CN208323403U - A kind of service robot of transportation of patients - Google Patents
A kind of service robot of transportation of patients Download PDFInfo
- Publication number
- CN208323403U CN208323403U CN201820733896.8U CN201820733896U CN208323403U CN 208323403 U CN208323403 U CN 208323403U CN 201820733896 U CN201820733896 U CN 201820733896U CN 208323403 U CN208323403 U CN 208323403U
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Abstract
The utility model provides a kind of service robot of transportation of patients, including walking mechanism, auxiliary stand, translation mechanism and carrying mechanism；Translation mechanism is mounted below carrying mechanism, for moving horizontally carrying mechanism；Auxiliary stand is mounted below translation mechanism, for carrying out vertical supporting to translation mechanism；Walking mechanism is mounted on the lower section of auxiliary stand, for moving auxiliary stand.The service robot has preferable mobility and flexibility, and it is opposing stationary when belt realizes that carrying mechanism is contacted with patient using carrying, patient realizes the transfer of safety and comfort in quiet lie, high degree of automation, the labor intensity of medical staff and the influence of physical and mental health are reduced, and easy to operate.
Description
Technical field
The utility model relates to a kind of medical auxiliary apparatus, especially a kind of service robot of transportation of patients.
Background technique
Hospital patient be especially hospitalized the inspection of severe case, rotated bed, perioperatively to pick be one breakneck
Work.Transhipment of the patient in hospital between bed and bed, which mostly uses greatly, embraces a lift mode, firmly or mismate, will cause the two of patient
Secondary damage or even life-threatening.Traditional embraces lift mode, and the safety of patient and comfort are difficult to be protected, require simultaneously
Medical staff pays great manual labor, influences the physical and mental health of medical staff.In addition, hospital limited in view of medical resource
Overstaffed, the phenomenon that hospital corridors extra bed position, is commonplace, and channel is narrow sometimes, will affect traditional transhipment hand push
Vehicle passes through.
Utility model content
The technical problems to be solved in the utility model is that existing transportation of patients method takes time and effort, and will cause patient's
Secondary damage.
In order to solve the above-mentioned technical problem, the utility model provides a kind of service robot of transportation of patients, including row
Walk mechanism, auxiliary stand, translation mechanism and carrying mechanism；Translation mechanism is mounted below carrying mechanism, for moving horizontally
Carrying mechanism；Auxiliary stand is mounted below translation mechanism, for carrying out vertical supporting to translation mechanism；Walking mechanism is mounted on
The lower section of auxiliary stand, for moving auxiliary stand.
Further, carrying mechanism includes upper plate, L shape side plate, carries belt, live-roller, guide roller, regulating roller, two
Root rotary roller and carrying driving motor；Each L shape side plate, which is vertically spaced, to be mounted on upper plate；Two rotary rollers are rotatably pacified
Mounted in the vertical plate top of each L shape side plate, live-roller is rotatably mounted in the middle part of the vertical plate of each L shape side plate, guide roller
It is rotatably mounted on the vertical plate lower part of each L shape side plate；A bar shaped tune is equipped in the vertical plate lower part of each L shape side plate
Knothole, regulating roller are rotatably mounted on each bar shaped adjustment hole；It is spaced laterally apart and sets on the level board of each L shape side plate
It is equipped with carrying roller；Rotary roller, live-roller, guide roller, regulating roller and carrying roller are mutually parallel；Belt is carried by the downside of guide roller
It rotates upwards, then by rotating on the upside of the rotary roller on top downwards, then by rotating upwards, then by top on the downside of the live-roller at middle part
It rotates on the upside of another rotary roller downwards, then by being centered around on the carrying roller of each cross direction profiles after rotating on the downside of regulating roller；It removes
Fortune driving motor be fixedly mounted in the vertical plate of end L shape side plate, and carry driving motor output shaft on be equipped with it is small
Gear；The gear wheel being meshed with pinion gear is equipped on the spindle nose of live-roller.
Further, a support stripe board is equipped between the level board of two neighboring L shape side plate；Each carrying roller rotation
It is rotatable to be mounted in support stripe board.
Further, translation mechanism include top plate, two tracks, two blocks of bar shaped side plates, drive belt, driving pulley and
Pan drive motor；Top plate level is fixedly mounted on the top of auxiliary stand；Two tracks are fixedly mounted on top plate, and two
Track is parallel to each other；Two blocks of bar shaped side plates are fixedly mounted on the middle part of top plate by the mounting plate that side is wholely set, and with
Parallel track；Each driving pulley is rotatably mounted between two blocks of bar shaped side plates, and drive belt is around setting in each driving
On belt wheel；Pan drive motor drives one of driving pulley rotation；Slidingtype respectively is equipped on the downside of upper plate
Buckle the sliding block being mounted on two tracks；The upper belt of drive belt has one section of downside for being fixedly mounted on upper plate
On.
Further, auxiliary stand is the rectangular frame that cradling piece is constituted；Top plate level is fixedly mounted on auxiliary branch
The top of frame.
Further, walking mechanism includes support baseboard, four omnidirectional's electricity drive wheels, four movable motor drive modules, control
Case and battery processed；It is equipped with controller, wireless communication module, translation motor driving circuit in control cabinet and carries motor
Driving circuit；Four omnidirectional's electricity drive the edge that wheel is separately mounted to support baseboard, and are in distributed rectangular；The fixed peace of auxiliary stand
On support baseboard；Four motor drive modules are fixedly mounted on support baseboard, and drive take turns with four omnidirectional's electricity respectively
Driving motor electrical connection；Translation motor driving circuit and carrying motor-drive circuit drive with pan drive motor and carrying respectively
Dynamic motor electrical connection；Controller respectively with wireless communication module, four motor drive modules, translation motor driving circuit and remove
Transport motor-drive circuit electrical connection；Battery is respectively controller, wireless communication module, four motor drive modules, translation electricity
Drive circuit and carrying motor-drive circuit power supply.
The utility model has the beneficial effects that: driving wheel using four omnidirectional's electricity independently driven may be implemented robot original
Moved on any direction in the planes such as ground rotation, transverse direction, longitudinal direction and oblique movement, greatly improve transfer device mobility and
Flexibility；Carrying mechanism constitutes in-line structure using the horizontal component of carrying mechanism, realizes carrying mechanism using belt is carried
Opposing stationary when contacting with patient, patient realizes the transfer of safety and comfort in quiet lie；With existing with pure manual operation
Or the transfer instrument based on purely mechanic operation is compared, and the quantity of pain and medical staff during transportation of patients, medical care can be reduced
Personnel only need that it is mobile with robot that moving for patient can be realized by remote control control robot；The transportation of patients service
Robot mobility strong, high degree of automation can greatly reduce the safety during transferring of patient and comfort, reduce simultaneously
The labor intensity of medical staff and physically and mentally healthy influence, and it is easy to operate.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the carrying mechanism partial structural diagram of the utility model；
Fig. 3 is the carrying belt mounting structure schematic diagram of the utility model；
Fig. 4 is the translation mechanism overlooking structure diagram of the utility model；
Fig. 5 is the translation mechanism partial structural diagram of the utility model；
Fig. 6 is the walking mechanism structural schematic diagram of the utility model.
Specific embodiment
As shown in figures 1 to 6, the service robot of transportation of patients disclosed by the utility model includes: walking mechanism, auxiliary branch
Frame, translation mechanism and carrying mechanism；Translation mechanism is mounted below carrying mechanism, for moving horizontally carrying mechanism；Auxiliary
Bracket is mounted below translation mechanism, for carrying out vertical supporting to translation mechanism；Walking mechanism is mounted under auxiliary stand
Side, for moving auxiliary stand.
Wherein, carrying mechanism includes upper plate 3, L shape side plate 1, carries belt 2, live-roller 13, guide roller 11, regulating roller
17, two rotary rollers 12 and carrying driving motor 26；Each L shape side plate 1 is vertically mounted on upper plate 3 at interval；Two are returned
Transfer roller 12 is rotatably mounted on the vertical plate top of each L shape side plate 1, and live-roller 13 is rotatably mounted on each L shape side plate 1
In the middle part of vertical plate, guide roller 11 is rotatably mounted on the vertical plate lower part of each L shape side plate 1；In the vertical of each L shape side plate 1
Plate lower part is equipped with a bar shaped adjustment hole 16, and regulating roller 17 is rotatably mounted on each bar shaped adjustment hole 16；In each L shape
It is spaced laterally apart on the level board of side plate 1 and is provided with carrying roller 18；Rotary roller 12, live-roller 13, guide roller 11, regulating roller 17 with
And carrying roller 18 is mutually parallel；Belt 2 is carried to be rotated upwards by the downside of guide roller 11, then by the upside of the rotary roller 12 on top around
Under steering, then it is downward by rotating on the downside of the live-roller 13 at middle part upwards, then by rotating on the upside of another rotary roller 12 on top, then
It is centered around after being rotated by the downside of regulating roller 17 on the carrying roller 18 of each cross direction profiles；It carries driving motor 26 and is fixedly mounted on end
In the vertical plate of portion L shape side plate 1, and pinion gear 14 is installed on the output shaft for carrying driving motor 26；In live-roller 13
Spindle nose is equipped with the gear wheel 15 being meshed with pinion gear 14.Using regulating roller 17 can facilitate adjust carry belt 2 into
Degree.
A support stripe board 19 is equipped between the level board of two neighboring L shape side plate 1；Each carrying roller 18 is rotary
It is mounted in support stripe board 19.Preferable middle position support effect can be played using support stripe board 19.
Translation mechanism include 4, two, top plate, 25, two blocks of track bar shaped side plate 20, drive belt 23, driving pulley 22 and
Pan drive motor 21；4 level of top plate is fixedly mounted on the top of auxiliary stand；Two tracks 25 are fixedly mounted on the top plate 4,
And two tracks 25 are parallel to each other；The mounting plate 24 that two blocks of bar shaped side plates 20 are wholely set by side is fixedly mounted on top plate 4
Middle part, and it is parallel with track 25；Each driving pulley 22 is rotatably mounted between two blocks of bar shaped side plates 20, drive belt
23 surround setting on each driving pulley 22；Pan drive motor 21 drives one of driving pulley 22 to rotate；At upper bottom
The downside of plate 3 is equipped with slidingtype respectively and buckles the sliding block being mounted on two tracks 25；The upper belt of drive belt 23
Have on one section of downside for being fixedly mounted on upper plate 3.
Auxiliary stand is the rectangular frame that cradling piece 5 is constituted；4 level of top plate is fixedly mounted on the top of auxiliary stand
Portion.
Walking mechanism includes that 6, four omnidirectional's electricity of support baseboard drive wheel 7, four movable motor drive modules 10, control cabinets 8
And battery 9；It is equipped with controller, wireless communication module, translation motor driving circuit in control cabinet 8 and carries motor drive
Dynamic circuit；Four omnidirectional's electricity drive the edge that wheel 7 is separately mounted to support baseboard 6, and are in distributed rectangular；The fixed peace of auxiliary stand
On support baseboard 6；Four motor drive modules 10 are fixedly mounted on support baseboard 6, and respectively with four omnidirectional's electricity
Drive the driving motor electrical connection of wheel 7；Translation motor driving circuit and carry motor-drive circuit respectively with pan drive motor 21
It is electrically connected with driving motor 26 is carried；Controller drives with wireless communication module, four motor drive modules 10, translation motor respectively
Dynamic circuit and carrying motor-drive circuit electrical connection；Battery 9 is respectively controller, wireless communication module, four motors drives
Dynamic model block 10, translation motor driving circuit and carrying motor-drive circuit power supply.Controller, wireless communication module, four electricity
Machine drive module 10, translation motor driving circuit and carrying motor-drive circuit are all made of the prior art；The control of robot
Device and remote controller are all made of single-chip computer and its peripheral circuit composition, can receive and dispatch control command.
The service robot of transportation of patients disclosed by the utility model when in use, needs mating corresponding remote controler, distant
Control device includes remote-control radio module, remote controller, forward key, Reverse keys, moves to left key, move to right key, rotate in place
Key takes key, takes back key, scram button, sending key and key of taking；Remote controller respectively with remote-control radio mould
Block, forward key, Reverse keys, move to left key, move to right key, rotate in place key, take key, take back key, scram button,
Send key and key electrical connection of taking.Circuit structure involved in remote controler is the prior art, and remote-control radio module is used for
It carries out wireless communication and connect with the wireless communication module of robot, can be infrared communication module or Zigbee wireless communication.
The service robot of transportation of patients disclosed by the utility model needs medical staff's hand-held remote controller operation machine
Device people controls the movement of the robot by the key in remote controler, and direction is with one end where infusion support for advance side
To, with the vertical plate of L shape side plate 1 be a left side.
When operator pins forward key, which is sent to robot by the infrared communication module of remote controler
Infrared communication module drives corresponding omnidirectional's electricity by two, four movable motor drive modules 10 by the controller of robot
It drives wheel 7 to rotate counterclockwise, realizes that working machines people alongst moves forward towards infusion support one end；Work as operator
When member pins Reverse keys, which is sent to the infrared communication module of robot by the infrared communication module of remote controler,
Corresponding omnidirectional's electricity is driven to drive the side clockwise of wheel 7 by two, four movable motor drive modules 10 by the controller of robot
To rotation, realize that robot is alongst moved back far from infusion support.
When operator, which pins, moves to left key, which is sent to robot by the infrared communication module of remote controler
Infrared communication module, corresponding omnidirectional is driven by one, three movable motor drive module 10 by the controller of robot
Electricity drives wheel 7 and rotates counterclockwise, and realizes that robot laterally moves along width direction towards a left side；When operator pins the right side
When moving key, which is sent to the infrared communication module of robot by the infrared communication module of distant remote controler, by machine
The controller of people drives corresponding omnidirectional's electricity to drive wheel 7 and is rotated clockwise by one, three movable motor drive module 10,
Realize that robot laterally moves along width direction away from left side.
When operator, which pins, rotates in place key, which is sent to machine by the infrared communication module of remote controler
The infrared communication module of people is passed through one, two, three, four driving pair of movable motor drive module 10 by the controller of robot
The omnidirectional's electricity answered drives wheel 7 and rotates counterclockwise, and realizes that robot using walking mechanism chassis center as the center of circle, rotates in place.Behaviour
Make personnel and pass through the combination moved above, transportation of patients robot is moved to the bed side for needing to transfer patient, it is ensured that L shape side
The level board side of plate 1 close to bedside, meanwhile, transportation of patients robot is different from the requirement of bed aligning accuracy locating for patient,
Gap between transport robot and bed side does not need in 10mm against implantation side.
After robot and hospital bed align, patient is in the state that reposes, and operator will observe transportation of patients robot
Whether the horizontal component of carrying mechanism is inserted under patient body, and after observation is verified, operator, which pins, takes key, remote control
The control instruction is sent to the infrared communication module of robot by the infrared communication module of device, is passed through by the controller of robot flat
It moves motor-drive circuit driving pan drive motor 21 to rotate clockwise, will be removed in the case where drive belt 23 and two tracks 25 act on
The horizontal component of fortune mechanism starts to be inserted into towards patient direction is mobile, and at the same time, the controller of robot is by carrying motor
Driving circuit control is carried driving motor 26 and is operated, and drives and carries belt 2 with the movement opposite with direction of insertion, insertion speed with
The velocity magnitude for carrying belt 2 is consistent, to carry belt 2 and disease in the horizontal component insertion process of carrying mechanism
The contact point of people does not change, and keeps a relative static conditions, reduces the pain of patient.
After patient body is moved to above the horizontal component of carrying mechanism, operator, which unclamps, takes key, at this point, carrying
Driving motor 26 and pan drive motor 21 shut down, and patient is quiet to be lain on the horizontal component for moving mechanism；It presses again at this time
Key is firmly taken back, which is sent to the infrared communication module of robot by the infrared communication module of remote controler, by machine
The controller of people drives pan drive motor 21 to rotate counterclockwise by translation motor driving circuit, in drive belt 23 and two
Track 25 is close toward robot direction by quiet recumbency patient under acting on, and after carrying mechanism is restored to original position, key is taken back in release, grasps
After making personnel inspection verification, patient is sent to required destination by remote-controlled robot movement again.
Complete one take the process of patient after, reach purpose after, operator further according to field condition by advance, after
Key is moved back, moved to left, moved to right and rotated in place, the contraposition of transferring of patient robot and bed is completed.
When transporting patient from robot to bed, operator pins key of taking, the infrared communication of remote controler
The control instruction is sent to the infrared communication module of robot by module, drives electricity by translation motor by the controller of robot
Road driving pan drive motor 21 rotates clockwise, in the case where drive belt 23 and two tracks 25 are acted on by the past disease of quiet recumbency patient
Bed direction is close, and for the horizontal component of mechanism to be handled apart from hospital bed other side distance in 40mm or so, operator unclamps band
Key is removed, then pins and send key, which is sent to the infrared communication mould of robot by the infrared communication module of remote controler
Block drives pan drive motor 21 to rotate counterclockwise, carrying mechanism by the controller of robot by translation motor driving circuit
It is moved toward robot direction, at the same time, the controller of robot carries driving motor by carrying motor-drive circuit control
26 operatings carry driving motor 26 and drive carrying belt 2 to move with carrying mechanism direction of motion opposite direction, carry belt 2
Speed be consistent with carrying mechanism horizontal movement velocity magnitude, thus during component is withdrawn, carry belt 2 and patient
Contact point do not change, keep a relative static conditions, patient body slowly touches hospital bed bed, mechanism to be handled
It after setting back, unclamps again and send key, so far, complete carrying of the patient from robot to bed.
In the handling process, operator will attentively observe the horizontal component of carrying mechanism and patient contacts situation, if
Emergency case is encountered, current key is unclamped, presses the scram button on remote controler, transportation of patients robot will keep emergency case
When state, it is stationary, wait the next step of operator to instruct.
The utility model provides transportation of patients service robot, and driving wheel 7 using four omnidirectional's electricity independently driven can be real
It is moved on any direction in the planes such as existing robot rotates in place, transverse direction, longitudinal direction and oblique movement, greatly improves transfer device
Mobility and flexibility；Carrying mechanism constitutes in-line structure using the horizontal component of carrying mechanism, real using belt 2 is carried
Opposing stationary when existing carrying mechanism is contacted with patient, patient realizes the transfer of safety and comfort in quiet lie；With it is existing with
Transfer instrument based on pure manual operation or purely mechanic operation is compared, and pain is with medical staff's during capable of reducing transportation of patients
Quantity, medical staff only need that it is mobile with robot that moving for patient can be realized by remote control control robot；The patient
Transportation services robot mobility strong, high degree of automation can greatly reduce the safety during transferring of patient and comfort,
The labor intensity of medical staff and the influence of physical and mental health are reduced simultaneously, and easy to operate.
Claims (6)
1. a kind of service robot of transportation of patients, it is characterised in that: including walking mechanism, auxiliary stand, translation mechanism and
Carrying mechanism；Translation mechanism is mounted below carrying mechanism, for moving horizontally carrying mechanism；Auxiliary stand is mounted on translation machine
Below structure, for carrying out vertical supporting to translation mechanism；Walking mechanism is mounted on the lower section of auxiliary stand, for mobile auxiliary branch
Frame.
2. the service robot of transportation of patients according to claim 1, it is characterised in that: carrying mechanism includes upper plate
(3), L shape side plate (1), carry belt (2), live-roller (13), guide roller (11), regulating roller (17), two rotary rollers (12) with
And carry driving motor (26)；Vertically interval is mounted on upper plate (3) each L shape side plate (1)；Two rotary roller (12) rotations
Formula is mounted on the vertical plate top of each L shape side plate (1), and live-roller (13) is rotatably mounted on the vertical of each L shape side plate (1)
In the middle part of plate, guide roller (11) is rotatably mounted on the vertical plate lower part of each L shape side plate (1)；In the perpendicular of each L shape side plate (1)
It is equipped with a bar shaped adjustment hole (16) to plate lower part, regulating roller (17) is rotatably mounted on each bar shaped adjustment hole (16)；
It is spaced laterally apart on the level board of each L shape side plate (1) and is provided with carrying roller (18)；Rotary roller (12), is led at live-roller (13)
It is mutually parallel to roller (11), regulating roller (17) and carrying roller (18)；Belt (2) are carried by the downside of guide roller (11) around steering
On, then by rotating on the upside of the rotary roller (12) on top downwards, then by rotating upwards, then by top on the downside of the live-roller (13) at middle part
Another rotary roller (12) on the upside of rotate downwards, then by being centered around each cross direction profiles after rotating on the downside of regulating roller (17)
On carrying roller (18)；It carries driving motor (26) to be fixedly mounted in the vertical plate of end L shape side plate (1), and is carrying driving electricity
Pinion gear (14) are installed on the output shaft of machine (26)；It is equipped on the spindle nose of live-roller (13) and is meshed with pinion gear (14)
Gear wheel (15).
3. the service robot of transportation of patients according to claim 2, it is characterised in that: in two neighboring L shape side plate (1)
Level board between be equipped with a support stripe board (19)；Each carrying roller (18) is rotatably mounted on support stripe board (19)
On.
4. the service robot of transportation of patients according to claim 2, it is characterised in that: translation mechanism include top plate (4),
Two tracks (25), two pieces of bar shaped side plates (20), drive belt (23), driving pulley (22) and pan drive motor (21)；
Top plate (4) level is fixedly mounted on the top of auxiliary stand；Two tracks (25) are fixedly mounted on top plate (4), and two rails
Road (25) is parallel to each other；The mounting plate (24) that two pieces of bar shaped side plates (20) are wholely set by side is fixedly mounted on top plate (4)
Middle part, and it is parallel with track (25)；Each driving pulley (22) is rotatably mounted between two pieces of bar shaped side plates (20), drives
Dynamic belt (23) are around setting on each driving pulley (22)；Pan drive motor (21) drives one of driving pulley
(22) it rotates；It is equipped with slidingtype respectively on the downside of upper plate (3) and buckles the sliding block being mounted on two tracks (25)；It drives
The upper belt of dynamic belt (23) has on one section of downside for being fixedly mounted on upper plate (3).
5. the service robot of transportation of patients according to claim 4, it is characterised in that: auxiliary stand is cradling piece (5)
The rectangular frame of composition.
6. the service robot of transportation of patients according to claim 4, it is characterised in that: walking mechanism includes support baseboard
(6), four omnidirectional's electricity drive wheel (7), four movable motor drive modules (10), control cabinet (8) and battery (9)；It is controlling
It is equipped with controller, wireless communication module, translation motor driving circuit in case (8) and carries motor-drive circuit；Four omnidirectionals
Electricity drives the edge that wheel (7) is separately mounted to support baseboard (6), and is in distributed rectangular；Auxiliary stand is fixedly mounted on support bottom
On plate (6)；Four motor drive modules (10) are fixedly mounted on support baseboard (6), and drive take turns with four omnidirectional's electricity respectively
(7) driving motor electrical connection；Translation motor driving circuit and carry motor-drive circuit respectively with pan drive motor (21)
It is electrically connected with driving motor (26) are carried；Controller is electric with wireless communication module, four motor drive modules (10), translation respectively
Drive circuit and carrying motor-drive circuit electrical connection；Battery (9) is respectively controller, wireless communication module, four
Motor drive module (10), translation motor driving circuit and carrying motor-drive circuit power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820733896.8U CN208323403U (en) | 2018-05-17 | 2018-05-17 | A kind of service robot of transportation of patients |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820733896.8U CN208323403U (en) | 2018-05-17 | 2018-05-17 | A kind of service robot of transportation of patients |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208323403U true CN208323403U (en) | 2019-01-04 |
Family
ID=64774014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820733896.8U Active CN208323403U (en) | 2018-05-17 | 2018-05-17 | A kind of service robot of transportation of patients |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208323403U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381567A (en) * | 2018-05-17 | 2018-08-10 | 南京信息职业技术学院 | A kind of service robot of transportation of patients |
-
2018
- 2018-05-17 CN CN201820733896.8U patent/CN208323403U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381567A (en) * | 2018-05-17 | 2018-08-10 | 南京信息职业技术学院 | A kind of service robot of transportation of patients |
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