CN110340865A - Medical treatment is supplementary with portable robot that has apparatus disinfection structure - Google Patents

Abstract

The invention relates to a movable robot with an instrument disinfection structure for medical assistance, which comprises a machine body, a fixing plate and an L-shaped fixing block, wherein the inner wall of the machine body is connected with a transmission mechanism, and the lower end of the machine body is distributed with a chassis, the fixed plate is arranged at the top of the upper end of the transmission mechanism, the top end of the middle part of the fixed plate is connected with a cooling structure, the L-shaped fixed block is attached to the inner wall of the middle part of the machine body, the top of the L-shaped fixed block is provided with a slide rail, the top end of the slide rail is provided with a box body, the inner wall of the box body is provided with a clapboard, the inner wall of the box body is attached with the soft cushion layer, the two sides of the chassis are distributed in an arc surface shape through the arrangement of the machine body and the chassis, the whole machine body and the chassis are used as a bearing and fixing structure of the whole device and are connected together in a welding mode, the connecting strength is high, and the condition that the whole equipment is not easy to break and fall off in use can be effectively ensured in use.

Description

A mobile robot with instrument disinfection structure for medical assistance

technical field

The invention relates to the technical field of medical assistance robots, in particular to a mobile robot with an instrument disinfection structure for medical assistance.

Background technique

A medical robot refers to a robot used for medical treatment or auxiliary medical treatment in hospitals and clinics. It is an intelligent service robot that can independently prepare an operation plan, determine the action program according to the actual situation, and then turn the action into the movement of the operating mechanism. It can be used to share the heavy and trivial nursing work of the nursing staff.

Existing nursing robots cannot protect the medicines at a constant temperature during use. As a result, when taking them, they can only be taken through the incubator, which is inconvenient for real-time nursing. At the same time, the doctor needs to take the nurse to perform simple operations, which is inconvenient for the doctor. Use to increase the labor intensity of doctors.

Contents of the invention

The purpose of the present invention is to provide a mobile robot with an instrument disinfection structure for medical assistance, so as to solve the problem that the existing nursing robot proposed in the background technology cannot perform constant temperature protection on the medicine during use, resulting in that when taking it, only It can be taken through an incubator, which is inconvenient for real-time nursing. At the same time, doctors need to take nurses to perform simple operations, which is not convenient for doctors to use and increases the labor intensity of doctors.

In order to achieve the above object, the present invention provides the following technical solutions: a mobile robot with an instrument disinfection structure for medical assistance, including a body, a fixed plate and an L-shaped fixed block, the inner wall of the body is connected with a transmission mechanism, and the body The lower end is distributed with a chassis, the fixed plate is placed on the top of the upper end of the transmission mechanism, and the middle top of the fixed plate is connected with a cooling structure, the L-shaped fixed block is attached to the middle inner wall of the body, and the top of the L-shaped fixed block is set There are slide rails, a box body is placed on the top of the slide rail, and a partition is placed on the inner wall of the box body, the inner wall of the box body is attached with a cushion layer, and an aluminum alloy baffle is arranged on the top of the box body , and the inner wall of the aluminum alloy baffle is traversed by a narrowing channel, and sealing rings are distributed on both sides of the outer wall of the narrowing channel, a fan is attached to one side of the outer wall of the body, and a placement plate is placed inside the upper end of the body, and the placement plate Ultraviolet lamps are distributed parallel to the top of the body, reflectors are placed on both sides of the outer wall adjacent to the placement plate, and a rotating shaft runs through the top middle of the body, and a fixed plate is arranged on the top of the rotating shaft, and the fixed plate A rotating arm is placed on the top, an electric push rod is distributed on the front end of the fixed plate, and a machine head is arranged on the top of the electric push rod, a playback port is distributed on one side of the machine head, and a strong light is distributed on the other side of the machine head Light, a camera is distributed in the middle of the machine head, hinges are distributed on both sides of the front end of the placement tray, and a cover is provided at the end of the hinge.

Preferably, the body and the chassis are welded and integrated, and the two sides of the chassis are distributed in an arc shape.

Preferably, the transmission mechanism includes a motor, a connecting shaft, a transmission gear, a connecting gear, an axle, a wheel, a suspension rod and a protective plate, and a connecting shaft is distributed at one end of the motor, and a transmission gear is distributed on the outer wall of the middle part of the connecting shaft , and the lower end of the transmission gear is connected with a connecting gear, the middle part of the connecting gear runs through an axle, and wheels are distributed at both ends of the axle, suspension rods are distributed on both sides of the outer wall of the axle, and the outer lower end of the connecting gear is set With protective disc.

Preferably, the suspension rods are distributed symmetrically along the vertical central axis of the axle, and the suspension rods are distributed vertically.

Preferably, the cooling structure includes a pump body, a liquid storage tank, a fixed ring, a liquid outlet pipe and a liquid return pipe, and a liquid storage tank is arranged on one side of the pump body, and the outer wall of the liquid storage tank is attached with a fixed A liquid outlet pipe is distributed on the top of the pump body, and a liquid return pipe is arranged at the other end of the liquid outlet pipe.

Preferably, the liquid outlet pipe and the liquid return pipe are distributed in a connected shape, and the liquid outlet pipe is distributed on the inner wall of the aluminum alloy baffle in a snake shape, and the outer wall of the liquid return pipe and the fan are attached to each other.

Preferably, the reflectors are evenly distributed along both sides of the outer wall of the placement tray, and the placement tray and the ultraviolet lamp are attached to each other.

Preferably, the fixed disk forms a rotating structure through the rotating shaft and the machine body, and the fixed disk forms a transmission structure through the electric push rod and the machine head.

Preferably, the cameras are distributed along the centerline of the nose, and the outer wall of the nose is distributed in an arc shape.

Compared with the prior art, the beneficial effects of the present invention are as follows:

1. In the present invention, through the arrangement of the body and the chassis, the two sides of the chassis are distributed in an arc shape. The whole body and the chassis are used as the load-bearing and fixed structure of the whole device, and are connected together in the form of welding. The connection strength is high, and it can be used in use. Effectively ensure that the entire device is not prone to breakage and falling off during use. At the same time, the outer wall of the entire chassis adopts an arc-shaped design to reduce sharp corners that may cause scratches to users, and the bottom area of the chassis is larger than the cross-sectional area of the body. It can effectively ensure the stability of the entire structure of the entire device when it is placed vertically.

2. The present invention is through the setting of transmission mechanism, motor, connecting shaft, transmission gear, connection gear, axle shaft, wheel, suspension rod and protective plate, and transmission mechanism comprises motor, connection shaft, transmission gear, connection gear, axle shaft, wheel, Suspension rods and protective discs, the whole motor is used as the power source of the mobile structure. When the user needs to move the body, the user can turn on the motor, the connecting shaft drives the transmission gear to rotate, the connecting gear drives the axle to rotate, and the wheels rotate accordingly. Each wheel is equipped with a pair of wheels, which improves the ground grip of the wheel and reduces slippage. At the same time, the suspension rod provides good upward traction and reduces the possibility of axle bending.

3. Through the arrangement of the cooling structure, pump body, liquid storage tank, fixed ring, liquid outlet pipe and liquid return pipe in the present invention, the outer wall of the liquid return pipe and the fan are attached to each other. When placing the medicine, the user can open the pump body, the pump body is pressurized inward, the coolant flows from the liquid outlet pipe to the liquid return pipe, the liquid outlet pipe and the inner wall of the aluminum alloy baffle are attached to each other, and the cooled coolant and the The aluminum alloy baffle performs heat exchange, and the coolant after heat exchange flows back from the liquid return pipe to the liquid storage tank. During the return process, it conducts a heat exchange process with the fan to export the heat energy, cool the coolant, and reach the box body. The temperature of the drug is always lowered, and the drug is stored. At the same time, there are partitions in the box to play a good role in isolating the distribution. Different types of drugs can be stored separately, which is convenient for users to check, and the cushion layer plays a role Good shock absorption effect, reducing the damage of glass products colliding with each other.

4. In the present invention, through the arrangement of the body and the rotating shaft, the top middle of the body runs through the rotating shaft, the reflectors are evenly distributed along both sides of the outer wall of the placement tray, and the placement tray and the ultraviolet lamp are attached to each other. During the disinfection treatment, the user can turn on the ultraviolet light, and the ultraviolet light irradiates the equipment to perform disinfection treatment on the equipment, and at the same time, the reflective plate reflects the ultraviolet light to improve the disinfection efficiency.

5. In the present invention, through the setting of the fixed plate, the electric push rod and the machine head, the fixed plate forms a transmission structure through the electric push rod and the machine head. When the remote control base station in the distance needs to control the equipment at a distance, The user can turn on the motor through the control system in the ARM9 processor to achieve the purpose of controlling the movement of the device. At the same time, when the user needs to adjust the viewing angle of the machine head, he can turn on the electric push rod, which will drive the motor. The head is rotated back and forth to improve the effect of viewing from a distance, which is convenient for the doctors in the base station to teach the intern nurses and reduces the labor intensity of the doctors.

Description of drawings

Fig. 1 is a schematic diagram of the front structure of a mobile robot with an instrument disinfection structure for medical assistance according to the present invention;

Fig. 2 is a schematic diagram of the internal structure of a mobile robot with an instrument disinfection structure for medical assistance in the present invention;

Fig. 3 is a schematic diagram of the cooling structure connection structure of a mobile robot with an instrument disinfection structure for medical assistance in the present invention;

Fig. 4 is a schematic diagram of the placement structure of an aluminum alloy baffle for a mobile robot with an instrument disinfection structure for medical assistance in the present invention;

5 is a schematic diagram of the box structure of a mobile robot with an instrument disinfection structure for medical assistance in the present invention;

Fig. 6 is a system schematic diagram of a mobile robot with an instrument disinfection structure for medical assistance according to the present invention.

Among the figure: 1, body; 2, transmission mechanism; 201, motor; 202, connecting shaft; 203, transmission gear; 204, connecting gear; 205, axle; 206, wheel; 207, suspension rod; 208, protective disc; 3 , chassis; 4, fixed plate; 5, cooling structure; 501, pump body; 502, liquid storage tank; 503, fixed ring; 504, liquid outlet pipe; 505, liquid return pipe; 6, L-shaped fixed block; 7, Slide rail; 8, box body; 9, clapboard; 10, cushion layer; 11, aluminum alloy baffle; 12, sealing ring; 13, sandwich channel; 14, fan; , reflector; 18, rotating shaft; 19, fixed plate; 20, rotating arm; 21, electric push rod; 22, playback port; 23, machine head; 24, strong light; 25, camera; 26, cover; 27. Hinge.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on The embodiments of the present invention and all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-5, the present invention provides a technical solution: a mobile robot with an instrument disinfection structure for medical assistance, including a body 1, a transmission mechanism 2, a chassis 3, a fixed plate 4, a cooling structure 5, and an L-shaped Fixed block 6, slide rail 7, box body 8, partition 9, cushion layer 10, aluminum alloy baffle 11, sealing ring 12, clamping channel 13, fan 14, placement tray 15, ultraviolet lamp 16, reflector 17, rotation Shaft 18, fixed disc 19, rotating arm 20, electric push rod 21, playback port 22, machine head 23, strong light 24, camera 25, cover body 26 and hinge 27, the inner wall of body 1 is connected with transmission mechanism 2, and The lower end of the body 1 is distributed with a chassis 3, the body 1 and the chassis 3 are a welded integrated structure, and the two sides of the chassis 3 are distributed in an arc shape, and the entire body 1 and the chassis 3 are used as the load-bearing and fixed structure of the entire device. It is connected together in the form of high connection strength, which can effectively ensure that the whole device is not easy to break and fall off during use. At the same time, the outer wall of the entire chassis 3 is designed with an arc surface to reduce sharp angles that cause scratches. In the case of the former, and the bottom area of the chassis 3 is greater than the cross-sectional area of the body 1, it can effectively ensure the stability of the entire structure of the entire device when it is placed vertically;

Transmission mechanism 2 comprises motor 201, connecting shaft 202, transmission gear 203, connecting gear 204, axle shaft 205, wheel 206, suspension rod 207 and protective plate 208, and one end of motor 201 is distributed with connecting shaft 202, and the middle part of connecting shaft 202 The outer wall is distributed with a transmission gear 203, and the lower end of the transmission gear 203 is connected with a connecting gear 204, the middle part of the connecting gear 204 runs through an axle 205, and the two ends of the axle 205 are distributed with wheels 206, and the two sides of the outer wall of the axle 205 are distributed with suspension rods 207, the outer lower end of the connecting gear 204 is provided with a protective plate 208, the suspension rod 207 is symmetrically distributed along the vertical central axis of the axle 205, and the suspension rod 207 is vertically distributed, and the entire motor 201 is used as the power source of the mobile structure. When the user When the body 1 needs to be moved, the user can turn on the motor 201, the connecting shaft 202 drives the transmission gear 203 to rotate, the connecting gear 204 drives the axle 205 to rotate, and the wheels 206 rotate accordingly. 206 grips the ground to reduce slippage, and at the same time, the suspension rod 207 has a good upward traction force, reducing the possibility of the axle 205 bending;

The fixed plate 4 is placed on the top of the upper end of the transmission mechanism 2, and the middle top of the fixed plate 4 is connected with a cooling structure 5, the cooling structure 5 includes a pump body 501, a liquid storage tank 502, a fixed ring 503, a liquid outlet pipe 504 and a liquid return pipe. Pipe 505, and a liquid storage tank 502 is installed on one side of the pump body 501, and a fixed ring 503 is attached to the outer wall of the liquid storage tank 502. A liquid outlet pipe 504 is distributed on the top of the pump body 501, and the other end of the liquid outlet pipe 504 The liquid return pipe 505 is installed, the liquid outlet pipe 504 and the liquid return pipe 505 are distributed in a connected shape, and the liquid outlet pipe 504 is distributed on the inner wall of the aluminum alloy baffle 11 in a snake shape, and the outer wall of the liquid return pipe 505 is connected to the fan 14. When the user needs to place the medicine in a constant temperature environment, the user can open the pump body 501, the pump body 501 pressurizes inward, the cooling liquid flows from the liquid outlet pipe 504 to the liquid return pipe 505, and the liquid outlet pipe 504 and the inner wall of the aluminum alloy baffle 11 are attached to each other, and the cooled coolant is exchanged with the aluminum alloy baffle 11, and the cooled coolant returns from the return pipe 505 to the liquid storage tank 502. In the process, a heat exchange process is carried out with the fan 14, the heat energy is exported, and the cooling liquid is cooled until the temperature of the box body 8 is always lowered, and the medicine is stored, and the box body 8 is distributed with partitions 9 to play a role With good isolation and distribution, different types of medicines can be stored separately, which is convenient for users to check, and the cushion layer 10 has a good shock absorption effect, reducing the collision and damage of glass products;

The L-shaped fixed block 6 is attached to the middle inner wall of the body 1, and the top of the L-shaped fixed block 6 is provided with a slide rail 7, and a box body 8 is placed on the top of the slide rail 7, and a partition 9 is placed on the inner wall of the box body 8 , the inner wall of the box body 8 is pasted with a cushion layer 10, the top of the box body 8 is provided with an aluminum alloy baffle plate 11, and the inner wall of the aluminum alloy baffle plate 11 is traversed by a narrowing channel 13, and sealing rings are distributed on both sides of the outer wall of the clamping channel 13 12. A fan 14 is attached to one side of the outer wall of the body 1, and a placement tray 15 is placed inside the upper end of the body 1, and ultraviolet lamps 16 are distributed parallel to the top of the placement tray 15, and the two sides of the outer wall adjacent to the placement tray 15 of the body 1 A reflector 17 is placed, and the top middle of the body 1 runs through a rotating shaft 18. The reflector 17 is evenly distributed along both sides of the outer wall of the placement tray 15, and the placement tray 15 and the ultraviolet lamp 16 are attached to each other. When performing disinfection treatment, the user can turn on the ultraviolet lamp 16, and the ultraviolet lamp 16 irradiates the appliance to perform disinfection treatment on the appliance, and at the same time, the reflector 17 reflects the ultraviolet light to improve the disinfection efficiency;

The top of the rotating shaft 18 is provided with a fixed disk 19, and the top of the fixed disk 19 is provided with a rotating arm 20, the front end of the fixed disk 19 is distributed with an electric push rod 21, and the top of the electric push rod 21 is provided with a machine head 23, and the fixed disk 19 passes through The rotating structure is formed between the rotating shaft 18 and the machine body 1, and the transmission structure is formed between the fixed plate 19 and the machine head 23 through the electric push rod 21. When the remote control base station in the distance needs to control the equipment at a distance, use The operator can turn on the motor 201 through the control system in the ARM9 processor, which can achieve the purpose of controlling the movement of the device. It will drive the machine head 23 to rotate back and forth, improve the effect of viewing from a distance, facilitate the doctors in the base station to teach the intern nurses, and reduce the labor intensity of doctors;

One side of the nose 23 is distributed with a playback port 22, and the other side of the nose 23 is distributed with a strong light 24, the middle part of the nose 23 is distributed with a camera 25, and the camera 25 is distributed along the centerline of the nose 23, and The outer wall of the nosepiece 23 is distributed in an arc shape around, and the doctor can transmit the picture recorded by the camera 25 to the hard disk video recorder through the optical transceiver, and play the picture through the video player to achieve the effect of watching the distance. The recorded voice conducts remote call teaching to the intern nurse through the playback port 22, and at the same time the strong light 24 is activated to improve the imaging clarity of the camera 25, which is convenient for users to watch remotely;

Hinges 27 are distributed on both sides of the front end of the placement tray 15 , and a cover 26 is provided at the end of the hinges 27 .

The working principle of this embodiment: the mobile robot with instrument disinfection structure for medical assistance, when the remote control base station in the distance needs to control the equipment in the distance, the user can start the robot through the control system in the ARM9 processor. The motor 201, the connecting shaft 202 drives the transmission gear 203 to rotate, the connecting gear 204 drives the axle 205 to rotate, and the wheels 206 rotate accordingly. The wheels 206 on each side are provided with a pair of wheels 206 to improve the ground grip of the wheels 206 and reduce slippage;

At this time, when the body 1 is moved to a suitable position under the guidance of the nurse present, the nurse pulls the box body 8, and the slide rails 7 on both sides slide along the inner wall of the L-shaped fixed block 6, and the nurse takes out the medicine to be used. When the user needs to place medicine in a constant temperature environment, the user can open the pump body 501, and the pump body 501 will pressurize inward, and the cooling liquid will flow from the liquid outlet pipe 504 to the liquid return pipe 505. The liquid outlet pipe 504 and the aluminum alloy baffle 11 The inner walls of the inner wall are attached to each other, and the cooled cooling liquid is exchanged with the aluminum alloy baffle plate 11. The heat-exchanged cooling liquid flows back from the liquid return pipe 505 to the liquid storage tank 502. In the heat exchange process, the heat energy is exported, and the cooling liquid is cooled until the temperature of the box body 8 is always lowered, and the medicine is stored. At the same time, the partition plate 9 is distributed in the box body 8 to play a good role of isolation and distribution. Different types of medicines can be stored separately, which is convenient for users to check, and the cushion layer 10 has a good shock absorption effect, reducing the collision and damage of glass products;

Then the doctor can transmit the picture recorded by the camera 25 to the hard disk video recorder through the optical transceiver, and play the picture through the video player to achieve the effect of viewing the distance. Carry out remote call teaching, and at the same time, the strong light 24 is activated to improve the imaging clarity of the camera 25, which is convenient for users to watch remotely;

Finally, under the guidance of the doctor, the nurse completes the nursing operation, and when the utensil is put into the placement tray 15 for disinfection, the user can turn on the ultraviolet lamp 16, and the ultraviolet lamp 16 irradiates the utensil to disinfect the utensil. Light is reflected to improve disinfection efficiency.

Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features. Within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included in the protection scope of the present invention.

Claims (9)

1. a kind of medical treatment appurtenance has the mobile robot of sterilization of instruments structure, including body (1), fixed plate (4) and L-type Fixed block (6), it is characterised in that: the inner wall of the body (1) is connected with transmission mechanism (2), and the lower end of body (1) is distributed with Chassis (3), the fixed plate (4) is placed at the top of the upper end of transmission mechanism (2), and the middle part top of fixed plate (4) is connected with Cooling structure (5), the L-type fixed block (6) fit in the middle part inner wall of body (1), and the top setting of L-type fixed block (6) Have sliding rail (7), the top of the sliding rail (7) is mounted with box body (8), and the inner wall of box body (8) is placed with partition (9), the box The inner wall of body (8) is fitted with cushion course (10), and the top of the box body (8) is provided with aluminium alloy baffle (11), and aluminium alloy is kept off The inner wall of plate (11) has traversed passageway (13), and the outer wall two sides of the passageway (13) are distributed with sealing ring (12), the body (1) Outer wall side be fitted with fan (14), and holding tray (15) are placed with inside the upper end of body (1), the holding tray (15) Top is distributed with ultraviolet radiator (16) in parallel, and the body (1) and holding tray (15) adjacent outer wall two sides are mounted with reflector (17), and the middle top of body (1) is through having rotary shaft (18), and the top of the rotary shaft (18) is provided with fixed disk (19), and the top of fixed disk (19) is mounted with rotating arm (20), and electric pushrod (21) are distributed in fixed disk (19) front end, And head (23) are provided at the top of electric pushrod (21), the side of the head (23), which is distributed with, plays port (22), and machine The other side of head (23) is distributed with major light (24), and camera (25), the holding tray is distributed in the middle part of the head (23) (15) front end two sides are distributed with hinge (27), and the end of hinge (27) is provided with lid (26).

2. a kind of medical appurtenance according to claim 1 has the mobile robot of sterilization of instruments structure, feature It is: is weldedization structure between the body (1) and chassis (3), and the two sides of chassis (3) are distributed in arc surfaced.

3. a kind of medical appurtenance according to claim 1 has the mobile robot of sterilization of instruments structure, feature Be: the transmission mechanism (2) includes motor (201), connecting shaft (202), transmission gear (203), connection gear (204), axle (205), wheel (206), hanger bar (207) and protective plate (208), and one end of motor (201) is distributed with The middle part outer wall of connecting shaft (202), the connecting shaft (202) is distributed with transmission gear (203), and under transmission gear (203) End is connected with connection gear (204), and the middle part of the connection gear (204), which is run through, to be had axle (205), and the two of axle (205) End is distributed with wheel (206), and the outer wall two sides of the axle (205) are distributed with hanger bar (207), the connection gear (204) Outside lower end be provided with protective plate (208).

4. a kind of medical appurtenance according to claim 3 has the mobile robot of sterilization of instruments structure, feature Be: the hanger bar (207) is symmetrical along the vertical central axes of axle (205), and hanger bar (207) perpendicular shape point Cloth.

5. a kind of medical appurtenance according to claim 1 has the mobile robot of sterilization of instruments structure, feature Be: the cooling structure (5) includes the pump housing (501), fluid reservoir (502), fixed ring (503), outlet tube (504) and returns liquid It manages (505), and the side of the pump housing (501) is mounted with fluid reservoir (502), the outer wall of the fluid reservoir (502) is fitted with fixed ring (503), it is distributed with outlet tube (504) at the top of the pump housing (501), and the other end of outlet tube (504) is mounted with liquid back pipe (505).

6. a kind of medical appurtenance according to claim 5 has the mobile robot of sterilization of instruments structure, feature Be: the outlet tube (504) and liquid back pipe (505) are distributed in connection shape, and outlet tube (504) serpentine-like shape is distributed in aluminium conjunction The inner wall of golden baffle (11), and be bonded to each other between the outer wall of liquid back pipe (505) and fan (14).

7. a kind of medical appurtenance according to claim 1 has the mobile robot of sterilization of instruments structure, feature Be: the reflector (17) is uniformly distributed along the outer wall two sides of holding tray (15), and holding tray (15) and ultraviolet radiator (16) Between be bonded to each other.

8. a kind of medical appurtenance according to claim 1 has the mobile robot of sterilization of instruments structure, feature Be: the fixed disk (19) is by constituting rotational structure between rotary shaft (18) and body (1), and fixed disk (19) passes through electricity Drive mechanism is constituted between dynamic push rod (21) and head (23).

9. a kind of medical appurtenance according to claim 1 has the mobile robot of sterilization of instruments structure, feature Be: the camera (25) is distributed along the centerline of head (23), and the outer wall surrounding of head (23) is distributed in arc surfaced.