Multi-functional transfer robot

Abstract

The present invention provides a multi-functional transport robot, which belongs to the technical field of robots, solves the problem of the single performance of conventional transport robots. The multi-functional transport robot includes a walking unit (1), a support (2) is provided on the walking unit (1), a pedestal (3) is provided on the support (2), and between the support (2) and the pedestal (3), a lifting unit (4) capable of driving the pedestal (3) to move up and down in the height direction is provided. A placement table (51) for placing rescue supplies is provided on the pedestal (3), and a lifting unit for lifting rescue supplies is further provided on the support (2). By installing a walking mechanism, the present invention realizes the unmanned operation of transporting emergency rescue supplies. By installing a lifting unit and a telescopic mechanism, the specification for transporting rescue supplies is expanded. By installing a lifting unit, lifting is performed, which is applicable to the case of transportation with a large height difference. The lifting unit can be used repeatedly, and one robot can perform multi-threaded operations, improving the efficiency of loading and unloading.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and more specifically, relates to a multifunctional transport robot.

Background Art

[0002] In emergency rescue missions, there is a possibility of encountering dangerous environments that are flammable, explosive, prone to electric shock, and likely to cause geological disasters. At this time, ordinary transport vehicles cannot be used, and rescue supplies and equipment need to be carried manually. On the one hand, manual transportation requires a huge expenditure of human resources. On the other hand, it also faces a major threat to life that may be caused by secondary disasters.

[0003] To solve this problem, instead of manual labor, a transport robot can be used to transport rescue supplies. The robot can be remotely operated to walk to the target location and carry the rescue supplies to the target location. Therefore, it is necessary to develop a transport robot with a large load capacity, easy loading and unloading, capable of automatic walking, and suitable for all-terrain operations, so as to reduce the use of personnel, reduce the risks of emergency rescue and relief, and improve the efficiency of emergency rescue and relief.

[0004] In the prior art such as the conveying robot provided by the Chinese patent (authorization announcement number CN215479486U) submitted by the applicant, by installing a lifting unit on the robot, the loading and unloading of rescue supplies in a dangerous environment is realized, which is suitable for the complex working environment of emergency rescue and relief. Although this patent solves the problem of transporting emergency supplies in a dangerous working environment, it cannot work when it is necessary to transport a pump for water intake or drainage. In response to this defect, another Chinese patent (publication number CN113815739A) submitted by the applicant discloses a drainage robot aimed at realizing a remote drainage function in a dangerous environment. In the above patent, robots in various application scenarios are disclosed. However, the rescue scenarios faced by robots are diverse. In this case, it is necessary to use various robots to complete the work. In particular, regarding taking items from a high position and vertical water intake and drainage operations on bridges and tunnels, the above two robots cannot achieve rescue. Therefore, there is an urgent need to propose a more applicable rescue robot.

Summary of the Invention

[0005] The present invention aims to provide a multifunctional conveying robot for the above problems existing in the prior art.

[0006] The object of the present invention can be achieved through the following technical solutions. A multifunctional conveying robot including a walking unit, wherein a support is provided on the walking unit,

[0007] A pedestal is provided on the support, and a lifting unit capable of driving the pedestal to move up and down in the height direction is provided between the support and the pedestal.

[0008] A placement table for placing rescue supplies is provided on the pedestal.

[0009] A winch is further provided on the support, and the winch is installed at one end away from the placement table of the support.

[0010] In the above-mentioned multifunctional transport robot, a towing rope is provided on the winch. One end of the towing rope is wound up by the winch, and a lifting part is provided at the other end. A fulcrum is provided on the mounting table, and the towing rope penetrates through the fulcrum or bypasses it and is connected to the lifting part.

[0011] The winch is installed at one end of the support away from the mounting table, with the center of gravity of the winch at the rear. When placing a heavy object on the mounting table, it plays a role in balancing the center of gravity. Since a fulcrum is installed on the mounting table, when lifting an object with the towing rope, the center of gravity is located below the fulcrum, and the fulcrum is located at the outer end of the mounting table. When lifting, it is ensured that the cargo moves up and down along directly below the fulcrum, preventing the cargo from interfering with the walking unit.

[0012] As another solution, a fire hose is provided on the winch. One end of the fire hose is wound up by the winch, and the other end is a free end. By using the fire hose installed on the winch, the winch can move the fire hose, and a hose placement robot can be formed to place the hose during drainage and retrieve the fire hose after the work is completed.

[0013] In the above-mentioned multifunctional transport robot, the lifting part is a lifting hook, a lifting ring, a binding rope, or a binding band.

[0014] In the above-mentioned multifunctional transport robot, the walking unit includes a walking mechanism and a power mechanism for driving the walking mechanism. The power mechanism is an electric motor, a hydraulic motor, or an internal combustion engine, and the walking mechanism is a caterpillar-type walking chassis or a tire-type walking chassis.

[0015] The walking unit has its own power and can be driven by electric drive, hydraulic drive, or an internal combustion engine, with the aim of controlling the robot to move to the designated rescue position.

[0016] In the above multi-functional transfer robot, the lifting unit includes a guide rail installed on a support and a lifting mechanism that drives a pedestal to move up and down along the guide rail.

[0017] In the above multi-functional transfer robot, the lifting mechanism includes a hydraulic cylinder. The piston of the hydraulic cylinder is fixedly connected to the pedestal, and an attachment seat for the hydraulic cylinder is provided on the support.

[0018] In the above multi-functional transfer robot, the lifting mechanism includes an electric motor and a lead screw installed on the output shaft of the electric motor. A nut fitted into the lead screw is provided on the pedestal, and an attachment seat for the electric motor is provided on the support.

[0019] In the above multi-functional transfer robot, there are two groups of the guide rails, which are respectively installed on both sides of the support. A guiding member fitted into the guide rail is provided on the pedestal.

[0020] In the above multi-functional transfer robot, the guide rail is a foldable guide rail, which includes a first track connected to the pedestal and a second track hinged to the first track. A position regulating member for regulating the position when the second track is inverted and butted against the first track is provided between the first track and the second track. Guide grooves are provided in both the first track and the second track. When the second track is inverted and butted against the first track, the guide groove in the second track is butted and connected to the guide groove in the first track. By using a multi-stage foldable guide rail, the lifting height of the pedestal can be increased without affecting the overall height of the robot. The position regulating member is used to lock and guide the butted connection state between the first track and the second track to prevent the first track from disengaging from the second track when guiding. When the pedestal retracts, the lock between the first track and the second track is released, and the second track is inverted to match the first track, so that the overall height of the guide rail can be reduced.

[0021] In the above-mentioned multi-functional transport robot, the placement table includes a support rod installed on a pedestal, one end of the support rod is fixedly connected to the pedestal, and an electromagnet is provided at the other end.

[0022] The placement table is the end that bears the gravity of the main rescue supplies, and it may be a placement plate or a support rod. The installation of the electromagnet serves to realize the adsorption and detachment of magnetic goods through turning the electromagnet on and off.

[0023] In the above-mentioned multi-functional transport robot, a multi-stage telescopic mechanism is provided on the support rod. The multi-stage telescopic mechanism includes a telescopic rod installed at the end away from the fixed end of the support rod. The telescopic rod can extend forward or retract backward along the extending direction of the support rod. The multi-stage telescopic mechanism further includes a telescopic power module installed on the support rod.

[0024] In the above-mentioned multi-functional transport robot, the telescopic power module includes a hydraulic cylinder installed on the support rod, and the output shaft of the hydraulic cylinder is connected to the telescopic rod.

[0025] In the above-mentioned multi-functional transport robot, cargo fixing holes are provided on the telescopic rod. The cargo fixing holes are used to tie up the cargo or fix the cargo with bolts.

[0026] In the above-mentioned multi-functional transport robot, the telescopic power module further includes a position regulating block installed on the telescopic rod.

[0027] In the above-mentioned multi-functional transport robot, the position regulating block includes a support block and a centering block installed on the support block. The front part of the centering block is in a tapered or arched shape, and the size of the support block is larger than that of the centering block. Since the support block is larger than the centering block, it is easier to place the cargo. The front part of the centering block is provided in a tapered or arched shape, which is helpful for guiding when inserting into the cargo.

[0028] In the above-mentioned multi-functional transfer robot, an electromagnet is provided on the support block. By using the on / off of the power supply of the electromagnet, the adsorption and desorption of the support block to magnetic goods or iron goods are realized. In particular, after installing a towing rope on the winch, a lifting unit is formed. Before lifting, the goods are adsorbed to help position the goods. When the lifting unit lifts the goods, if the weight of the goods is offset by the lifting force of the lifting unit, the power supply of the electromagnet is turned off. At this time, the goods are not affected by the adsorption effect of the support block and are completely supported by the lifting unit. Then, the telescopic rod can be retracted, and the goods are slowly lowered by the lifting unit. Thereby, when the telescopic rod directly retracts, the goods do not directly fall, so that the goods are in a weightless state, preventing the stability of the lifting unit from being affected. Since the lifting unit has a stall prevention function, a large deviation of the center of gravity is not generated during the lifting process.

[0029] In the above-mentioned multi-functional transfer robot, the towing rope is multi-stage and is respectively wound around the winch. By installing a multi-stage towing rope, after lifting and transporting the goods to the designated location, the towing rope is released, one end of the towing rope is connected to the goods, and the other end is fixed to the bridge deck or can float in the water to realize the positioning of the towing rope. When it is necessary to recover the goods, the telescopic rod or the lifting unit hooks or attracts the recovery part of the towing rope to realize the recovery of the towing rope by the winch. After the winch reverses, the goods can be lifted from a low place.

[0030] As another solution, a latch hook for receiving the goods is provided on the towing rope. When the goods are lifted, the latch hook holds the goods, lifts and transports them to a predetermined position. After the lifting force of the towing rope is released, the latch lock can automatically disengage from the goods. When it is necessary to lift the goods again, the goods can be lifted by simply lowering the towing rope to the point where the goods receive the force.

[0031] In the above-mentioned multifunctional transport robot, the end of the towing rope extends from the mounting table.

[0032] In the above-mentioned multifunctional transport robot, guide wheels for guiding the towing rope are provided on the pedestal and / or the support rod.

[0033] In the above-mentioned multifunctional transport robot, a stop plate for preventing the fall of rescue supplies is further provided on the pedestal.

[0034] The lifting unit on the support rod plays a role in realizing the lifting of rescue supplies through a winch, which is useful for lowering supplies from bridges or high-rise buildings for underwater or high-altitude operations. Due to the design of the lifting unit, the range of scenarios where the robot can conduct rescues is further expanded. In particular, for emergency drainage on the bridge deck or fire water intake on the bridge deck, the water supply pump can be directly lifted and transported underwater for operations, and several water supply pumps can be reciprocally transported. Compared with the design of integrating the original robot and the water supply pump, its application range is wider, the cost can be reduced, and it does not affect the rescue supply transport function of the robot.

[0035] Another object of the present invention is to provide a method for lifting a multifunctional transport robot, which includes:

[0036] First, when the electromagnet on the support rod of the walking unit is below the rescue supplies to be lifted and the power of the electromagnet is turned on, through the lifting and lowering of the lifting mechanism, the support rod is lowered to the electromagnet to adsorb the supplies to be lifted in step S1;

[0037] Fixing the lifting part to the rescue supplies to be lifted to fix the supplies to be lifted in step S2;

[0038] The winch rotates to pull the rescue supplies lifted by the towing rope in step S3;

[0039] After the walking unit transports the rescue supplies to be lifted to the working area, the lifting mechanism includes step S4 of lifting the rescue supplies to be lifted in the height direction until the height of the rescue supplies to be lifted is higher than that of the obstacle,

[0040] step S4 in which the telescopic mechanism extends and extends the rescue supplies to be lifted forward in the plane direction to cross the obstacle,

[0041] step S5 in which the winch rotates and the towing rope pulls the rescue supplies to be lifted again, and then the electromagnet is powered off. At this time, all the weight of the rescue supplies to be lifted is borne by the towing rope,

[0042] step S6 in which the winch drives the towing rope to lower and the rescue supplies to be lifted are lowered to the rescue area,

[0043] step S7 in which the length of the towing rope on the winch is longer than the height difference of the rescue area. After the rescue supplies to be lifted are lowered, a lower towing rope is required to detach from the winch to complete the lifting operation,

[0044] step S8 in which the telescopic mechanism retracts, the lifting unit descends, and the walking unit transports the robot to the next station for preparation if necessary. It is characterized by including the above steps.

[0045] In the lifting method of the above multi-functional transport robot, the towing rope is multi-stage, and a recovery part is provided at one end of the towing rope away from the lifting part. Before use, first preset the length of the towing rope according to the height of the rescue area, and install a recovery part on the side away from the lifting part of the towing rope. The recovery part may be hung on an obstacle or float on water, and it is helpful to adsorb the recovery part when the robot retrieves the rescue supplies to be lifted and let it enter the winch again.

[0046] In the lifting method of the above multi-functional transport robot, the lifting method further includes a recovery step, and the recovery step is

[0047] Step S9 where the walking unit drives the robot to enter the recovery area, the lifting mechanism ascends, the telescopic mechanism extends, and the winch lowers the towing rope,

[0048] After the lifting part on the towing rope contacts the recovery part of the rescue supplies to be lifted, it is adsorbed by strong magnetism, or the recovery part is fixed to the lifting part through forms such as a lifting hook. Then, the winch is retracted, the recovery part is wound around the winch again, and after the rescue supplies to be lifted are lifted onto the support rod, the electromagnet is powered on, and the rescue supplies to be lifted are adsorbed by the electromagnet again in Step S10,

[0049] Step S11 where the telescopic mechanism retracts, the lifting unit descends, the walking unit transports the rescue supplies to be lifted to the initial position, and the recovery of the rescue supplies to be lifted is completed, including.

[0050] Compared with the prior art, the present invention realizes the unmanned operation of transporting emergency rescue supplies by installing a walking mechanism, expands the specifications for transporting rescue supplies by installing a lifting unit and a telescopic mechanism, performs lifting or hose arrangement by installing a winch, is applicable to the case of transporting with a large height difference, the robot can be used repeatedly, one robot can perform multi-threaded operations, and the loading and unloading efficiency can be improved.

Brief Description of the Drawings

[0051]

Figure 1

[0052] Figure 2

Figure 2

[0053] Figure 3

Figure 3

[0054] Figure 4

Figure 4

[0055] Figure 5

Figure 5

[0056] Figure 6

Figure 6

[0057] In the figures: 1, walking unit; 11, power mechanism; 2, support; 3, pedestal; 31, stop plate; 4, lifting unit; 41, guide rail; 42, lifting mechanism; 43, mounting seat for hydraulic cylinder; 44, position regulating member; 45, first track; 46, second track; 51, mounting table; 52, support rod; 53, telescopic rod; 54, telescopic power module; 55, cargo fixing hole; 56, position regulating block; 57, centering block; 58, support block; 6, winch; 61, towing rope; 62, lifting part; 63, guide wheel.

Embodiments for Carrying out the Invention

[0058] The following further describes the technical solution of the present invention in combination with specific embodiments and drawings of the present invention. However, the present invention is not limited by these embodiments.

[0059] This multi-functional transport robot is mainly used in rescue and relief situations where personnel cannot approach. It mainly includes a walking unit 1, a support 2 is provided on the walking unit 1, a pedestal 3 is provided on the support 2, and a lifting unit 4 capable of driving the pedestal 3 to move up and down in the height direction is provided between the support 2 and the pedestal 3. A placement table 51 for placing rescue supplies is provided on the pedestal 3, and a winch 6 is further provided on the support 2. The winch 6 is installed at the end away from the placement table 51 of the support 2 so as to balance the center of gravity. This multi-functional transport robot can form a plurality of usage scenarios in combination with the work object, including: 1. A scenario where the robot transports a water supply pump to a designated location on the placement table 51 to form a drainage robot; 2. A scenario where the robot installs a fire hose on the winch 6, and when the robot is transporting, the winch 6 rotates to release the fire hose to form a hose placement robot in the drainage process; 3. A scenario where the robot lifts or lowers the placement table 51 through the lifting action of the lifting unit 4 to form a forklift function in the rescue and relief scenario, and transports and stacks rescue supplies or retrieves supplies; 4. A scenario where the robot combines with the winch 6 of the towing rope 61 to form a small vertical lifting crane used for water intake or drainage on a high bridge deck, the winch 6 drives the towing rope 61 to be responsible for lifting rescue supplies, and the lifting unit 4 is responsible for overcoming obstacles on the bridge deck; 5. A scenario where the robot combines with a towing bar to form a towing locomotive used for work and rescue in swamps, etc., but is not limited thereto.

[0060] Specifically, this embodiment mainly provides an application scenario for high-altitude lifting. As shown in FIGS. 1 to 3, in addition to the walking unit 1, the lifting unit 4, and the mounting table 51, a towing rope 61 is provided on the winch 6. One end of the towing rope 61 is wound around the winch 6, and a lifting part 62 is provided at the other end. A fulcrum is provided on the mounting table 51, and the towing rope 61 penetrates through the fulcrum or bypasses it and is connected to the lifting part 62. The winch 6 is installed at one end of the support 2 away from the mounting table 51, thereby making the center of gravity of the winch 6 to the rear. When loading a heavy object on the mounting table 51, it plays a role in balancing the center of gravity. Since a fulcrum is provided on the mounting table 51, when lifting an object with the towing rope 61, the center of gravity is located below the fulcrum, and the fulcrum is located at the outer end of the mounting table 51. When lifting, it is ensured that the goods move up and down along directly below the fulcrum, preventing the goods from interfering with the walking unit 1.

[0061] The walking unit 1 includes a walking mechanism and a power mechanism 11 for driving the walking mechanism. The power mechanism 11 is an electric motor, a hydraulic motor, or an internal combustion engine. The walking mechanism is a caterpillar-type walking chassis or a tire-type walking chassis. The walking unit 1 has its own power and can be driven by electric drive, hydraulic drive, or an internal combustion engine, aiming to control the robot to move to a designated rescue position. In this embodiment, an electric motor is used to provide power, and the power is output to the caterpillar or the tire to perform the walking operation.

[0062] As shown in FIG. 3, the lifting unit 4 includes a guide rail 41 installed on the support 2 and a lifting mechanism 42 for driving the pedestal 3 to move up and down along the guide rail 41. The lifting mechanism 42 includes a hydraulic cylinder. The piston of the hydraulic cylinder is fixedly connected to the pedestal 3, and a mounting seat 43 for the hydraulic cylinder is provided on the support 2. There are two groups of the guide rails 41, and they are respectively installed on both sides of the support 2. A guiding member fitted into the guide rail 41 is provided on the pedestal 3.

[0063] As shown in FIG. 4, the guide rail 41 is foldable and includes a first rail 45 connected to the pedestal 3 and a second rail 46 hinged to the first rail 45. A position restricting member 44 for performing position restriction when the second rail 46 is inverted and butted against the first rail 45 is provided between the first rail 45 and the second rail 46. Guide grooves are provided in both the first rail 45 and the second rail 46. When the second rail 46 is inverted and butted against the first rail 45, the guide groove in the second rail 46 is butted and connected to the guide groove in the first rail 45. By using a multi-stage foldable guide rail, the lifting height of the pedestal 3 can be increased without affecting the overall height of the robot. When using the position restricting member 44 to lock and guide the butted connection state between the first rail 45 and the second rail 46, it is possible to prevent the first rail 45 from coming off the second rail 46. When the pedestal 3 retracts, the lock between the first rail 45 and the second rail 46 is released, and the second rail 46 is inverted to align with the first rail 45, thereby reducing the overall height of the guide rail 41.

[0064] As shown in FIG. 5, in this multi-functional transport robot, the mounting table 51 includes a support rod 52 installed on the pedestal 3. One end of the support rod 52 is fixedly connected to the pedestal 3, and the other end is the working end. The mounting table 51 is the end that receives the gravity of the main rescue supplies and may be a mounting plate or a support rod 52.

[0065] In this embodiment, a multi-stage telescopic mechanism is provided on the support rod 52. The multi-stage telescopic mechanism includes a telescopic rod 53 installed at the end away from the fixed end of the support rod 52. The telescopic rod 53 can extend forward or retract backward along the extending direction of the support rod 52. The multi-stage telescopic mechanism further includes a telescopic power module 54 installed on the support rod 52. The telescopic power module 54 includes a hydraulic cylinder installed on the support rod 52, and the output shaft of the hydraulic cylinder is connected to the telescopic rod 53.

[0066] To further facilitate the loading and unloading of goods, the telescopic rod 53 is provided with a cargo fixing hole 55. The cargo fixing hole 55 is used to tie up the goods or fix the goods with bolts. The telescopic power module 54 further includes a position regulating block 56 installed on the telescopic rod 53. The position regulating block 56 includes a support block 58 and a centering block 57 installed on the support block 58. The front part of the centering block 57 is in a tapered or arched shape. The size of the support block 58 is larger than that of the centering block 57. An electromagnet is provided on the support block 58. By using the on-off of the power supply of the electromagnet, the adsorption and desorption of the support block 58 to magnetic goods or iron goods are realized. In particular, before lifting, the goods are adsorbed to help position the goods. When the lifting unit lifts the goods, if the weight of the goods is offset by the lifting force of the lifting unit, the power supply of the electromagnet is turned off. At this time, the goods are not affected by the adsorption action of the support block 58 and are completely subjected to the force by the lifting unit. Then, the telescopic rod 53 can be retracted, and the goods are slowly lowered by the lifting unit. Thereby, when the telescopic rod 53 directly retracts, the goods do not directly fall, so that the goods are in a weightless state, preventing the stability of the lifting unit from being affected. Since the lifting unit has an anti-stall function, no large deviation of the center of gravity is generated during the lifting process.

[0067] To facilitate the transportation or lifting of rescue supplies of different specifications, the support rod and the pedestal are slidably connected, or since a plurality of mounting holes are provided on the pedestal, when the support rod is mounted on the pedestal, the distance between the two support rods can be adjusted manually or automatically, which helps to adjust the interval in the width direction of the support rods according to the size of the rescue supplies. Since this is a conventional technical means in this field, it will not be traced back here.

[0068] As shown in FIG. 6, in this embodiment, the lifting unit includes a winch 6 installed on the support 2. A towing rope 61 is provided on the winch 6, and a lifting hook or a lifting ring is provided at the end of the towing rope 61. The towing rope 61 is multi-stage and is respectively wound around the winch 6. By installing the multi-stage towing rope 61, after lifting and transporting the goods to the designated location, release the towing rope 61, connect one end of the towing rope 61 to the goods, and the other end is fixed to the bridge deck or can float in water to realize the positioning of the towing rope 61. When it is necessary to recover the goods, the telescopic rod 53 or the lifting unit hooks the positioning end of the towing rope 61 and realizes recovering the towing rope 61 to the winch 6. After the lifting unit is reversed, the goods can be lifted from a low place. To avoid interference between the towing rope 61 and the telescopic rod 53, the end of the towing rope 61 extends out from the mounting table 51. Guide wheels 63 for guiding the towing rope 61 are provided on the pedestal 3 and / or the support rod 52. In the process of transporting the goods, to prevent rescue supplies from falling from the side, stop plates 31 are symmetrically provided on the pedestal 3.

[0069] The lifting unit on the support rod 52 plays a role in realizing the lifting of rescue supplies through the winch 6, helping to lower the rescue supplies from bridges or high-rise buildings for underwater or high-altitude operations. With the design of the lifting unit, the range of scenarios where the robot can perform rescues is further expanded. In particular, for emergency drainage on the bridge deck or fire water intake on the bridge deck, the water supply pump can be directly lifted and transported into the water for operation, and several water supply pumps can be reciprocally transported. Compared with the design that integrates the original robot and the water supply pump, its application range is wider, the cost can be reduced, and it does not affect its rescue supply transportation function.

[0070] The working process of the present invention is as follows. First, reverse the second track 46 of the robot and butt-connect it to the first track 45. Then, lock the relative position between the second track 46 and the first track 45. Next, use the position-limiting block 56 on the telescopic rod 53 to fix the rescue supplies. At this time, turn on the electromagnet to adsorb the rescue supplies only to the position-limiting block 56, and manually or automatically fix the lifting part 62 of the towing rope 61 to the rescue supplies to complete the loading and unloading of the rescue supplies. Then, start the walking unit 1 using remote control or a set program to transport the rescue supplies to a predetermined rescue location. If encountering an obstacle on the way, the rescue supplies can be lifted through the lifting mechanism 42 or extended through the telescopic mechanism.

[0071] Specifically, when applied to the water intake and drainage of the bridge deck in this embodiment, use the lifting mechanism 42 to lift the rescue supplies (the supplies during water intake and drainage are water supply pumps), cross over the railing of the bridge deck in the height direction. Then, the telescopic mechanism extends the rescue supplies. At this time, the lifting unit pulls the towing rope 61 to receive the total weight of the rescue supplies with the towing rope 61. Next, turn off the electromagnet so that the rescue supplies are not adsorbed by the electromagnet, thus ensuring that the rescue supplies extend above the bridge deck and are lifted. Based on this, the winch 6 rotates gradually to drive the towing rope 61 to gradually lower the rescue supplies into the water. After the rescue supplies are lowered into the water, the other end of the towing rope 61 detaches from the winch 6 and floats in the water or is fixed to the bridge deck to ensure finding the towing rope 61 when trying to recover the rescue supplies. Then, the transport robot returns to the initial position of the work and performs the next transport.

[0072] When it is necessary to recover rescue supplies, walk to a predetermined position through the walking unit 1, raise the lifting mechanism 42 to extend the telescopic mechanism, thus crossing the bridge deck in the height direction. The telescopic mechanism extends from the bridge deck, and the hook or clip installed at the end of the towing rope 61 hooks or adsorbs the towing rope 61 at the other end of the rescue supplies transported to the predetermined position. Next, operate the winch 6 to wind up the towing rope 61, thus lifting the rescue supplies from the water surface, gradually pulling the rescue supplies to the highest point. At this time, the electromagnet is powered on to adsorb the rescue supplies, form the positioning of the rescue supplies, prevent the shaking of the rescue supplies. After the recovery of the rescue supplies is completed, control the walking unit 1 to walk to a safe place and unload the rescue supplies.

[0073] By installing a walking mechanism, this multifunctional transport robot realizes the unmanned operation of transporting emergency rescue supplies. By installing the lifting unit 4 and the telescopic mechanism, it expands the specifications for transporting rescue supplies. By installing the lifting unit, lifting is carried out, which is applicable to the case of transporting with a large height difference. The lifting unit can be used repeatedly, and one robot can perform multi-threaded operations, improving the loading and unloading efficiency.

[0074] The specific embodiments described in this specification are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the described specific embodiments, or replace them in a similar manner, without departing from the spirit of the present invention or exceeding the scope defined in the appended claims.

Claims

1. A multifunctional transport robot including a walking unit (1), wherein a support (2) is provided on the walking unit (1), A pedestal (3) is provided on the support (2), and a lifting unit (4) capable of driving the pedestal (3) to move up and down in the height direction is provided between the support (2) and the pedestal (3). A mounting table (5) for mounting rescue supplies is provided on the pedestal (3). A winch (6) is further provided on the support (2), and the winch (6) is installed at one end away from the mounting table (5) of the support (2). A multifunctional transport robot characterized by this.

2. A towing rope (61) is provided on the winch (6). One end of the towing rope (61) is wound up by the winch (6), and a lifting part is provided at the other end. A fulcrum is provided on the mounting table (5). The towing rope (61) penetrates through the fulcrum or bypasses and is connected to the lifting part (62). A guide wheel (63) is provided at the fulcrum. The multifunctional transport robot according to claim 1, characterized by this.

3. A fire hose is provided on the winch (6). One end of the fire hose is wound up by the winch (6), and the other end is a free end. The multifunctional transport robot according to claim 1, characterized by this.

4. The walking unit (1) includes a walking mechanism and a power mechanism (11) for driving the walking mechanism. The power mechanism (11) is an electric motor, a hydraulic motor or an internal combustion engine. The walking mechanism is a caterpillar-type walking chassis or a tire-type walking chassis. The multifunctional transport robot according to claim 1, characterized by this.

5. The lifting unit (4) includes a guide rail (41) installed on the support (2) and a lifting mechanism (42) for driving the pedestal (3) to move up and down along the guide rail (41). The lifting mechanism (42) includes a hydraulic cylinder. The piston of the hydraulic cylinder is fixedly connected to the pedestal (3), and a mounting seat for the hydraulic cylinder (43) is provided on the support (2). The multifunctional transfer robot according to claim 1, characterized in that.

6. There are two groups of the guide rails (41), and they are respectively installed on both sides of the support (2). The pedestal (3) is provided with a guiding member fitted into the guide rail (41). The multifunctional transfer robot according to claim 5, characterized in that.

7. The guide rail (41) is foldable and includes a first track (45) connected to the pedestal (3) and a second track (46) hinged to the first track (45). A position regulating member (44) for regulating the position when the second track (46) is inverted and butted against the first track (45) is provided between the first track (45) and the second track (46). Guide grooves are provided in both the first track (45) and the second track (46). When the second track (46) is inverted and butted against the first track (45), the guide groove in the second track (46) is butted and connected to the guide groove in the first track (45). The multifunctional transfer robot according to claim 6, characterized in that.

8. The mounting table (5) includes a support rod (52) installed on the pedestal (3). One end of the support rod (52) is fixedly connected to the pedestal (3), and an electromagnet is provided at the other end. The multifunctional transfer robot according to any one of claims 1 to 5, characterized in that.

9. The support rod (52) is provided with a multi-stage telescopic mechanism, and the multi-stage telescopic mechanism includes a telescopic rod (53) installed at an end away from the fixed end of the support rod (52). The telescopic rod (53) can extend forward or retract backward along the extending direction of the support rod (52). The multi-stage telescopic mechanism further includes a telescopic power module (54) installed on the support rod (52). The multifunctional transfer robot according to claim 8, characterized in that.

10. The telescopic power module (54) includes a hydraulic cylinder installed on the support rod (52). The output shaft of the hydraulic cylinder is connected to the telescopic rod (53). The telescopic power module (54) further includes a position regulating block (56) installed on the telescopic rod (53). The position regulating block (56) includes a support block (58) and a centering block (57) installed on the support block (58). The front part of the centering block (57) is tapered or arched, and the size of the support block (58) is larger than that of the centering block (57). The multifunctional transfer robot according to claim 9, characterized in that.

11. A method for lifting a multifunctional transfer robot, First, when the electromagnet on the support rod (52) of the walking unit (1) is below the rescue supplies to be lifted and the power supply of the electromagnet is turned on, through the lifting of the lifting mechanism (42), the support rod (52) is lowered to the electromagnet to adsorb the rescue supplies to be lifted in step S1; Fixing the lifting part to the rescue supplies to be lifted to fix the supplies to be lifted in step S2; The winch (6) rotates to pull the rescue supplies to be lifted by the towing rope (61) in step S3; After the walking unit (1) transports the rescue supplies to be lifted to the work area, the lifting mechanism (42) lifts the rescue supplies to be lifted in the height direction until the height of the rescue supplies to be lifted is higher than the obstacle in step S4; The telescopic mechanism extends to extend the rescue supplies to be lifted forward in the plane direction to cross the obstacle in step S4; After the winch (6) rotates and the rescue supplies lifted by the towing rope (61) are pulled again, the electromagnet is powered off. At this time, all the weight of the rescue supplies to be lifted is received by the towing rope (61) in step S5, In step S6, the winch (6) drives the towing rope (61) to lower, and the rescue supplies to be lifted are lowered into the rescue area. In step S7, the length of the towing rope (61) on the winch (6) is longer than the height difference of the rescue area. After the rescue supplies to be lifted are lowered, the lower towing rope (61) is required to detach from the winch (6) to complete the lifting operation. The telescopic mechanism retracts, the lifting unit (4) descends, and the walking unit (1) transports the robot to the next station when necessary in step S8. A lifting method for a multifunctional transport robot, characterized by including the above steps.

12. The towing rope (61) is multi-stage, and a recovery part is provided at one end away from the lifting part of the towing rope (61). The lifting method of the multifunctional transport robot according to claim 11, characterized by this.

13. The lifting method further includes a recovery step, and the recovery step is as follows: In step S9, the walking unit (1) drives the robot to enter the recovery area, the lifting mechanism (42) rises, the telescopic mechanism extends, and the winch (6) lowers the towing rope (61). After the lifting part of the towing rope (61) contacts the recovery part of the rescue supplies to be lifted, it is adsorbed with strong magnetism, or fixed to the lifting part through a form such as a lifting hook. Then, the winch (6) is recovered, the recovery part is wound around the winch (6) again, and after the rescue supplies to be lifted are lifted onto the support rod (52), the electromagnet is powered on, and the rescue supplies to be lifted are adsorbed by the electromagnet again in step S10. Step S11 of transporting a rescue article in an initial position, where the telescopic mechanism retracts, the lifting unit (4) descends, and the walking unit (1) lifts the rescue article, and completing the recovery of the lifted rescue article, which is characterized in that it is included in the lifting method of the multifunctional transport robot according to claim 11.

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