Multifunctional handling robot

Abstract

A multifunctional handling robot belonging to the field of robotics, which solves the problem of a single performance of existing handling robots, wherein the multifunctional handling robot comprises a drive unit (1) provided with a carrier (2); wherein a base (3) is provided on the carrier (2), and a lifting unit (4) that can drive the base (3) in the vertical direction is provided between the carrier (2) and the base (3); wherein a load-bearing seat (51) for carrying the material is provided on the base (3); wherein the carrier (2) is also provided with a lifting unit for lifting the material.

Description

Technical area

[0001] The present invention relates to the field of robotics, in particular to a multifunctional handling robot. State of the art

[0002] Emergency rescue operations often involve flammable, explosive, electrocution-prone, geological disasters, and other hazardous environments. At these times, conventional transport vehicles cannot be used; manual rescue equipment or materials must be used. On the one hand, manual handling requires enormous physical effort, and on the other hand, secondary disasters pose a serious threat to human life.

[0003] To solve this problem, handling robots can be used instead of human workers to transport relief supplies. These robots can be remotely manipulated to move to the destination and transport relief supplies. Therefore, it is necessary to develop a handling robot with a large load capacity, easy loading and unloading, automatic operation, and suitable for all-terrain operations. This will reduce the use of personnel, reduce the risk of rescue and relief operations, and improve the efficiency of rescue and relief operations.

[0004] The prior art, such as the Chinese patent (grant number CN215479486U) filed by the present applicant, proposes a handling robot that enables loading and unloading of materials in hazardous environments by integrating a lifting unit on the robot, and is suitable for the complex working environment of emergency rescue and relief. The patent solves the problem of transporting relief supplies in hazardous working environments, but does not work when pumps for water extraction or drainage need to be moved.To address this deficiency, the applicant has filed another Chinese patent (Publication No. CN113815739A), which discloses a dewatering robot for remote dewatering in a hazardous environment. In these patents, robots for different application scenarios are disclosed, but the rescue scenarios that the robots face are very different, so different robots must be used to get the job done. Especially in hoisting, vertical retrieval and dewatering work on bridges and tunnels, the above two machines are unable to bring rescue. Content of the invention

[0005] The purpose of the present invention is to propose a multifunctional handling robot in response to the above-mentioned problems of the prior art.

[0006] The purpose of the present invention can be achieved by the following technical solution: a multifunctional handling robot comprising a driving unit, wherein the driving unit is provided with a carrier; wherein a base is provided on the carrier, wherein between the carrier and the base there is provided a lifting unit which can drive the base up and down in the height direction; wherein a load-bearing seat for carrying materials is provided on the base; wherein the support also includes a winch located at an end of the support remote from the load-bearing seat. wherein in the above-described multifunctional handling robot, the winch is provided with a tow rope, one end of the tow rope being wound on the winch and the other end being provided with a lifting section, a support point being provided on the load-bearing seat, and the tow rope being connected to the lifting section through or around the support point.

[0007] The winch is mounted at an end of the beam remote from the load-bearing seat, so that the center of gravity of the winch is shifted rearward and functions to balance the center of gravity when heavy objects are placed on the load-bearing seat; a support point is provided on the load-bearing seat so that the center of gravity of the tow rope is below the support point when the object is lifted, and the support point is mounted at the outer end of the load-bearing seat so that the load is moved up and down directly under the support point of the cover during the lifting process and the load cannot collide with the chassis.

[0008] Another variant is for the winch to be equipped with a water belt that is wound onto the winch at one end and has a free end at the other. With the help of the water belt on the winch, the winch can be used to drive the water belt, thus forming a pipe-laying robot that is used for laying pipes in water supply and drainage systems and also for reclaiming the water belt after the work is completed.

[0009] In the multifunctional handling robot described above, the lifting section is a lifting hook or a loop or a lashing rope or a binder.

[0010] In the multifunctional handling robot described above, the traveling unit includes a traveling mechanism and a driving mechanism that drives the movement of the traveling mechanism, wherein the driving mechanism is an electric motor, a hydraulic motor, or an internal combustion engine, and the traveling mechanism is a crawler track or a tire track.

[0011] The drive unit is powered either electrically, hydraulically or by an internal combustion engine and controls the movement of the robot to a specific rescue location.

[0012] In the multifunctional handling robot described above, the lifting unit includes a guide rail attached to the carrier and a lifting mechanism that drives the base to move it up and down along the guide rail.

[0013] In the multifunctional handling robot described above, the lifting mechanism comprises a hydraulic cylinder whose piston is rigidly connected to the base, the carrier being provided with a mounting base for hydraulic cylinders.

[0014] In the multifunctional handling robot described above, the lifting mechanism comprises a motor and a screw attached to the output shaft of the motor, a nut embedded in the screw is provided on the base, and a motor mounting base is provided in the support.

[0015] In the multifunctional handling robot described above, the guide rails are provided in two groups and on both sides of the beam, and a guide member that can be embedded in the guide rails is provided at the base.

[0016] In the multifunctional handling robot described above, the guide rail is a foldable guide rail comprising a first rail connected to the base and a second rail hingedly connected to the first rail, wherein a limiting member is provided between the first rail and the second rail, which can limit the second rail when it is turned over to dock with the first rail, and wherein guide grooves are provided inside the first rail and the second rail, wherein the second rail is turned over to dock with the first rail, wherein the guide groove inside the second rail docks with the guide groove inside the first rail.By using multi-stage folding guide rails, the lifting height of the base can be increased without affecting the overall height of the robot, and by using limiting elements for the docking state of the first rail and the second rail, the first rail and the second rail are prevented from detaching during guidance. When the base is retracted, the first rail can be unlocked from the second rail, so that the second rail can be pivoted against the first rail, thereby reducing the overall height of the guide rail.

[0017] In the multifunctional handling robot described above, the load-bearing seat comprises a load-bearing rod mounted on a base, one end of the load-bearing rod being fixedly connected to the base, and another end of the load-bearing rod being provided with an electromagnet.

[0018] The load-bearing seat is the load-bearing end of the main material gravity load; it can be a load-bearing plate or a load-bearing rod; the function of adjusting the electromagnet is to complete the adsorption and separation of magnetizable goods by turning the electromagnet on and off.

[0019] In the multifunctional handling robot described above, the load-bearing rod is provided with a multi-stage telescopic mechanism comprising a telescopic rod provided at a distance from a fixed end of the load-bearing rod, the telescopic rod being capable of being extended forward or retracted backward in the extension direction of the load-bearing rod, the multi-stage telescopic mechanism further comprising a telescopic power module provided on the load-bearing rod.

[0020] In the multifunctional handling robot described above, the telescopic power module comprises a hydraulic cylinder provided on a load-bearing rod, the output shaft of the hydraulic cylinder being connected to the telescopic rod.

[0021] In the multifunctional handling robot described above, the telescopic rod is equipped with load fastening holes. The load fastening holes are used for lashing or bolting the load.

[0022] In the multifunctional handling robot described above, the telescopic power module also includes a limit block attached to the telescopic rod.

[0023] In the multifunctional handling robot described above, the limit block comprises a support block and a centering block provided on the support block. The centering block has a tapered or curved front part, and the support block is larger than the centering block. The support block is larger than the centering block to facilitate the loading of goods, and the front part of the centering block has a conical or curved shape to facilitate guidance during loading of goods.

[0024] In the multifunctional handling robot described above, an electromagnet is provided on the support block.The electromagnet can be used to switch on and off, so that magnetic or ferrous goods can be picked up and detached from the support block, especially when a tow rope is attached to the winch, forming a lifting unit, the goods are adsorbed before lifting to facilitate the positioning of the goods, the electromagnet can be turned off when the weight of the goods is balanced by the lifting force of the lifting unit when the goods are lifted by the lifting unit; at this time, the goods are not subject to the adsorption action of the support block, completely by the lifting unit by force, and then the telescopic rod can be restored, the goods are slowly moved down by the lifting unit to prevent the telescopic rod from directly restoring when the goods fall directly, resulting in the weightlessness of the goods and affecting the stability of the lifting unit.The lifting unit is protected from large deviations in the center of gravity during lifting by the blocking protection.

[0025] In the multifunctional handling robot described above, the tow rope consists of multiple segments and is individually wound around a winch. Adjusting multiple sections of the tow rope can lift the cargo to a specific location. The tow rope is released. One end of the tow rope is connected to the goods. The other end can be fixed on the bridge or floated on the water surface to achieve tow rope positioning. When the load needs to be retracted, the telescopic rod or lifting unit hooks or sucks the retrieval section of the tow rope to allow the tow rope to be retrieved to the winch, which reverses and lifts the load from a low point.

[0026] As an additional option, the tow rope is equipped with a locking hook for securing the goods. When lifting the goods, the goods are secured by the locking hook. After lifting to the set position, the lifting force on the tow rope is released, and the locking hook can be automatically released from the goods. When it's necessary to lift the goods again, the tow rope is simply lowered to the load point, and the goods are lifted.

[0027] In the multifunctional handling robot described above, the end of the tow rope is led out of the supporting seat.

[0028] In the multifunctional handling robot described above, the base and / or the load-bearing rod is provided with a guide wheel for guiding the tow rope.

[0029] In the multifunctional handling robot described above, the base is also equipped with a stop to prevent goods from falling.

[0030] The function of the lifting unit on the load-bearing rod is to lift the material with the help of a winch, which makes it easier to lift material downwards for underwater work or work at height on bridges or tall buildings. The design of the lifting unit has further expanded the application scenarios of the robot, especially for emergency dewatering of bridge decks or fire-fighting water extraction from bridge decks, the pumps can be directly lifted to the underwater work and multiple pumps can be carried back and forth. Compared with the original integration of robot and pump, it has a wider range of applications and is more cost-effective without affecting its ability to move goods.

[0031] Another object of the present invention is to provide a method for lifting a multifunctional handling robot, characterized in that it comprises the following steps: S1: first, the electromagnet is placed on the load-bearing rod under the lifted material by the movement of the traveling unit, the electromagnet is energized, and the load-bearing rod is lowered to the electromagnetic adsorption of the lifted material by the lifting and lowering of the lifting mechanism; S2: Attaching the lifting section to the lifted material to secure the lifted material; S3: Rotation of the winch to tighten the tow rope on the lifted material; S4: Lifting the material to be lifted by the lifting mechanism in the height direction after the material to be lifted is transported by the traveling unit to the work area, and lifting the material to be lifted to a height of the lifted material above an obstacle; S4: Extending the telescopic mechanism to move the material to be lifted forward in the plane direction and cross the obstacle; S5: Turn off the electromagnet after the winch is rotated and the lifted material is attracted by the tow rope, and the gravity of the lifted material is carried by the tow rope at this time; S6: Driving the tow rope through the winch to lower it and lowering the lifted material into the rescue area; S7: the length of the tow rope on the winch is longer than the height difference of the rescue area, and when the descent of the lifted material is completed, the lower tow rope is urgently needed to release it from the winch, and the lifting operation is completed; S8: Retrieval of the telescopic mechanism, lowering of the lifting unit and transport of the robot to the next deployment station by the driving unit.

[0032] In the above-described method for lifting a multifunctional handling robot, the tow rope is segmented, and the tow rope is provided with a retrieval section at an end remote from the lifting section. Before use, the length of the tow rope is preset according to the height of the area to be rescued. A retrieval section is provided on the side of the lifting section based on the tow rope principle. The retrieval section can be used to hang on an obstacle or directly float on the water surface, making it easier for the robot to adsorb the retrieval section when retrieving the lifted material and re-enter the winch.

[0033] In the lifting method of a multifunctional handling robot described above, the lifting method further includes a retrieval step, the retrieval step being as follows: S9: Driving the robot into the retrieval area by the drive unit, lifting the lifting mechanism, extending the telescopic mechanism and lowering the tow rope by the winch; S10: Attaching the retrieval section to the lifting section by strong magnetic attraction or hook after contact of the lifting section of the tow rope with the retrieval section of the lifted material; retrieving the winch and winding the retrieval section onto the winch, activating the electromagnet after lifting the lifted material onto the load-bearing rod, and reattaching the lifted material to the electromagnet; S11: Retraction of the telescopic mechanism, lowering of the lifting unit, transport of the lifted material by the travel unit to the starting position, completion of the retraction of the lifted material.

[0034] Compared with the prior art, the present invention enables unmanned operation of rescue material transportation by providing a traveling mechanism; by using a lifting unit and a telescopic mechanism, the delivery conditions for the transportation of rescue material are expanded; a winch is used for lifting or laying pipes, which is convenient in situations where there is a large difference between high and low heights, and the robot can be used repeatedly, which enables the operation of a multi-compartment robot and improves loading efficiency. Short descriptions of the drawings Fig. 1 Schematic representation of the three-dimensional structure of the present invention; Fig. 2 Schematic representation of the three-dimensional structure from another viewpoint of the present invention; Fig. 3 Reference diagram of the use state of the lifting unit of the present invention; Fig. 4 Reference diagram of the use state of the guide rail of the present invention; Fig. 5 Reference diagram of the retracted state of the telescopic mechanism of the present invention; Fig. 6 Reference diagram of the extended state of the telescopic mechanism of the present invention;

[0035] List of reference symbols: 1-travel unit; 11-drive mechanism; 2-carrier; 3-base; 31-stop; 4-lifting unit; 41-guide rail; 42-lifting mechanism; 43-hydraulic cylinder mounting base; 44-limiting element; 45-first rail; 46-second rail; 51-load-bearing seat; 52-load-bearing rod; 53-telescopic rod; 54-telescopic power module; 55-cargo fixing hole; 56-limiting block; 57-centering block; 58-supporting block; 6-winch; 61-tow rope; 62-lifting section; 63-guide wheel. Concrete embodiment

[0036] The present invention will be described in more detail below with reference to the accompanying drawings. The following examples illustrate the invention, and the invention is not limited to the following examples.

[0037] This multifunctional handling robot is mainly used in rescue and relief situations where personnel cannot get close enough. It comprises a traveling unit 1, the traveling unit 1 being provided with a beam 2; a base 3 being provided on the beam 2, a lifting unit 4 being provided between the beam 2 and the base 3, which can drive the base 3 up and down in the height direction; a load-bearing seat 51 for carrying materials is provided on the base 3; and a winch 6 is also provided on the beam 2, which is provided at an end of the beam 2 remote from the load-bearing seat 51 to maintain the balance of the center of gravity. This multifunctional handling robot can be combined with an operating object to form various deployment scenarios, including but not limited to the following: 1.The robot transports the water pump through the load-bearing seat 51 and conveys it to a specific location to form a water supply and drainage robot; 2. The robot forms a pipe-laying robot for the water supply and drainage process by providing a water belt on the winch 6, which is released by the rotation of the winch 6 during transportation of the robot; 3. The robot raises and lowers the load-bearing seat 51 through the lifting movement of the lifting unit 4, thus forming a three-dimensional forklift function in rescue and emergency scenarios to carry and stack materials or to retrieve materials; 4.The robot is combined with a winch 6 and a tow rope 61 to form a small vertical hoist crane for water extraction or drainage from high-altitude bridge decks. The winch 6 drives the tow rope 61, which is responsible for lifting materials, and the lifting unit 4 for crossing obstacles on the bridge deck. 5. The robot is combined with a tow bar to form a towing locomotive, which is used for work in swamps or for rescue operations, etc.

[0038] In particular, this embodiment mainly offers an application scenario for lifting loads overhead, as in the Fig. 1 to 3, wherein the winch 6 is provided with a tow rope 61 in addition to the traveling unit 1, the lifting unit 4 and the load-bearing seat 51, one end of the tow rope 61 being wound on the winch 6 and the other end being provided with a lifting section 62, the load-bearing seat 51 being provided with a support point, and the tow rope 61 passing through or around the support point and being connected to the lifting section 62.The winch 6 is arranged at an end of the beam 2 remote from the load-bearing seat so that the center of gravity of the winch 6 is shifted rearward and functions to balance the center of gravity when placing heavy objects on the load-bearing seat 51; a support point is provided on the load-bearing seat 51 so that the center of gravity of the tow rope 61 is below the support point when lifting the object, and the support point is attached to the outer end of the load-bearing seat 51 so that the load is moved up and down directly below the support point of the cover during the lifting process and the load cannot collide with the chassis 1.

[0039] The traveling unit 1 comprises a traveling mechanism and a drive mechanism 11 that drives the movement of the traveling mechanism. The drive mechanism 11 is an electric motor, a hydraulic motor, or an internal combustion engine, and the traveling mechanism is a crawler track or a tire track. The traveling unit 1 is driven either electrically, hydraulically, or by an internal combustion engine and controls the movement of the robot to a specific rescue location. In this embodiment, an electric motor is used, and power is supplied to the tracks or tires for running operation.

[0040] As in Fig. As shown in Figure 3, the lifting unit 4 includes a guide rail 41 provided on the support 2 and a lifting mechanism 42 that moves the base 3 up and down along the guide rail 41. The lifting mechanism 42 includes a hydraulic cylinder whose piston is fixedly connected to the base 3, and the support 2 is provided with a mounting base for hydraulic cylinders 43. The guide rails 41 are provided in two groups and on both sides of the support 2, and a guide member that can be embedded in the guide rails 41 is provided on the base 3.

[0041] As in Fig. 4, the guide rail 41 is foldable and comprises a first rail 45 connected to the base 3 and a second rail 46 hinged to the first rail 45, wherein a limiting element 44 is provided between the first rail 45 and the second rail 46, which makes it possible to limit the second rail 46 when it is turned over to dock with the first rail 45, and wherein guide grooves are provided in both the first rail 45 and the second rail 46, wherein the second rail 46 is turned over to dock with the first rail 45, the guide groove within the second rail 46 docking with the guide groove within the first rail 45;By using multi-stage foldable guide rails, the lifting height of the base 3 can be increased without affecting the overall height of the robot, and by using limiting elements 44 for the docking state of the first rail 45 and the second rail 46, the first rail 45 and the second rail 46 are prevented from detaching during guidance. When the base 3 is retracted, the first rail 45 can be unlocked from the second rail 46, so that the second rail 46 can be pivoted against the first rail 45, thereby reducing the overall height of the guide rail 41.;

[0042] As in Fig. As shown in Figure 5, in the multifunctional handling robot, the load-bearing seat 51 includes a load-bearing rod 52 mounted on a base 3, one end of the load-bearing rod 52 being fixedly connected to the base 3, and the other end being an action end. The load-bearing seat 51 is the load-bearing end of the main material gravity load; it may be a load-bearing plate or a load-bearing rod 52.

[0043] In this embodiment, load-bearing rod 52 is provided with a multi-stage telescopic mechanism including a telescopic rod 53 provided at a distance from a fixed end of the load-bearing rod 52, wherein the telescopic rod 53 can be extended forward or retracted rearward in the extension direction of the load-bearing rod 52. The multi-stage telescopic mechanism further includes a telescopic power module 54 provided on the load-bearing rod 52; wherein the telescopic power module 54 includes a hydraulic cylinder provided on the load-bearing rod 52, the output shaft of the hydraulic cylinder being connected to the telescopic rod 53.

[0044] To further facilitate the loading and unloading of goods, the telescopic rod 53 is provided with cargo fastening holes 55. The cargo fastening holes 55 are used for lashing or bolting the cargo. The telescopic power module 54 also includes a limit block 56 provided on the telescopic rod 53, wherein the limit block 56 comprises a support block 58 and a centering block 57 on the support block 58, wherein the centering block 57 has a tapered or curved front face, wherein the support block 58 is larger than the centering block 57, and the support block 58 is provided with an electromagnet.The electromagnet can be used for on and off switching, so that magnetic or ferrous goods can be picked up and detached from the support block 58. In particular, the goods are adsorbed before lifting to facilitate the positioning of the goods. The electromagnet can be turned off when the weight of the goods is balanced by the lifting force of the lifting unit when the goods are lifted by the lifting unit. At this time, the goods are not subject to the adsorption action of the support block 58, completely by the lifting unit by force, and then the telescopic rod 53 can be restored. The goods are slowly lowered by the lifting unit to prevent the telescopic rod 53 from directly restoring the goods when the goods fall directly, resulting in the weightlessness of the goods and affecting the stability of the lifting unit.The lifting unit is protected from large deviations in the center of gravity during lifting by the blocking protection.

[0045] To facilitate the handling or lifting of materials of different sizes, the load-bearing rod is slidably connected to the base, or the base is provided with multiple mounting holes so that the load-bearing rod can be manually or automatically adjusted to the distance between the two load-bearing rods when the load-bearing rod is mounted on the base, thus facilitating the adjustment of the distance between the load-bearing rods in the direction of the width of the load-bearing rods for materials of different sizes. This is a technical means commonly used in practice and will not be discussed here.

[0046] As in Fig.6, the lifting unit in this embodiment comprises a winch 6 provided on the beam 2, the winch 6 being provided with a tow rope 61, at the end of which a lifting hook or a lifting loop is provided. The tow rope 61 is provided in multiple sections and wound separately on the winch 6. Setting multiple sections of the tow rope 61 can lift the cargo to a specific location. The tow rope 61 is released, one end of the tow rope 61 is connected to the goods, and the other end can be fixed on the bridge or floated on the water surface to achieve the positioning of the tow rope 61. When the load needs to be retracted, the telescopic rod 53 or the lifting unit hooks or sucks the positioning end of the tow rope 61 so that the tow rope 61 can be retrieved to the winch 6, which reverses and lifts the load from a low point.To ensure that the tow rope 61 does not collide with the telescopic rod 53, the end of the tow rope 61 protrudes from the load-bearing seat 51. The base 3 and / or the load-bearing rod 52 is provided with a guide wheel 63 for guiding the tow rope 61. During transport of goods, the base 3 is symmetrically provided with stops 31 to prevent the load from falling from the side panels.

[0047] The function of the lifting unit on the load-bearing rod 52 is to lift the material with the help of a winch 6, which makes it easier to lift materials downwards for underwater work or work at height on bridges or tall buildings. The design of the lifting unit has further expanded the application scenarios of the robot, especially for emergency drainage of bridge decks or fire-fighting water extraction from bridge decks, the pumps can be directly lifted to the underwater work, and multiple pumps can be carried back and forth. Compared with the original integration of robot and pump, it has a wider range of applications and is more cost-effective without affecting its ability to move goods.

[0048] The working method of the invention is as follows: first, the second rail 46 of the robot is reversed to dock with the first rail 45, then the relative position of the second rail 46 to the first rail 45 is locked, and then the goods are secured with the limit block 56 on the telescopic rod 53. At this moment, the electromagnet is opened to fix the goods only to the limit block 56, and the loading of the goods is completed by manually or automatically attaching the lifting portion 62 of the tow rope 61 to the goods. By remote control or a set program, the driving unit 1 is activated to transport the goods to the set rescue point. If there are obstacles in the way, the goods can be lifted by the lifting mechanism 42 and extended by the telescopic mechanism.

[0049] Particularly in the case of water extraction and discharge from a bridge deck, a lifting mechanism 42 can be used to lift an object (in the case of water extraction and discharge, a water pump) in the height direction above the bridge deck fence. Then, the telescopic mechanism extends the object, after which the lifting unit tightens the tow rope 61 so that the weight of the object is fully borne by the tow rope 61. After that, the electromagnet is turned off so that the object is not attracted to the electromagnet, thereby ensuring that the material is lifted above the overhanging bridge deck. On this basis, the winch 6 is slowly rotated, thereby driving the tow rope 61 to slowly bring the materials into the water.Once the material has entered the water, the other end of the tow rope 61 can be released from the winch 6 and floated to the water surface or attached to the bridge so that the tow rope 61 can be found when the material is to be recovered; then the handling robot returns to the starting position to perform the next operation.

[0050] When it is necessary to retrieve the material, the traveling unit 1 is moved to the set position and lifts the lifting mechanism 42 to extend the telescopic mechanism and thus cross the bridge at a high level. When it is necessary to extend the telescopic mechanism back to the bridge, the hook or catch provided at the end of the towing rope 61 hooks or adsorbs the towing rope 61 at the other end of the transported material in place. Then the winch 6 rewinds the towing rope 61, thereby lifting the material out of the water, and slowly pulls the material to the highest point. At this time, the electromagnet is turned on to adsorb the material and position the material so that it is not shaken. After the retrieval of the material is completed, the traveling unit 1 is operated to unload the material in a safe place.

[0051] This multifunctional handling robot is equipped with a driving mechanism to enable unmanned operation for handling rescue materials; with the lifting unit 4 and the telescopic mechanism, the conveying possibilities for transporting rescue materials are expanded; the lifting unit is set up for lifting, which is convenient for applications with large height differences, and the lifting unit can be used repeatedly, making it easy for a robot to work in multiple threads and improving loading efficiency.

[0052] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention pertains may make various changes or additions to the described embodiments, or similarly substitute them, without, however, departing from the spirit of the present invention or exceeding the scope defined in the appended claims. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 215479486U

[0004] CN 113815739A

[0004]

Claims

[1] Multifunctional handling robot comprising a driving unit (1), wherein the driving unit (1) is provided with a carrier (2); characterized by that a base (3) is provided on the carrier (2), wherein between the carrier (2) and the base (3) a lifting unit (4) is provided which can drive the base (3) up and down in the height direction; wherein on the base (3) a load-bearing seat (5) for carrying materials is provided; wherein on the carrier (2) a winch (6) is also provided, which is provided at an end of the carrier (2) remote from the load-bearing seat (5). [2] Multifunctional handling robot according to claim 1, characterized bythat the winch (6) is provided with a tow rope (61), one end of the tow rope (61) being wound onto the winch (6) and the other end being provided with a lifting section, a support point being provided on the load-bearing seat (5), and the tow rope (61) being connected to the lifting section (62) through or around the support point, a guide wheel (63) being provided at the support point. [3] Multifunctional handling robot according to claim 1, characterized by that the winch (6) is provided with a water belt which is wound onto the winch (6) at one end and has a free end at the other end. [4] Multifunctional handling robot according to claim 1, characterized byin that the travel unit (1) comprises a travel mechanism and a drive mechanism (11) which drives the movement of the travel mechanism, wherein the drive mechanism (11) is an electric motor, a hydraulic motor or an internal combustion engine, and wherein the travel mechanism is a crawler track or a tire track. [5] Multifunctional handling robot according to claim 1, characterized by in that the lifting unit (4) comprises a guide rail (41) provided on the support (2) and a lifting mechanism (42) which moves the base 3 up and down along the guide rail (41), wherein the lifting mechanism (42) comprises a hydraulic cylinder whose piston is fixedly connected to the base (3), and the support (2) is provided with a mounting base for hydraulic cylinders (43). [6] Multifunctional handling robot according to claim 5, characterized bythat the guide rails (41) are provided in two groups and on both sides of the support (2), wherein a guide element which can be embedded in the guide rails (41) is provided on the base (3). [7] Multifunctional handling robot according to claim 6, characterized byin that the guide rail (41) is a foldable guide rail comprising a first rail (45) connected to the base (3) and a second rail (46) hingedly connected to the first rail (45), wherein a limiting element (44) is provided between the first rail (45) and the second rail (46), which can limit the second rail (46) when it is turned over to dock with the first rail (45), and wherein guide grooves are provided within the first rail (45) and the second rail (46), wherein the second rail (46) is turned over to dock with the first rail (45), wherein the guide groove within the second rail (46) docks with the guide groove within the first rail (45). [8] Multifunctional handling robot according to one of claims 1 to 5, characterized byin that the load-bearing seat (5) comprises a load-bearing rod (52) mounted on a base (3), one end of the load-bearing rod (52) being fixedly connected to the base (3), and another end of the load-bearing rod being provided with an electromagnet. [9] Multifunctional handling robot according to claim 8, characterized by in that the load-bearing rod (52) is provided with a multi-stage telescopic mechanism comprising a telescopic rod (53) provided at a distance from a fixed end of the load-bearing rod (52), wherein the telescopic rod (53) can be extended forwards or retracted backwards in the extension direction of the load-bearing rod (52), wherein the multi-stage telescopic mechanism further comprises a telescopic power module (54) provided on the load-bearing rod (52). [10] Multifunctional handling robot according to claim 9, characterized byin that the telescopic power module (54) comprises a hydraulic cylinder provided on a load-bearing rod (52), the output shaft of the hydraulic cylinder being connected to the telescopic rod (53), and wherein the telescopic power module (54) further comprises a limiting block (56) provided on the telescopic rod (53), the limiting block (56) comprising a support block (58) and a centering block (57) on the support block (58), the centering block (57) having a tapered or curved front face, the support block (58) being larger than the centering block (57). [11] Lifting method for a multifunctional handling robot, characterized by that it includes the following steps: S1: first, the electromagnet is placed on the load-bearing rod (52) under the lifted material by moving the traveling unit (1), the electromagnet is energized, and the load-bearing rod (52) is lowered to the electromagnetic adsorption of the lifted material by raising and lowering the lifting mechanism (42); S2: Fixing the lifting section on the lifted material to fix the lifted material; S3: rotation of the winch (6) to tighten the tow rope (61) on the lifted material; S4: Lifting the material to be lifted by the lifting mechanism (42) in the height direction after the material to be lifted has been transported by the travel unit (1) to the work area, and lifting the material to be lifted to a height of the lifted material above an obstacle; S4: Extending the telescopic mechanism to move the material to be lifted forward in the plane direction and cross the obstacle; S5: Turning off the electromagnet after the winch (6) is rotated and the lifted material is attracted by the tow rope (61), and the gravity of the lifted material is carried by the tow rope (61) at this time; S6: Driving the tow rope (61) by the winch (6) to lower it and lowering the lifted material into the rescue area; S7: the length of the tow rope (61) on the winch (6) is longer than the height difference of the rescue area, and when the descent of the lifted material is completed, the lower tow rope (61) is urgently needed to release it from the winch (6), and the lifting operation is completed; S8: Retrieval of the telescopic mechanism, lowering of the lifting unit (4) and transport of the robot to the next deployment station by the driving unit (1). [12] Lifting method for a multifunctional handling robot according to claim 11, characterized by that the tow rope (61) is segmented, wherein the tow rope (61) is provided with a retrieval section at an end remote from the lifting section. [13] Lifting method for a multifunctional handling robot according to claim 11, characterized by that the lifting method further comprises a retrieval step, wherein the retrieval step proceeds as follows: S9: Driving the robot by the driving unit (1) into the retrieval area, lifting the lifting mechanism (42), extending the telescopic mechanism and lowering the tow rope (61) by the winch (6); S10: Attaching the retrieval section to the lifting section by strong magnetic attraction or hook after contact of the lifting section of the tow rope (61) with the retrieval section of the lifted material; retrieving the winch (6) and winding the retrieval part onto the winch (6), activating the electromagnet after lifting the lifted material onto the load-bearing rod (52), and reattaching the lifted material to the electromagnet; S11: Retraction of the telescopic mechanism, lowering of the lifting unit (4), transport of the lifted material by the travel unit (1) to the starting position, completion of the retraction of the lifted material.

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