阅读说明：本技术 一种野外急救用的担架机器人 (Stretcher robot for field first aid ) 是由 杨雪梅 沈叶 王玉波 李力 李昆霖 封明霞 王勤 于 2020-11-19 设计创作，主要内容包括：本发明创造属于野外急救领域,具体涉及了一种野外急救用的担架机器人。一种野外急救用的担架机器人,包括能源系统和支撑板,还包括：运动系统,与能源系统电连接,与支撑板转动连接,承担机器人的运动功能；担架系统,与能源系统电连接,与支撑板转动连接,承担机器人的搬动病人的功能；驱动系统,与能源系统电连接,安装在运动系统和担架系统上,用于驱动运动系统和担架系统的运动；控制系统,与能源系统电连接,固定安装在支撑板上,用于控制驱动系统的运动；信息采集系统,与能源系统电连接,安装在运动系统、担架系统和驱动系统上,用于采集外界信息。本申请的机器人具有在复杂的路况平稳运送伤患的能力,并且可以独自将伤患放置到滑动板上。(The invention belongs to the field of field first aid, and particularly relates to a stretcher robot for field first aid. A stretcher robot for field emergency treatment, comprising an energy system and a supporting plate, further comprising: the motion system is electrically connected with the energy system, is rotatably connected with the supporting plate and takes the motion function of the robot; the stretcher system is electrically connected with the energy system, is rotatably connected with the supporting plate and takes the function of the robot for moving the patient; the driving system is electrically connected with the energy system, is arranged on the moving system and the stretcher system and is used for driving the moving system and the stretcher system to move; the control system is electrically connected with the energy system, is fixedly arranged on the supporting plate and is used for controlling the movement of the driving system; and the information acquisition system is electrically connected with the energy system, is arranged on the motion system, the stretcher system and the driving system and is used for acquiring external information. The robot has the capability of stably conveying the injury on complex road conditions, and can independently place the injury on the sliding plate.)

1. The utility model provides a stretcher robot that open-air first aid was used, includes energy system and backup pad, its characterized in that still includes:

the motion system is electrically connected with the energy system, is rotatably connected with the supporting plate and takes the motion function of the robot;

the stretcher system is electrically connected with the energy system, is rotatably connected with the supporting plate and takes the function of the robot for moving the patient;

the driving system is electrically connected with the energy system, is arranged on the moving system and the stretcher system and is used for driving the moving system and the stretcher system to move;

the control system is electrically connected with the energy system, is fixedly arranged on the supporting plate and is used for controlling the movement of the driving system;

and the information acquisition system is electrically connected with the energy system, is arranged on the motion system, the stretcher system and the driving system and is used for acquiring external information.

2. The stretcher robot for field emergency treatment according to claim 1, wherein the stretcher system comprises:

the sliding block is arranged at one end of the supporting plate, is connected with the supporting plate in a sliding manner and is driven by the driving system to slide up and down on the end surface of the supporting plate;

the auxiliary arm and the sliding block are positioned at the same end of the supporting plate, one end of the auxiliary arm is rotationally connected with the supporting plate, and the auxiliary arm is controlled by the driving system to rotate;

one end of the folding rod is arranged on the sliding block, is rotationally connected with the sliding block and is driven by a driving system;

the sliding plate is arranged at the other end of the folding rod, is connected with the folding rod in a sliding way, and is controlled by a driving system to reciprocate along the extending direction of the folding rod;

and the traction structure is arranged on the sliding block, is controlled by the driving system and is fixedly connected with the sliding plate.

3. The stretcher robot for outdoor emergency treatment according to claim 2, wherein the sliding plate comprises: the plate comprises a plate body, auxiliary wheels and fixing columns, wherein a plurality of grooves are formed in two surfaces of the plate body, the auxiliary wheels are mounted in the grooves, and the auxiliary wheels are rotatably connected with the plate body; the rotation direction of the auxiliary wheel is the same as the extension direction of the folding rod; the two sides of the plate body are provided with sliding chutes for connecting with the folding rods; the fixed column is fixedly installed on the back of the plate body and is close to the position of the supporting plate.

4. The stretcher robot for outdoor emergency treatment according to claim 3, wherein said folding bar comprises:

one end of the first support rod is rotatably connected with the sliding block;

one end of the second supporting rod is rotatably connected with the other end of the first supporting rod;

one end of the first hydraulic rod is hinged with the first supporting rod, and the other end of the first hydraulic rod is hinged with the second supporting rod and is controlled to stretch by the control system;

the pulley is installed at the other end of the second support rod and is rotatably connected with the second support rod.

5. The stretcher robot for field emergency treatment according to claim 4, wherein the traction structure comprises:

the first traction wheel is arranged on the sliding block and is controlled by a driving system;

one end of the first traction rope is wound on the first traction wheel, and the other end of the first traction rope penetrates through the pulley and is fixedly connected with the fixed column;

the second traction wheel is arranged on the sliding block and is controlled by a driving system;

and one end of the second traction rope is wound on the second traction wheel, and the other end of the second traction rope is fixedly connected with the fixed column.

6. The stretcher robot for outdoor emergency treatment according to claim 3, wherein one end of the sliding plate close to the supporting plate is provided with a V-shaped notch; the edge of the V-shaped notch is an arc inclined plane.

7. The stretcher robot for outdoor emergency treatment according to claim 2, wherein the auxiliary arm is provided with a pedal plate and a pathfinder plate; the pedal plate is fixedly arranged on the auxiliary arm; the road detecting plate is fixedly arranged at the free end of the auxiliary arm.

8. The stretcher robot for field emergency treatment according to claim 1, wherein said motion system comprises at least two rows of motion feet; the moving feet are symmetrically arranged on two sides of the supporting plate; each row of the motion feet at least consists of three motion feet; the motion foot is driven by a driving system and is controlled by a control system.

9. The stretcher robot for field emergency treatment according to claim 7, wherein the information collecting system comprises:

the camera is fixedly arranged on the sliding block, is electrically connected with the control system and is used for observing the surrounding environment;

the infrared sensor is fixedly arranged on the sliding block, is electrically connected with the control system and is used for observing the position of the patient and detecting the surrounding environment;

the first pressure sensor is arranged on one surface of the pedal plate, is electrically connected with the control system and is used for measuring the contact relation between the pedal plate and a patient and the ground pressure;

the second pressure sensor is arranged on one surface of the probe board, is electrically connected with the control system and is used for measuring the pressure between the probe board and the road surface;

and the level sensor is arranged on the supporting plate, is electrically connected with the control system and is used for keeping the level of the patient during the patient conveying process.

10. The stretcher robot for outdoor emergency treatment according to claim 2, wherein the front surface of the supporting plate is provided with a groove for accommodating the folding rod.

Technical Field

The invention belongs to the field of field first aid, and particularly relates to a stretcher robot for field first aid.

Background

With the development of society, the number of people who participate in outdoor exercises is gradually increased, and a plurality of extreme exercises are performed, but the probability of injury is increased along with the occurrence of the exercises.

With the progress of science and technology, stretchers are also continuously improved and developed, and the stretchers with single functions are developed into the existing lifting stretchers, travelling wheel stretchers, shovel stretchers, negative pressure inflatable cushion type fixing stretchers and the like, so that the varieties of the stretchers are more and more, and the functions are more and more abundant. Although the stretcher has been developed, its own characteristics determine that it needs to be lifted by a person.

Under the field lifesaving condition, the road is often far away, the road surface condition is complicated, the stretcher is very laborious to lift, and if the patient is to be transferred from the mountain, the patient is more difficult, consumes time and labor. The prior stretcher with universal wheels can save time and labor, but is mainly applied indoors, and the stretcher for field lifesaving is few.

Disclosure of Invention

Aiming at the technical problems, the invention provides a stretcher robot for field emergency treatment.

In order to achieve the above object, the present invention provides a stretcher robot for field emergency treatment, which comprises an energy system and a support plate, and further comprises: the motion system is electrically connected with the energy system, is rotatably connected with the supporting plate and takes the motion function of the robot; the stretcher system is electrically connected with the energy system, is rotatably connected with the supporting plate and takes the function of the robot for moving the patient; the driving system is electrically connected with the energy system, is arranged on the moving system and the stretcher system and is used for driving the moving system and the stretcher system to move; the control system is electrically connected with the energy system, is fixedly arranged on the supporting plate and is used for controlling the movement of the driving system; and the information acquisition system is electrically connected with the energy system, is arranged on the motion system, the stretcher system and the driving system and is used for acquiring external information.

Preferably, the litter system comprises: the sliding block is arranged at one end of the supporting plate, is connected with the supporting plate in a sliding manner and is driven by the driving system to slide up and down on the end surface of the supporting plate; the auxiliary arm and the sliding block are positioned at the same end of the supporting plate, one end of the auxiliary arm is rotationally connected with the supporting plate, and the auxiliary arm is controlled by the driving system to rotate; one end of the folding rod is arranged on the sliding block, is rotationally connected with the sliding block and is driven by a driving system; the sliding plate is arranged at the other end of the folding rod, is connected with the folding rod in a sliding way, and is controlled by a driving system to reciprocate along the extending direction of the folding rod; and the traction structure is arranged on the sliding block, is controlled by the driving system and is fixedly connected with the sliding plate.

Preferably, the sliding plate includes: the plate comprises a plate body, auxiliary wheels and fixing columns, wherein a plurality of grooves are formed in two surfaces of the plate body, the auxiliary wheels are mounted in the grooves, and the auxiliary wheels are rotatably connected with the plate body; the rotation direction of the auxiliary wheel is the same as the extension direction of the folding rod; the two sides of the plate body are provided with sliding chutes for connecting with the folding rods; the fixed column is fixedly installed on the back of the plate body and is close to the position of the supporting plate.

Preferably, the folding bar comprises: one end of the first support rod is rotatably connected with the sliding block; one end of the second supporting rod is rotatably connected with the other end of the first supporting rod; one end of the first hydraulic rod is hinged with the first supporting rod, and the other end of the first hydraulic rod is hinged with the second supporting rod and is controlled to stretch by the control system; the pulley is installed at the other end of the second support rod and is rotatably connected with the second support rod.

Preferably, the traction structure comprises: the first traction wheel is arranged on the sliding block and is controlled by a driving system; one end of the first traction rope is wound on the first traction wheel, and the other end of the first traction rope penetrates through the pulley and is fixedly connected with the fixed column; the second traction wheel is arranged on the sliding block and is controlled by a driving system; and one end of the second traction rope is wound on the second traction wheel, and the other end of the second traction rope is fixedly connected with the fixed column.

Preferably, one end of the sliding plate, which is close to the supporting plate, is provided with a V-shaped notch; the edge of the V-shaped notch is an arc inclined plane.

Preferably, the auxiliary arm is provided with a pedal plate and a road detecting plate; the pedal plate is fixedly arranged on the auxiliary arm; the road detecting plate is fixedly arranged at the free end of the auxiliary arm.

Preferably, the motion system at least comprises two rows of motion feet; the moving feet are symmetrically arranged on two sides of the supporting plate; each row of motion feet at least consists of three motion feet; the motion foot is driven by a driving system and is controlled by a control system.

Preferably, the information acquisition system includes: the camera is fixedly arranged on the sliding block, is electrically connected with the control system and is used for observing the surrounding environment; the infrared sensor is fixedly arranged on the sliding block, is electrically connected with the control system and is used for observing the position of the patient and detecting the surrounding environment; the first pressure sensor is arranged on one surface of the pedal plate, is electrically connected with the control system and is used for measuring the contact relation between the pedal plate and a patient and the ground pressure; the second pressure sensor is arranged on one surface of the probe board, is electrically connected with the control system and is used for measuring the pressure between the probe board and the road surface; and the level sensor is arranged on the supporting plate, is electrically connected with the control system and is used for keeping the level of the patient during the patient conveying process.

Preferably, the front surface of the supporting plate is provided with a groove for accommodating the folding rod.

The beneficial effects created by the invention are as follows: the robot has the capability of stably conveying the injury on complex road conditions, and can independently place the injury on the sliding plate.

Drawings

In order to more clearly illustrate the invention in its embodiments, reference will now be made briefly to the accompanying drawings, which are to be used in the embodiments. In all the drawings, the elements or parts are not necessarily drawn to actual scale.

FIG. 1 is a schematic diagram of the relationship between the systems of the robot

FIG. 2 is a schematic structural view of the robot during transportation of the patient

FIG. 3 is a schematic view of the robot in an unfolded state

FIG. 4 is a schematic view showing the structure of the folding bar and the sliding plate

FIG. 5 is a schematic view of the structure of the exercise foot

FIG. 6 is a schematic diagram of the information acquisition system

Reference numerals:

1-a control system, 2-an energy system, 3-a motion system, 31-a first motion joint, 32-a second motion joint, 33-a shock-absorbing spring, 34-a quadrangle, 35-a third motion joint, 36-a foot disc, 4-a stretcher system, 41-a sliding plate, 411-an auxiliary wheel, 412-a V-shaped notch, 413-a fixed column, 42-a folding rod, 421-a second support rod, 422-a hydraulic rod, 423-a first support rod, 424-a pulley, 43-a sliding block, 441-a first traction wheel, 442-a first traction rope, 443-a second traction wheel, 444-a second traction rope, 45-an auxiliary arm, 451-a pedal plate, 452-a probe plate, 5-a driving system, 6-an information acquisition system, 61-camera, 62-pressure sensor I, 63-pressure sensor II, 64-horizontal sensor, 65-infrared sensor and 7-support plate.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only used as examples, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1, a stretcher robot for field emergency treatment comprises an energy system 2 and a supporting plate 7, and further comprises: a motion system 3, a stretcher system 4, a driving system 5, a control system 1 and a confidence acquisition system. The driving system 5 is electrically connected with the energy system 2, is arranged on the moving system 3 and the stretcher system 4 and is used for driving the moving system 3 and the stretcher system 4 to move. The control system 1 is electrically connected with the energy system 2, fixedly arranged on the supporting plate 7 and used for controlling the movement of the driving system 5.

As shown in fig. 1 and 5, the motion system 3 is electrically connected to the energy system 2, is rotatably connected to the support plate 7, and performs a motion function of the robot. The motion system 3 comprises at least two rows of motion feet. The motion feet are symmetrically arranged on both sides of the support plate 7. Each row of motion feet at least consists of three motion feet. The motion foot is driven by a drive system 5 and controlled by a control system 1.

The athletic foot includes a foot plate 36, athletic limbs, and a shock absorbing structure. Wherein the body-building device is provided with at least three sections, one end of the body-building section is rotationally connected with the supporting plate 7, and the foot disc 36 is arranged at the other end of the body-building section. Wherein the movable limb segment comprises a first movable segment 31, a second movable segment 32 and a third movable segment 35. Wherein one end of the first movable joint 31 is rotatably connected with the supporting plate 7 and driven by the driving system 5 to enable the first limb joint to swing back and forth. The other end of the first limb segment is hinged with one end of the second limb segment. A hydraulic rod controlled by a driving system 5 is arranged between the second limb section and the first limb section, so that the second limb section can swing up and down. One end of the third limb section and the other end of the second limb section form a quadrilateral 34 structure, and a shock absorbing spring 33 is arranged at the joint. Therefore, when the movable joint is uneven or on the roadside, the instability of the quadrangle 34 can form a buffer space, so that the uneven ground does not influence the support plate 7, and the movable joint has the shock absorption function by matching with the shock absorption spring 33.

And the foot plate 36 is hingedly connected to the other end of the third limb segment. The foot plate 36 itself has a heavy weight and various anti-slip structures may be added to the surface of the foot plate 36 that contacts the ground depending on the circumstances. The hinged foot plate 36 is more stable when the moving foot is landed on its own because it is heavier.

When the moving foot moves, the control system 1 controls the moving mode of the moving foot through the driving system 5. When the specific exercise foot is in exercise, the exercise foot can move in a mode of moving the angle feet in groups. Namely, the front moving foot, the moving feet of the other row adjacent to the front moving foot and the moving feet of the same row but spaced from the front foot are arranged into one moving group, and the rest moving feet are used as the other moving group, so that the two moving groups are alternately changed to advance. When the moving feet of each moving group do not move, a triangle is formed, and the stability is extremely strong, so that the supporting plate 7 does not bump or shake when moving. Of course, eight or even more motion feet can be adopted, so that the requirement that the gravity center does not move left and right in the motion process is met.

As shown in fig. 2, 3 and 4, the stretcher system 4 is electrically connected to the energy system 2, is rotatably connected to the support plate 7, and performs a patient moving function of the robot. The stretcher system 4 includes: a slide block 43, an auxiliary arm 45, a folding lever 42, a slide plate 41 and a traction structure. The sliding block 43 is mounted at one end of the support plate 7, is slidably connected with the support plate 7, and is driven by the driving system 5, so that the sliding block 43 can slide up and down on the end face of the support plate 7.

One end of the folding bar 42 is mounted on a sliding block 43, is rotatably connected with the sliding block 43, and is driven by the driving system 5. The folding bar 42 includes: first bracing piece 423, No. two bracing pieces 421, hydraulic stem 422 and pulley. One end of the first support rod 423 is rotatably connected with the slide block 43. One end of the second support bar 421 is rotatably connected to the other end of the first support bar 423. One end of the first hydraulic rod 422 is hinged to the first support rod 423, and the other end of the first hydraulic rod 422 is hinged to the second support rod 421, and is controlled to extend and retract by the control system 1. The pulley is installed at the other end of No. two bracing pieces 421, rotates with No. two bracing pieces 421 and is connected. The front face of the support plate 7 is provided with a recess for receiving the folding bar 42.

The slide plate 41 is mounted on the other end of the folding rod 42, is slidably connected to the folding rod 42, and is controlled by the driving system 5 to reciprocate along the extending direction of the folding rod 42. The slide plate 41 includes: a plate body, an auxiliary wheel 411 and a fixing column 413. The two sides of the plate body are both provided with a plurality of grooves, and auxiliary wheels 411 are arranged in the grooves. The rotation direction of the auxiliary wheel 411 is the same as the extension direction of the folding bar 42. The two sides of the plate body are provided with sliding grooves used for being connected with the folding rods 42. The fixing post 413 is fixedly installed on the back of the plate body and is close to the position of the supporting plate 7. One end of the sliding plate 41 near the supporting plate 7 is provided with a V-shaped notch 412. The edge of the V-shaped notch 412 is provided as an arc-shaped slope.

And the traction structure is arranged on the sliding block 43, is controlled by the driving system 5 and is fixedly connected with the sliding plate 41. The traction structure includes: a first traction wheel 441, a first traction rope 442, a second traction rope 444, and a second traction wheel. The first traction wheel 441 is mounted on the slide block 43 and is controlled by the drive system 5. One end of a first traction rope 442 is wound on the first traction wheel 441, and the other end of the first traction rope 442 passes through the pulley and is fixedly connected with the fixing column 413. The second traction wheel is mounted on a sliding block 43 and is controlled by the driving system 5. One end of the second traction rope 444 is wound on the second traction wheel, and the other end of the second traction rope is fixedly connected with the fixing column 413. For smooth movement of the sliding plate 41, two sets are provided in the traction structure, so that the sliding plate 41 is balanced in left and right forces during movement.

The auxiliary arm 45 and the sliding block 43 are located at the same end of the supporting plate 7, and one end of the auxiliary arm is rotatably connected with the supporting plate 7 and is controlled to rotate by the driving system 5. The auxiliary arm 45 is provided with a footrest 451 and a pathfinder 452. The footrest 451 is fixedly mounted on the auxiliary arm 45. The probe plate 452 is fixedly mounted to the free end of the auxiliary arm 45.

Specifically, in helping the patient to get on the stretcher, the lower surface of the support plate 7 is first attached to the ground, and the folding bar 42 is extended and laid flat so that the slide plate 41 reaches the farthest end from the slide block 43, and at the same time, the slide block 43 is moved to the lowest position of the end surface of the support plate 7. So that the patient is positioned between the two folding bars 42 and between the sliding plate 41 and the supporting plate 7. The auxiliary arm 45 is then extended and the foot pedal 451 of the auxiliary arm 45 is placed on the position corresponding to the sole of the injured foot, so that the injured foot is pressed against the foot pedal 451.

Then, the first traction wheel 441 is controlled to retract the first traction rope 442, and the second traction wheel is controlled to rotate to release the second traction rope 444, so that the sliding plate 41 moves along the second support rod 421 towards the support plate 7. Because the sliding plate 41 is provided with the V-shaped notch 412 at one end close to the supporting plate 7, and the edge of the V-shaped notch 412 is provided with an arc inclined surface. The sliding plate 41 is gradually moved under the injured body so that the injured body is gradually moved onto the sliding plate 41, wherein the footrest 451 can prevent the patient from being pushed away by the sliding plate 41 during the movement of the sliding plate 41.

In the present application, the sliding plate 41 is further provided with the auxiliary wheel 411, and the auxiliary wheel 411 can reduce the friction force between the sliding plate 41 and the ground in the moving process, and also can reduce the friction force between the patient injured in the moving process to the sliding plate 41, reduce the thrust force on the patient injured, and reduce the pain of some patients injured on legs. When the sliding plate 41 contacts the footrest 451, indicating that the patient is completely on the sliding plate 41, the control system 1 controls the driving system 5 to move the sliding block 43 upward and fold the folding bar 42 at the same time. The first support rod 423 is overlapped with the second support rod 421, and the first support rod 423 is located in the groove on the upper surface of the support plate 7. The operation is performed such that the wound reaches the back of the stretcher robot.

When the patient needs to be put down from the stretcher robot, the lower surface of the support plate 7 is firstly leveled with the target platform, and the sliding block 43 is moved to the lowest position of the end surface of the support plate 7. The auxiliary arm 45 is extended, and the foot pedal plate 451 of the auxiliary arm 45 is placed at a position corresponding to the injured ankle, so that the injured foot pedal plate 451 is engaged with the injured ankle.

At this time, the second traction wheel is controlled to retract the second traction rope 444, and the first traction wheel 441 is controlled to release the first traction rope 442. Under the action of the second pulling rope 444, the sliding plate 41 will move away from the supporting plate 7 along the second supporting rod 421. And the patient gradually detaches from the sliding plate 41. When the sliding plate 41 moves to the farthest end of the second supporting bar 421, it indicates that the patient has completely separated from the sliding plate 41. At this point the auxiliary arm 45 is retracted and the folding bar 42 is folded back again.

As shown in fig. 6, the information collecting system 6, electrically connected to the energy system 2, is installed on the moving system 3, the stretcher system 4 and the driving system 5, and is used for collecting external information. The information acquisition system 6 includes: camera 61, infrared inductor 65, pressure sensor 62, pressure sensor 63 and level sensor 64. The camera 61 is fixedly mounted on the slider 43, and is electrically connected to the control system 1 for observing the surrounding environment. The infrared sensor 65 is fixedly mounted on the sliding block 43 and electrically connected to the control system 1 for observing the position of the patient and detecting the surrounding environment. The first pressure sensor 62 is installed on one side of the pedal plate 451, is electrically connected with the control system 1, and is used for measuring the contact relation between the pedal plate 451 and the patient and the ground pressure. The second pressure sensor 63 is mounted on one surface of the probe plate 452, electrically connected to the control system 1, and configured to measure a pressure between the probe plate 452 and the road surface. A level sensor 64 is mounted on the support plate 7 and is electrically connected to the control system 1 for maintaining the patient level during patient transport.

In the information acquisition system 6, the camera 61 is used for observing the surrounding overall environment and observing some large obstacles, and a movement route is formulated through the control system 1. The infrared sensor can be used for searching the position of the wound, observing the density and thickness of the obstacle in the front close distance and observing whether the obstacle can smoothly pass through the obstacle, and is particularly suitable for forests with luxuriant plants. The first pressure sensor 62 can be used for feedback when the patient is wounded on the stretcher, and can be used together with the second pressure sensor 63 for path exploration.

When the tunnel is explored, sometimes there are potholes and other situations on the ground, and when the pothole is deep and larger than the diameter of the exploration plate 452, the pedal plate 451 can be clamped at the opening of the pothole and the first pressure sensor 62 can be stressed, then the data of the first pressure sensor 62 and the second pressure sensor 63 can be used for knowing that the auxiliary arm 45 enters one pothole under unknown influence, and further planning the foot falling point of the sport foot. Specifically, when the auxiliary arm 45 performs the path-finding action, the amount of exercise at each time is calculated, and the control system 1 analyzes the road condition, so as to specify the foot-drop point of the moving foot, thereby ensuring the stability of the stretcher robot as much as possible.

The level sensor 64 can be used to ensure the stability of the patient, and although baffles can be added on both sides of the sliding plate 41 to prevent the patient from rolling down from the left and right sides, the friction between the patient and the sliding plate 41 is very small because the auxiliary wheel 411 is arranged on the sliding plate 41, so that when the robot is not level front and back, the patient may be at risk of being drawn down from the sliding plate 41. Therefore, the control system 1 utilizes the horizontal condition along the extending direction of the supporting plate 7 collected by the horizontal sensor 64 to determine the included angles between the first supporting rod 423 and the second supporting rod 421 and between the first supporting rod 423 and the supporting plate 7, so as to ensure the level of the patient and avoid the condition that the patient slides off the sliding plate 41.

Therefore, the robot of this application to some road surface condition complicacies, artifical lift the stretcher very hard and the difficult environment of transferring the wound have fine adaptability, have fine substitute artifical will injure in complicated and difficult environment and place the ability of transferring on the stretcher.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same. While the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: it is also possible to modify the solutions described in the previous embodiments or to substitute some or all of them with equivalents. The modifications or the substitutions do not make the essence of the corresponding technical solution depart from the scope of the technical solution of the embodiments of the present invention, and the technical solution is covered by the claims and the specification of the present invention.