) Connect, one end of the second cross beam (34) of described vehicle body frame (103) and the inner bracing piece (2) of right-hand track chiain wheel mechanism (104-1) and Outer support bar (3) is affixed, and right-hand track chiain wheel mechanism (104-1) is fixed on vehicle body frame (103) right side, described vehicle body frame (103) other end of first crossbeam (22) is solid with the inner bracing piece (2) of left Athey wheel mechanism (104-2) and outer support bar (3) Connect, the other end of the second cross beam (34) of described vehicle body frame (103) and the inner bracing piece (2) of left Athey wheel mechanism (104-2) Affixed with outer support bar (3), left Athey wheel mechanism (104-2) is fixed on vehicle body frame (103) left side.

The most according to claim 2 have investigation and the robot of medical aid function, it is characterised in that: described right-hand track chiain Wheel mechanism (104-1) and left Athey wheel mechanism (104-2) are by crawler belt (1), inner bracing piece (2), outer support bar (3), driving wheel (4), the first driven pulley (5), the second driven pulley (6), drive shaft (7), the first wheel shaft (8), the second wheel shaft (9) composition, described in drive Moving axis (7) is fixed in the shaft core position of driving wheel (4), and described drive shaft (7) two ends are inserted in bearing (10-1,10-2), institute respectively Stating bearing (10-1,10-2) pedestal and be fixed on inner bracing piece (2) and outer support bar (3) back segment, described first wheel shaft (8) is arranged on First driven pulley (5) shaft core position, described first wheel shaft (8) two ends are inserted in bearing (10-3,10-4), described bearing (10-respectively 3,10-4) pedestal is fixed on inner bracing piece (2) and outer support bar (3) stage casing, and described second wheel shaft (9) is arranged on the second driven pulley (6) shaft core position, described second wheel shaft (9) two ends are inserted in bearing (10-5,10-6), described bearing (10-5,10-6) base respectively Seat is fixed on inner bracing piece (2) and outer support bar (3) leading portion, and described crawler belt (1) is by driving wheel (4), the first driven pulley (5) and the Two driven pulleys (6) surround so that it is all contact with crawler belt (1) inner surface, the drive shaft (7) of described right-hand track chiain wheel mechanism (104-1) Affixed with right wheel universal joint (45) output, the drive shaft (7) of described left Athey wheel mechanism (104-2) and revolver universal joint (44) Output is affixed.

The most according to claim 2 have investigation and the robot of medical aid function, it is characterised in that: described car body frame Frame (103) includes equipment box (11), car body superstructure (103-1), car body understructure (103-2)；Described car body upper strata is tied Structure (103-1) by panel (12), the first longeron (13), the second longeron (14), tail trimmer (15,16), aluminium sheet (18), parts (17, 21), girth member (19,20) composition；Described car body understructure (103-2) includes front end frame (103-2-1) and rearward end frame (103-2-2)；Described front end frame (103-2-1) by the first column (25), the second column (23), first crossbeam (22), second Crossbeam (34), front strengthening part (24), right strengthening part (26), left strengthening part (27), right support frame (28), left support frame (29), rear strengthening part (35), the 3rd column (30), the 4th column (33), entablature (31), support member (32), base plate (21) Composition；Described rearward end frame (103-2-2) is by the first aluminium sheet (38), the second aluminium sheet (39), rear cross beam (40), the first support column (41), the second support column (42), electric machine support (43), right wheel universal joint (45), revolver universal joint (44), right wheel motor (37), Revolver motor (36) form, aluminium sheet (18) two ends of described car body superstructure (103-1) respectively with car body understructure (103- 2) the first aluminium sheet (38), the second aluminium sheet (39) rear end are affixed, and tail trimmer (16) two ends of car body superstructure (103-1) are respectively Affixed with first column (25) of car body understructure (103-2), the second column (23) upper end, described panel (12) both sides are respectively Being fixed in the first longeron (13), the second longeron (14) top, right-angle connector and hyphen are passed through in described first longeron (13) front end Beam (15,16) is the most affixed, and described second longeron (14) front end is vertical affixed with tail trimmer (15,16) by right-angle connector, Described first longeron (13) rear end, parts (17), aluminium sheet (18) one end are sequentially overlapped affixed, the affixed aluminium sheet in girth member (19) one end (18), the other end affixed first longeron (13) rear end, described second longeron (14) rear end, parts (21), aluminium sheet (18) other end Being sequentially overlapped affixed, the affixed aluminium sheet in girth member (20) one end (18), the other end affixed second longeron (14) rear end, under described car body Rotating fields (103-2) includes front end frame (103-2-1) and rearward end frame (103-2-2), described rearward end frame (103-2-2) First aluminium sheet (38), the second aluminium sheet (39) are respectively and fixedly connected with entablature (31) bottom in front end frame (103-2-1), and described first Crossbeam (22) is fixed in base plate (21) middle part, and described first column (25), the second column (23) lower end are respectively and fixedly connected with in first horizontal Beam (22) same side, described front strengthening part (24) one end is fixed in the first column (25) upper end, and the other end is fixed in second Column (23) lower end, described right strengthening part (26), left strengthening part (27) one end are respectively and fixedly connected with in first crossbeam (22) same Side, described right strengthening part (26) other end is fixed in the 3rd column (30) upper end, described left strengthening part (27) other end Being fixed in the 4th column (33) upper end, described right support frame (28) bottom is fixed in the 3rd column (30) upper end, described left support Frame (29) bottom is fixed in the 4th column (33) upper end, and described 3rd column (30), the 4th column (33) lower end are respectively perpendicular solid Being connected to second cross beam (34) top, described entablature (31) two ends are respectively perpendicular and are fixed in the 3rd column (30), the 4th column (33) middle part, described support member (32), rear strengthening part (35) two ends are respectively perpendicular and are fixed in entablature (31), the second horizontal stroke Beam (34) middle part, described second cross beam (34) bottom is affixed with base plate (21) rear end, described first aluminium sheet (38), the second aluminium Plate (39) rear end is fixed in the top at rear cross beam (40) two ends, affixed first support column in described rear cross beam (40) side, middle part (41), the second support column (42) upper end, between described first support column (41) and the second support column (42) lower end, affixed motor props up Frame (43) one end, described right wheel motor (37) base is fixed in the second aluminium sheet (39) front lower portion, and described right wheel motor (37) is front Portion is fixed at electric machine support (43) arc gap, and described right wheel motor (37) rotary shaft is solid with right wheel universal joint (45) one end Connect, drive shaft (7) one end of the other end affixed right-hand track chiain wheel mechanism (104-1) of described right wheel universal joint (45), described revolver Motor (36) base is fixed in the first aluminium sheet (38) front lower portion, and described revolver motor (36) front portion is fixed in electric machine support (43) At arc gap, described revolver motor (36) rotary shaft is affixed with revolver universal joint (44) one end, described revolver universal joint (44) Drive shaft (7) one end of the affixed left Athey wheel mechanism (104-2) of the other end.

The most according to claim 1 have investigation and the robot of medical aid function, it is characterised in that: described mechanical arm (101) by first segment body (45), second section body (57), rearview camera (63), the first flat board member (59), the second flat board Parts (69), fourth drive (55-4), the 3rd steering wheel (56-3), the 3rd flat board member (60), fourth panel parts (68), Forward sight camera platform (64), grapple driver (58), universal driving shaft (61), grapple (62), the 5th flat board member (66), the 6th flat Plate parts (67), The Cloud Terrace (65) and main camera (70) composition, described first segment body (45) middle part is provided with backsight and takes the photograph As head (63), described first segment body (45) head end both sides are affixed with the first steering wheel (56-1), the second steering wheel (56-2) respectively, institute State the rotary shaft of affixed first driver of the first steering wheel (56-1) shaft core position (55-1), described second steering wheel (56-2) position, axle center Putting the rotary shaft of affixed second driver (55-2), described first driver (55-1) is fixed by accessory (46,47,48) In pedestal (49) one end, described second driver (55-2) is fixed on pedestal (49) other end, and described pedestal (49) bottom is affixed Reinforcement (50), the affixed axle in described reinforcement (50) center (51), described axle (51) passes clutch shaft bearing (52), stator (53), the second bearing (54), affixed with the rotary shaft of the 3rd driver (55-3), described 3rd driver (55-3) and stator (53) affixed, described clutch shaft bearing (52) is fixed on stator (53), and described stator (53) is fixed on tail trimmer (15,16) On, described first segment body (45) end both sides are affixed with the first flat board member (59), the second flat board member (69) respectively, described First flat board member (59) is parallel with the second flat board member (69), and described fourth drive (55-4) is fixed on the first flat board member (59) on, its rotary shaft is vertical with the first flat board member (59), affixed 3rd rudder of rotary shaft of described fourth drive (55-4) Dish (56-3) is in shaft core position, and described 3rd affixed 3rd flat board member (60) of steering wheel (56-3), its axis perpendicular is flat in the 3rd Plate parts (60), described second section body (57) head end both sides respectively with the 3rd flat board member (60), fourth panel parts (68) Affixed, described 3rd flat board member (60) is parallel with fourth panel parts (68), and described forward sight camera platform (64) is fixed on On 3rd flat board member (60), fourth panel parts (68), described grapple driver (58) is fixed on the first flat board member (59) On, its rotary shaft is vertical with the first flat board member (59), and the rotary shaft of described grapple driver (58) is affixed with universal driving shaft (61), The two axis coinciding, described grapple (62) is " G " shape, said two grapple (62) be separately mounted to universal driving shaft (61) two ends and with It is affixed, and said two grapple (62) initial position is consistent, described second section body (57) end both sides respectively with the 5th flat board Parts (66), the 6th flat board member (67) are affixed, and described 5th flat board member (66) is parallel with the 6th flat board member (67), described The Cloud Terrace (65) has the 4th steering wheel (A) and the 5th steering wheel (B), and the axle center of described 4th steering wheel (A) and the 5th steering wheel (B) is the most vertical Directly, described 4th affixed 5th flat board member (66) of steering wheel (A), its axis perpendicular in the 5th flat board member (66), the described 5th The affixed main camera of steering wheel (B) (70), its axle center and main camera (70) camera lens axis perpendicular.