Multifunctional transport 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 specifically relates to a multi-functional 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 manpower, and 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 manpower, a transport robot can be used to transport rescue supplies. The robot can be remotely operated to walk to the target location and transport the rescue supplies to the target location. Therefore, it is necessary to develop a transport robot with a large loading 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 transport robot provided by the Chinese patent (authorization publication number CN215479486U) filed by the applicant, loading and unloading of rescue equipment in hazardous environments is achieved by installing a lifting unit on the robot, making it suitable for the complex work environments of emergency rescue and relief. While this patent solves the problem of transporting emergency equipment in hazardous work environments, it cannot perform tasks when it is necessary to transport a pump for water intake or drainage. To address this deficiency, another Chinese patent (publication number CN113815739A) filed by the applicant discloses a drainage robot aimed at achieving remote drainage in hazardous environments. Although the above patent discloses robots in various application scenarios, the rescue scenarios that robots face are diverse, and in these cases, various robots are needed to complete the work. In particular, the above two robots cannot perform rescues when retrieving items from high places or when performing vertical water intake and drainage work in bridges and tunnels, thus there is an urgent need for the proposal of a more applicable rescue robot. [Overview of the project]

[0005] The present invention aims to provide a multi-functional transport robot that addresses the problems described above that exist in the prior art.

[0006] The object of the present invention can be realized through the following technical solution. A multifunctional transport robot including a walking unit, wherein the walking unit is provided with a support,

[0007] The support is provided with a base, and a lifting unit is provided between the support and the base, which can be driven to raise and lower the base in the height direction.

[0008] The aforementioned base is provided with a platform for placing rescue equipment.

[0009] The support is further provided with a winch, which is installed at one end of the support that is away from the mounting base.

[0010] In the multi-functional transport robot described above, the winch is provided with a towing rope, one end of the towing rope is wound up onto the winch, and the other end is provided with a lifting section, and the aforementioned base is provided with a pivot point, and the towing rope either passes through the pivot point or bypasses it and connects to the lifting section.

[0011] The winch is installed at one end of the support structure away from the mounting platform, shifting the winch's center of gravity to the rear. This balances the center of gravity when placing heavy objects on the platform. Since a pivot point is installed on the platform, when lifting items with a tow rope, the center of gravity is located below the pivot point. The pivot point is located at the outer edge of the platform, ensuring that the cargo moves up and down along the area directly below the pivot point during lifting, preventing the cargo from interfering with the walking unit.

[0012] As an alternative solution, a fire hose is attached to the winch, with one end of the fire hose wound onto the winch and the other end being a free end. By utilizing the fire hose attached to the winch, the winch can move the fire hose, and a hose placement robot can be formed to position the hose during drainage and retrieve the fire hose after the work is completed.

[0013] In the above-described multi-functional transport robot, the lifting section is a lifting hook, a lifting ring, a binding rope, or a binding band.

[0014] In the multi-functional transport robot described above, the walking unit includes a walking mechanism and a power mechanism that drives the walking mechanism, the power mechanism being an electric motor, a hydraulic motor, or an internal combustion engine, and the walking mechanism being a caterpillar-type walking chassis or a tire-type walking chassis.

[0015] The walking unit has its own power source, which can be electrically, hydraulically, or by an internal combustion engine, and is designed to control the robot's movement to a designated rescue location.

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

[0017] In the above-described multi-functional transport robot, the lifting mechanism includes a hydraulic cylinder, the piston of the hydraulic cylinder is fixedly connected to a base, and the support body is provided with a mounting seat for the hydraulic cylinder.

[0018] In the above-described multi-functional transport robot, the lifting mechanism includes an electric motor and a threaded rod installed on the output shaft of the electric motor, the base is provided with a nut fitted into the threaded rod, and the support is provided with a mounting seat for the electric motor.

[0019] In the above-described multi-functional transport robot, there are two groups of guide rails, each installed on both sides of the support, and the base is provided with guide members that are fitted into the guide rails.

[0020] In the above-described multi-functional transport robot, the guide rail is a foldable guide rail and includes a first track connected to a base and a second track hinged to the first track. A position regulating member is provided between the first and second tracks to restrict the position when the second track is reversed and abutted against the first track. Guide grooves are provided within both the first and second tracks, and when the second track is reversed and abutted against the first track, the guide groove in the second track abuts against the guide groove in the first track. By using a multi-stage foldable guide rail, the height of the base can be increased without affecting the overall height of the robot. The position regulating member can be used to lock the abutted connection between the first and second tracks, preventing the first track from deviating from the second track during guidance. When the base retracts, the lock between the first and second tracks is released, and the second track is reversed to match the first track, thereby lowering the overall height of the guide rail.

[0021] In the multi-functional transport robot described above, the base 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 mounting platform is the end that receives gravity from the main rescue equipment and may be a mounting plate or a support rod. The installation of electromagnets plays a role in enabling the attraction and detachment of magnetic cargo through the on / off switching of the electromagnets.

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

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

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

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

[0027] In the above-described multi-functional transport robot, the position regulating block includes a support block and a centering block installed on the support block, wherein the front part of the centering block is tapered or arched, and the size of the support block is larger than that of the centering block. Because the support block is larger than the centering block, it is easier to load cargo onto it, and the tapered or arched front part of the centering block is useful for guiding when inserting it into the cargo.

[0028] In the above-described 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 detachment 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 assist in positioning 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 and are completely affected by the lifting unit. Then, the telescopic rod can be retracted, and the goods are gradually 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-described 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 a 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 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, and then the lifting force of the towing rope is released, and the latch lock can automatically detach from the goods. When it is necessary to lift the goods again, the towing rope only needs to be lowered to the point where the goods receive the force, and the goods can be lifted.

[0031] In the above-described multi-functional transport robot, the end of the towing rope extends from the mounting platform.

[0032] In the above-described multi-functional transport robot, the base and / or support rod are provided with guide wheels for guiding the towing rope.

[0033] In the above-described multi-functional transport robot, the base is further provided with a stopper plate to prevent rescue equipment from falling.

[0034] The support rod lifting unit plays a role in lifting rescue equipment via a winch, allowing equipment to be lowered from bridges and high-rise buildings for underwater and high-altitude work. The design of the lifting unit further expands the range of rescue scenarios in which robots can provide assistance. In particular, for emergency drainage of bridge decks or fire-fighting water intake on bridge decks, it is possible to directly lift water supply pumps and transport them into the water for work, and it is also possible to transport several water supply pumps back and forth. Compared to the original design that integrated the robot and water supply pump, its range of application is wider, costs are reduced, and it does not affect the rescue equipment transport function.

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

[0036] First, the electromagnet on the support rod of the walking unit is located below the rescue equipment being lifted. When the power to the electromagnet is turned on, the support rod is lowered to the electromagnet through the lifting mechanism, and the equipment to be lifted is attracted to it in step S1.

[0037] Step S2 involves fixing the lifting section to the rescue equipment to be lifted, thereby securing the equipment to be lifted.

[0038] Step S3 involves a winch rotating to pull rescue equipment that is being lifted by a tow rope,

[0039] After the walking unit transports the rescue equipment to be lifted to the work area, the lifting mechanism performs step S4 to raise the rescue equipment in the vertical direction until its height is higher than the obstacle.

[0040] Step S4 involves extending the telescopic mechanism, which extends the lifted rescue equipment forward in a planar direction, allowing it to overcome obstacles.

[0041] After the winch rotates and the tow rope pulls the rescue equipment being lifted again, the electromagnet is switched off, and at this point, step S5 occurs, where the entire weight of the lifted rescue equipment is supported by the tow rope.

[0042] Step S6 involves a winch driving the tow rope down, and the rescue equipment being lifted is lowered into the rescue area.

[0043] Step S7 involves a lower towing rope being needed to detach from the winch and complete the lifting operation after the rescue equipment has been lowered, since the length of the winch towing rope is longer than the height difference in the rescue area.

[0044] The invention is characterized by including step S8, in which the telescopic mechanism retracts, the lifting unit lowers, and the walking unit transports the robot to the next station and prepares it for use if necessary.

[0045] In the lifting method for the multi-functional transport robot described above, the towing rope is multi-stage, and a retrieval section is provided at one end of the towing rope that is away from the lifting section. Before use, the length of the towing rope is first preset according to the height of the rescue area, and the retrieval section is installed on the side of the towing rope that is away from the lifting section. The retrieval section may be caught on an obstacle or float on water, and is useful for the robot to use its suction to retrieve the rescue equipment being lifted, allowing it to be re-entered into the winch.

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

[0047] Step S9 involves the walking unit driving the robot into the retrieval area, the lifting mechanism rising, the telescopic mechanism extending, and the winch lowering the towing rope.

[0048] Step S10 involves the lifting section of the tow rope coming into contact with the retrieval section of the rescue equipment being lifted, then securing the retrieval section to the lifting section by strong magnetic attraction or through a lifting hook or the like, then retrieving the winch, re-wrapping the retrieval section around the winch, lifting the rescue equipment onto the support rod, then turning on the electromagnet, and the rescue equipment being lifted being attracted to the electromagnet again.

[0049] Step S11 includes retracting the telescopic mechanism, lowering the lifting unit, transporting the lifted rescue equipment to its initial position by the walking unit, and completing the retrieval of the lifted rescue equipment.

[0050] Compared to conventional technology, the present invention enables unmanned operation of emergency rescue equipment transport by installing a walking mechanism, expands the range of equipment that can be transported by installing a lifting unit and an extension mechanism, allows for lifting or hose placement by installing a winch and is applicable to transporting items with large height differences, the robot can be reused, a single robot can perform multi-threaded tasks, and the efficiency of loading and unloading can be increased. [Brief explanation of the drawing]

[0051] [Figure 1] Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.

[0052] Figure 2 [Figure 2] This is a schematic diagram of the three-dimensional structure of the present invention from a different angle.

[0053] Figure 3 [Figure 3] This is a reference diagram showing the usage state of the lifting unit of the present invention.

[0054] Figure 4 [Figure 4] This is a reference diagram showing the usage state of the guide rail in the present invention.

[0055] Figure 5 [Figure 5] This is a reference diagram of the contracted state of the expansion / contraction mechanism of the present invention.

[0056] Figure 6 [Figure 6] This is a reference diagram showing the extended state of the telescopic mechanism of the present invention.

[0057] In the diagram: 1, walking unit, 11, power mechanism, 2, support, 3, base, 31, stopper plate, 4, lifting unit, 41, guide rail, 42, lifting mechanism, 43, mounting base for hydraulic cylinder, 44, position regulating member, 45, first track, 46, second track, 51, mounting platform, 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 section, 63, guide wheel. [Modes for carrying out the invention]

[0058] The following describes the technical solutions of the present invention in conjunction with specific embodiments and drawings; however, the present invention is not limited to these embodiments.

[0059] This multi-functional transport robot is primarily used in rescue and relief operations where personnel cannot approach the location. It mainly includes a walking unit 1, the walking unit 1 is provided with a support 2, the support 2 is provided with a base 3, a lifting unit 4 is provided between the support 2 and the base 3 that can be driven to raise and lower the base 3 in the height direction, the base 3 is provided with a platform 51 for placing rescue equipment, and the support 2 is further provided with a winch 6, the winch 6 is installed at the end of the support 2 away from the platform 51 so as to balance the center of gravity. This multi-functional transport robot can form multiple usage scenarios in combination with a work object, including, but not limited to, 1) a scenario in which the robot transports a water supply pump to a designated location on a platform 51 to form a drainage robot; 2) a scenario in which the robot installs a fire hose on a winch 6, and as the robot transports it, the winch 6 rotates to release the fire hose, forming a hose placement robot in the drainage process; 3) a scenario in which the robot lifts or lowers the platform 51 through the lifting action of a lifting unit 4 to form a forklift function in rescue and relief situations, transporting and stacking rescue equipment or retrieving equipment; 4) a scenario in which the robot, in combination with a winch 6 on a tow rope 61, constitutes a small vertical lifting crane used for water intake or drainage from a high bridge deck, with the winch 6 driving the tow rope 61 to lift rescue equipment and the lifting unit 4 being responsible for overcoming obstacles on the bridge deck; and 5) a scenario in which the robot, in combination with a tow rod, constitutes a tow locomotive used for work and rescue in swamps, etc.

[0060] Specifically, this embodiment primarily provides an application for lifting objects at height. As shown in Figures 1-3, in addition to the walking unit 1, the lifting unit 4, and the platform 51, the winch 6 is equipped with a tow rope 61. One end of the tow rope 61 is wound onto the winch 6, and the other end is equipped with a lifting section 62. The platform 51 is equipped with a fulcrum, and the tow rope 61 either passes through the fulcrum or bypasses it to connect to the lifting section 62. The winch 6 is installed at one end of the support 2 that is away from the platform 51. This places the center of gravity of the winch 6 towards the rear, and it plays a role in balancing the center of gravity when placing heavy objects on the platform 51. Since the platform 51 is equipped with a fulcrum, when lifting an object with the tow rope 61, the center of gravity is located below the fulcrum, and the fulcrum is located at the outer end of the platform 51. This ensures that the cargo moves up and down along the area directly below the fulcrum during lifting, preventing the cargo from interfering with the walking unit 1.

[0061] The walking unit 1 includes a walking mechanism and a power mechanism 11 that drives the walking mechanism, the power mechanism 11 being an electric motor, a hydraulic motor, or an internal combustion engine, and the walking mechanism being a caterpillar-type walking chassis or a tire-type walking chassis. The walking unit 1 has its own power source and can be driven by electric drive, hydraulic drive, or internal combustion engine, and is intended to control the robot to move to a designated rescue location. In this embodiment, an electric motor is used, and power is provided by the electric motor, which is output to the caterpillar or tires to perform walking operations.

[0062] As shown in Figure 3, the lifting unit 4 includes a guide rail 41 installed on the support 2 and a lifting mechanism 42 that drives the base 3 to move up and down along the guide rail 41. The lifting mechanism 42 includes a hydraulic cylinder, the piston of which is fixedly connected to the base 3, and the support 2 is provided with a mounting seat 43 for the hydraulic cylinder. There are two groups of guide rails 41, each installed on both sides of the support 2, and the base 3 is provided with guide members that are fitted into the guide rails 41.

[0063] As shown in Figure 4, the guide rail 41 is foldable and includes a first track 45 connected to a base 3 and a second track 46 hinged to the first track 45. A position regulating member 44 is provided between the first track 45 and the second track 46 to regulate the position when the second track 46 is reversed and abutted against the first track 45. Guide grooves are provided in both the first track 45 and the second track 46, and when the second track 46 is reversed and abutted against the first track 45, the guide grooves in the second track 46 are located within the first track 45. By using a multi-stage foldable guide rail that is butt-connected to the guide groove, the lifting height of the base 3 can be increased without affecting the overall height of the robot. The position regulating member 44 is used to lock the butt-connected state of the first track 45 and the second track 46, preventing the first track 45 from coming off the second track 46 during guidance. When the base 3 retracts, the lock between the first track 45 and the second track 46 is released, and the second track 46 is reversed to match the first track 45, thereby lowering the overall height of the guide rail 41.

[0064] As shown in Figure 5, in this multi-functional transport robot, the aforementioned mounting platform 51 includes a support rod 52 installed on the base 3, with one end of the support rod 52 fixedly connected to the base 3 and the other end being the working end. The mounting platform 51 is the end that receives the gravity of the main rescue equipment, and may be a mounting plate or a support rod 52.

[0065] In this embodiment, the support rod 52 is provided with a multi-stage telescopic mechanism, the multi-stage telescopic mechanism includes a telescopic rod 53 installed at the end of the support rod 52 away from the fixed end, 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, the output shaft of the hydraulic cylinder is connected to the telescopic rod 53.

[0066] To further facilitate loading and unloading cargo, the telescopic rod 53 is provided with cargo fixing holes 55. The cargo fixing holes 55 are used to tie or bolt cargo. The telescopic power module 54 further includes a position regulating block 56 installed on the telescopic rod 53, the position regulating block 56 including a support block 58 and a centering block 57 installed on the support block 58, the front of which the centering block 57 is tapered or arched, the size of the support block 58 is larger than the centering block 57, and the support block 58 is provided with an electromagnet. By using the on / off switch of the electromagnet, the support block 58 can be used to detach from magnetic or iron cargo. In particular, it is useful for positioning cargo by attracting it before lifting. When the lifting unit is lifting cargo, if the weight of the cargo is offset by the lifting force of the lifting unit, the power to the electromagnet is switched off. At this time, the cargo is not subjected to the attraction of the support block 58 and is fully subjected to the force of the lifting unit. After that, the telescopic rod 53 can be retracted, and the cargo is gradually lowered by the lifting unit. This prevents the cargo from falling directly when the telescopic rod 53 is retracted, which would result in a weightless state and affect the stability of the lifting unit. The lifting unit is equipped with an anti-stall function, so it does not generate a large shift in the center of gravity during the lifting process.

[0067] To facilitate the transport or lifting of rescue equipment of different sizes, the support rods and bases are slidably connected, or the bases are provided with multiple mounting holes, so that the distance between the two support rods can be adjusted manually or automatically when the support rods are attached to the bases, which helps to adjust the spacing of the support rods in the width direction according to the size of the rescue equipment. This is a conventional technical means in this field and will not be discussed retrospectively here.

[0068] As shown in Figure 6, in this embodiment, the lifting unit includes a winch 6 installed on a support 2, the winch 6 is provided with a tow rope 61, and the end of the tow rope 61 is provided with a lifting hook or lifting ring. The tow rope 61 is multi-stage, and each stage is wound around the winch 6. With the multi-stage tow rope 61 installed, after lifting and transporting cargo to a designated location, the tow rope 61 can be released, one end of the tow rope 61 can be connected to the cargo, and the other end can be fixed to the bridge surface or float on the water to achieve positioning of the tow rope 61. When it is necessary to retrieve the cargo, the telescopic rod 53 or the lifting unit can hook the positioning end of the tow rope 61, allowing the tow rope 61 to be retrieved into the winch 6, and after the lifting unit has inverted, the cargo can be lifted from a low position. The end of the tow rope 61 extends from the mounting platform 51 to avoid interference between the tow rope 61 and the telescopic rod 53. Guide wheels 63 for guiding the towing rope 61 are provided on the base 3 and / or support rod 52. Stopper plates 31 are symmetrically provided on the base 3 to prevent rescue equipment from falling off the side during the cargo transport process.

[0069] The lifting unit on the support rod 52 plays a role in lifting rescue equipment through the winch 6, and is useful for lowering rescue equipment from bridges and high-rise buildings to perform underwater and high-altitude work. The design of the lifting unit further expands the range of situations in which the robot can provide rescue services. In particular, for emergency drainage of bridge decks or fire-fighting water intake on bridge decks, it is possible to directly lift water supply pumps and transport them into the water for work, and it is also possible to transport several water supply pumps back and forth. Compared to the original design that integrated the robot and water supply pump, the range of application is even wider, costs are reduced, and it does not affect the rescue equipment transport function.

[0070] The work process of the present invention is as follows. First, the robot's second track 46 is reversed and connected to the first track 45, then the relative positions of the second track 46 and the second track 45 are locked, and then the rescue equipment is fixed using the position regulating block 56 of the telescopic rod 53, at which point the electromagnet is turned on to attract the rescue equipment only to the position regulating block 56, and the lifting part 62 of the tow rope 61 is manually or automatically fixed to the rescue equipment to complete the loading and unloading of the rescue equipment, the walking unit 1 is activated using remote control or a set program to transport the rescue equipment to a predetermined rescue point, and if an obstacle is encountered along the way, the rescue equipment can be lifted through the lifting mechanism 42 or extended through the telescopic mechanism.

[0071] Specifically, when this embodiment is applied to water intake and drainage of a bridge deck, the lifting mechanism 42 is used to lift the rescue equipment (the equipment used for water intake and drainage is a water supply pump), and it moves over the bridge deck railing in the height direction. Then, the telescopic mechanism extends the rescue equipment, and at this time, the lifting unit pulls the tow rope 61 to support the total weight of the rescue equipment with the tow rope 61. Next, the electromagnet is turned off to prevent the rescue equipment from being attracted to it, thus ensuring that the rescue equipment is extended above the bridge deck and lifted. Based on this, the winch 6 gradually rotates to drive the tow rope 61, allowing the rescue equipment to be gradually lowered into the water. After the rescue equipment is lowered into the water, the other end of the tow rope 61 detaches from the winch 6 and floats in the water or is fixed to the bridge deck, ensuring that the tow rope 61 can be found when attempting to retrieve the rescue equipment. After that, the transport robot returns to the initial position of the operation and performs the next transport.

[0072] When it is necessary to retrieve rescue equipment, the walking unit 1 walks to the designated position, the lifting mechanism 42 is raised to extend the telescopic mechanism, so that it crosses the bridge deck in height, the telescopic mechanism extends from the bridge deck, and the hook or clip installed at the end of the towing rope 61 hooks or attracts the towing rope 61 at the other end of the rescue equipment that has been transported to the designated position, and then the winch 6 is used to reel in the towing rope 61, so that the rescue equipment is lifted out of the water and gradually pulled up to the highest point, at which point the electromagnet is turned on to attract the rescue equipment, position the rescue equipment, prevent the rescue equipment from swaying, and after the retrieval of the rescue equipment is completed, the walking unit 1 is controlled to walk to a safe place and the rescue equipment is lowered.

[0073] This multi-functional transport robot enables unmanned operation of emergency rescue supplies by incorporating a walking mechanism, expands the range of rescue supplies that can be transported by incorporating a lifting unit 4 and an extension mechanism, and performs lifting by incorporating a hoisting unit, making it applicable to transporting items with large height differences. The hoisting unit can be reused, and a single robot can perform multi-threaded tasks, thereby increasing the efficiency of loading and unloading.

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

Claims

1. A multifunctional transport robot including a walking unit (1), wherein the walking unit (1) is provided with a support (2), A base (3) is provided on the support (2), and a lifting unit (4) capable of driving the base (3) up and down in the height direction is provided between the support (2) and the base (3). The base (3) is provided with a platform (5) for placing rescue equipment. A winch (6) is further provided on the support (2), and the winch (6) is installed at one end of the support (2) away from the mounting base (5). A multi-functional transport robot characterized in that the winch (6) is provided with a towing rope (61), one end of the towing rope (61) is wound up onto the winch (6), and the other end is provided with a lifting section, the base (5) described above has a pivot point, the towing rope (61) passes through the pivot point or bypasses it and is connected to the lifting section (62), and a guide wheel (63) is provided at the pivot point.

2. The multi-functional transport robot according to Claim 1, wherein the winch (6) is provided with a fire hose, one end of the fire hose is wound onto the winch (6), and the other end is a free end.

3. The multi-functional transport robot according to Claim 1, wherein the walking unit (1) includes a walking mechanism and a power mechanism (11) that drives the walking mechanism, the power mechanism (11) 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.

4. The multi-functional transport robot according to Claim 1, wherein the lifting unit (4) includes a guide rail (41) installed on a support (2) and a lifting mechanism (42) that drives a base (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 base (3), and the support (2) is provided with a mounting seat for the hydraulic cylinder (43).

5. The multifunctional transport robot according to claim 4, characterized in that the guide rails (41) are in two groups, each of which is installed on both sides of the support (2), and the base (3) is provided with a guide member that is fitted into the guide rails (41).

6. The multifunctional transport robot according to claim 5, wherein the guide rail (41) is foldable and includes a first track (45) connected to a base (3) and a second track (46) hinged to the first track (45), a position regulating member (44) is provided between the first track (45) and the second track (46) to regulate the position when the second track (46) is inverted and abutted to connect with the first track (45), guide grooves are provided in both the first track (45) and the second track (46), and when the second track (46) is inverted and abutted to connect with the first track (45), the guide groove in the second track (46) abutted to connect with the guide groove in the first track (45).

7. The multi-functional transport robot according to any one of claims 1 to 6, wherein the mounting base (5) includes a support rod (52) installed on a base (3), one end of the support rod (52) is fixedly connected to the base (3), and an electromagnet is provided at the other end.

8. The multi-functional transport robot according to claim 7, wherein the support rod (52) is provided with a multi-stage telescopic mechanism, the multi-stage telescopic mechanism includes a telescopic rod (53) installed at the end of the support rod (52) away from the fixed end, the telescopic rod (53) can extend forward or retract backward along the extending direction of the support rod (52), and the multi-stage telescopic mechanism further includes a telescopic power module (54) installed on the support rod (52).

9. The multifunctional transport robot according to claim 8, wherein the telescopic power module (54) includes a hydraulic cylinder installed on a support rod (52), the output shaft of the hydraulic cylinder is connected to a 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).

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