Robot up-and-down line beam type platform and robot up-and-down line method

Abstract

The application provides a robot on-off line beam type platform and a robot on-off line method, which comprises a platform body, a hooking groove at the first end of the platform body and a clamping groove at the second end of the platform body, and a locking device arranged on the platform body and used for locking the platform body on a split conductor; the first end of the platform body is provided with a traction rope hook, the second end is provided with an auxiliary rope hook, and the platform body is arranged with a fixed pulley, a magnetic attraction device, a conductor groove, a weight block, a conical weight and a conical weight sleeve; a first through hole is formed in the central axis direction of the conical weight, and the conical weight is arranged in the conical weight sleeve; the first end of a first auxiliary rope is connected with the weight block attracted by the magnetic attraction device, the second end of the first auxiliary rope is naturally lowered after passing through the through groove of the conical weight and the conductor groove in sequence after passing through the fixed pulley; the application solves the problem of robot on-off line, improves the work efficiency, reduces the labor intensity of the workers and increases the safety of the work.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric power operation robots, in particular to a robot up-down line beam type platform and a robot up-down line method. BACKGROUND

[0002] The statements in this section merely provide background technology related to the present application and do not necessarily constitute prior art.

[0003] There are various power equipment on the power transmission tower, such as insulator strings or strain clamps, and the strain clamp of the power transmission line bears the horizontal stress of the conductor and plays a role in fixing the conductor. Once the quality is poor, it will cause the conductor to break and fall to the ground, and in severe cases, it may cause serious accidents such as personnel injury. The quality problem of the compression joint pipe part of the strain clamp of the power transmission line is a hidden defect, which cannot be checked by appearance after compression. At present, it can only be detected by X-ray equipment.

[0004] The inventor found that when detecting the equipment on the power transmission tower, the detection operation is usually carried out by manually climbing the tower. For example, when carrying out X-ray detection of the compression joint pipe of the strain clamp, the operation mode of "drone + small flying man" is generally adopted, which mainly includes three steps of unmanned aerial vehicle assisted rope throwing, small flying man entering and exiting the electric field, and manual remote control X-ray detection. The above-mentioned mode not only consumes the physical strength of the operation personnel, but also causes ionizing radiation damage to the operation personnel due to close contact with the X-ray equipment. The traditional detection method can only be carried out under the condition of power failure, and is restricted by the repair plan, and cannot be carried out in a timely manner as needed. Therefore, it is an urgent problem to be solved to realize unmanned detection by using a detection robot.

[0005] When detecting the equipment on the power transmission tower by using a robot, the first problem to be solved is the up-line of the detection robot. The existing up-line mode of the detection robot has the following problems:

[0006] (1) When up-line, a light weight traction rope is first hung by using a drone, and then a load-bearing insulating rope is changed to pull the detection robot. However, the space for pulling is limited due to the vertical and staggered arrangement of the phase lines of the power transmission line, which makes the operation extremely inconvenient and increases the difficulty of up-line; (2) The load-bearing insulating rope itself affects the process of riding the detection robot onto the line, and affects the walking of the detection robot along the line, so a avoiding mechanism needs to be designed, which further increases the difficulty of up-line. SUMMARY

[0007] In order to solve the problems of the prior art, the present application provides a robot up-down line beam type platform and a robot up-down line method, which solves the problem of robot up-down line, improves the operation efficiency, reduces the labor intensity of the operation personnel, and increases the safety of the operation.

[0008] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0009] The first aspect of the present application provides a robot line-up and line-down beam platform.

[0010] The robot line-up and line-down beam platform comprises a platform body, a line hooking groove at a first end of the platform body, and a line clamping groove at a second end of the platform body, and a locking device arranged on the platform body for locking the platform body on a split conductor.

[0011] The first end of the platform body is provided with a traction rope hook, and the second end is provided with an auxiliary rope hook, and the platform body is arranged with a fixed pulley, a magnetic attraction device, a conductor groove, a weight block, a conical weight, and a conical weight sleeve, the conical weight has a first through hole in the central axis direction, and the conical weight is placed in the conical weight sleeve.

[0012] The first end of the first auxiliary rope is connected with the weight block attracted by the magnetic attraction device, the second end of the first auxiliary rope passes through the through slot of the conical weight and the conductor groove in sequence after passing through the fixed pulley and naturally droops, the second end of the first auxiliary rope is provided with a blocking object for blocking the second end of the first auxiliary rope from passing out of the first through hole, and the platform body is provided with a second through hole for the weight block to fall and a third through hole for the conical weight to fall.

[0013] As a further limitation of the first aspect of the present application, the second through hole is located at a position opposite the bottom of the weight block on the platform body, and the third through hole is located at the conical weight outlet position of the conical weight sleeve, and the second through hole and the third through hole are located on both sides of the fixed pulley.

[0014] As a further limitation of the first aspect of the present application, the central axis of the conductor groove is perpendicular to the central axis of the fixed pulley.

[0015] As a further limitation of the first aspect of the present application, a fourth through hole for placing the conical weight is formed in the conical weight sleeve, the central axis of the fourth through hole is at a set angle with the upper surface of the platform body, and the conical weight outlet of the fourth through hole is directed obliquely upward of the platform body.

[0016] As a further limitation of the first aspect of the present application, the locking device comprises a driving mechanism, a photoelectric switch and an arc-shaped locking plate, the driving mechanism is connected with the arc-shaped locking plate, the arc-shaped locking plate can be rotated to the conductor under the driving of the driving mechanism, and the conductor is locked by cooperation with the line hooking groove, and the photoelectric switch is used for detecting whether the arc-shaped locking plate is rotated in place.

[0017] As a further limitation of the first aspect of the present application, the driving mechanism comprises a speed reduction motor, a first bevel gear, a second bevel gear and a transmission shaft.

[0018] The output end of the deceleration motor is connected with the first bevel gear, the first bevel gear is engaged with the second bevel gear, the second bevel gear is connected with the transmission shaft, the transmission shaft is connected with the arc-shaped locking plate, and the central axis of the first bevel gear is perpendicular to the central axis of the second bevel gear.

[0019] As a further limitation of the first aspect of the present application, a notch is formed at the central position of the first end of the platform body, the notch divides the hooking groove into two symmetrical parts, and the arc-shaped locking plate is located at the notch position.

[0020] As a further limitation of the first aspect of the present application, at least two traction rope hooks are arranged at the first end of the platform body, and at least two traction rope hooks are arranged at the second end of the platform body, and the traction rope hooks at the first end and the second end of the platform body are symmetrically arranged along the platform body.

[0021] As a further limitation of the first aspect of the present application, the clamping groove is a horn-shaped groove facing directly below the platform body, and the hooking groove is a groove facing the inner side below the platform body.

[0022] The second aspect of the present application provides a robot line-up and line-down method.

[0023] The robot line-up and line-down method uses the robot line-up and line-down beam platform of the first aspect of the present application, and includes the following processes:

[0024] The first traction rope with a pulley is hung on the ground wire;

[0025] The first end of the first traction rope is hung on the traction rope hook at the first end of the platform body, the first traction rope and the second auxiliary rope connected with the auxiliary rope hook are pulled, and the robot line-up and line-down beam platform is pulled to the guide wire position;

[0026] The hooking groove is hooked to the first guide wire by adjusting the first traction rope, the locking device is started to lock the second end of the platform body on the first guide wire, the first traction rope is loosened, the platform body is slowly flattened, and the clamping groove is clamped on the second guide wire, wherein the first guide wire and the second guide wire are guide wires located on the same horizontal plane;

[0027] The locking device is opened, the magnetic attraction device is powered off, the weight block attracted by the magnetic attraction device starts to fall from the second through hole with the first auxiliary rope, after the weight block falls to the ground, the first auxiliary rope is continuously pulled, and under the cooperation of the blocking object, the conical weight is pulled out of the conical weight sleeve, so that the conical weight falls from the third through hole;

[0028] The first auxiliary rope is replaced by a second traction rope used for pulling the robot, and under the cooperation of the robot line-up and line-down beam platform and the second traction rope, the robot is pulled to the working position;

[0029] After the robot operation is completed, the robot is placed on the ground from the set detection position through the second traction rope;

[0030] The locking device is started, the second end of the platform body is locked on the first wire, the first end of the first traction rope is pulled, the wire clamping groove is separated from the second wire, the locking device is released, and the platform body is placed on the ground by controlling the first traction rope and the second auxiliary rope;

[0031] After the platform body falls to the ground, the first traction rope with the pulley is removed from the ground wire.

[0032] Compared with the prior art, the robot up and down line beam platform has the following beneficial effects:

[0033] 1、The robot up and down line beam platform is innovatively developed, the robot up and down line problem is solved, the automation level of transmission line equipment detection is improved, manual work is relieved from heavy and dangerous working environment, the labor intensity of workers is reduced, the frequency of transmission line equipment detection is improved, economic losses are reduced under the premise of ensuring the safety of workers, and work efficiency is improved.

[0034] 2、The robot up and down line method is innovatively provided, the beam platform is stably arranged on the two wires through cooperation of the locking device, the wire hooking groove and the wire clamping groove, the beam platform is prevented from rotating and shaking in the air, and the work safety is improved; the fine rope is quickly converted into the traction rope through cooperation of the fixed pulley, the magnetic attraction device, the wire groove, the weight block, the conical weight and the conical weight sleeve, inconvenience caused by the heavy traction rope carried by the beam platform during climbing is avoided, and the work efficiency is improved.

[0035] The advantages of the additional aspects of the application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0036] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the application, and together with the description of the exemplary embodiments of the application given below, explain the application, and do not constitute an improper limitation of the application.

[0037] Figure 1 Structure diagram of the robot up and down line beam platform provided for embodiment 1 of the application Figure One ;

[0038] Figure 2 Structure diagram of the robot up and down line beam platform provided for embodiment 1 of the application Figure Two ;

[0039] Figure 3 Structure diagram of the robot up and down line beam platform provided for embodiment 1 of the applicationFigure Three ;

[0040] Figure 4 Schematic diagram of the robot on-line method provided for the embodiment 2 of the present application Figure One ;

[0041] Figure 5 Schematic diagram of the robot on-line method provided for the embodiment 2 of the present application Figure Two ;

[0042] Figure 6 Schematic diagram of the robot on-line method provided for the embodiment 2 of the present application Figure Three ;

[0043] Figure 7 Schematic diagram of the robot on-line method provided for the embodiment 2 of the present application Figure Four ;

[0044] Figure 8 Schematic diagram of the robot on-line method provided for the embodiment 2 of the present application Figure Five ;

[0045] Figure 9 Schematic diagram of the robot on-line method provided for the embodiment 2 of the present application Figure Six ;

[0046] Figure 10 Schematic diagram of the robot on-line method provided for the embodiment 2 of the present application Figure Seven ;

[0047] Figure 11 Schematic diagram of the robot on-line method provided for the embodiment 2 of the present application Figure Eight ;

[0048] Figure 12 Schematic diagram of the robot on-line method provided for the embodiment 2 of the present application Figure Nine ;

[0049] Wherein, 1-first wire; 2-second wire; 3-hooking slot; 4-wire clamping slot; 5-tapered weight sleeve; 6-tapered weight; 7-wire slot; 8-first auxiliary rope; 9-reduction motor; 10-first bevel gear; 11-second bevel gear; 12-transmission shaft; 13-arc-shaped locking plate; 14-towing rope hook; 15-auxiliary rope hook; 16-control board shielding box; 17-battery shielding box; 18-driver shielding box; 19-relay shielding box; 20-ground wire; 21-drone; 22-2mm towing rope; 23-split wire; 24-following bucket trolley; 25-beam platform; 26-first towing rope; 27-weight block; 28-obstruction; 29-second towing rope; 30-robot; 31-photoelectric switch; 32-platform body; 33-magnetic attraction device; 34-second auxiliary rope; 35-fixed pulley. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0051] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0052] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0053] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0054] Example 1:

[0055] Embodiment 1 of the present invention provides a robotic beam platform, such as Figure 1 As shown, it includes: a platform body 32, a hook groove 3 located at the first end of the platform body 32 and a locking groove 4 located at the second end of the platform body 32. A locking device for locking the platform body 32 onto a split wire 23 is arranged on the platform body 32.

[0056] The platform body 32 is provided with hooks at the first and second ends respectively (traction rope hook 14 and auxiliary rope hook 15 respectively). The platform body 32 is provided with a fixed pulley 35, a magnetic attraction device 33, a wire groove 7, a weight block 27, a conical weight 6 and a conical weight sleeve 5. The conical weight 6 has a first through hole in the central axis direction and is placed in the conical weight sleeve 5.

[0057] The first end of the first auxiliary rope 8 (i.e., the light rope) is connected to the weight block 27 attracted by the magnetic attraction device 33. After the second end of the first auxiliary rope 8 passes around the fixed pulley, it passes through the through groove of the conical weight 6 and the wire groove 7 in sequence and hangs down naturally. The second end of the first auxiliary rope 8 is provided with a block 28 to prevent the second end of the first auxiliary rope 8 from passing through the first through hole. The platform body 32 has a second through hole for the weight block 27 to fall and a third through hole for the conical weight 6 to fall.

[0058] In this embodiment, the second through hole (i.e., the hollow on the platform body 32) is located at the position directly opposite the bottom of the weight block 27 on the platform body 32, and the third through hole (i.e., the hollow on the platform body 32) is located at the outlet position of the conical weight 6 of the conical weight sleeve 5. The second through hole and the third through hole are located on both sides of the fixed pulley.

[0059] like Figure 2 good Figure 3 As shown, the central axis of the guide groove 7 is perpendicular to the central axis of the fixed pulley. The guide groove 7 is used for positioning the first auxiliary rope 8, ensuring that the first auxiliary rope 8 passes through the guide groove 7, thus avoiding the influence of the first auxiliary rope 8 on the platform body 32 and the components on the platform body 32.

[0060] In this embodiment, the conical weight sleeve 5 has a fourth through hole for placing the conical weight 6. The central axis of the fourth through hole is at a set angle to the upper surface of the platform body 32, and the outlet of the conical weight 6 in the fourth through hole faces the oblique upper part of the platform body 32. In the conical weight sleeve 5, the end with the smaller cross-section of the conical weight 6 faces the oblique lower part of the platform body 32.

[0061] In this embodiment, the locking device includes: a driving mechanism, a photoelectric switch 31, and an arc-shaped locking plate 13 (in the shape of a concave hook). The driving mechanism is connected to the arc-shaped locking plate 13. The arc-shaped locking plate 13 can rotate onto the wire under the drive of the driving mechanism and cooperate with the hook groove 3 to lock the wire. The photoelectric switch 31 is used to detect whether the arc-shaped locking plate 13 has rotated into place.

[0062] Optionally, in this embodiment, the drive mechanism includes: a reduction motor 9, a first bevel gear 10, a second bevel gear 11, and a transmission shaft 12. The output end of the reduction motor 9 is connected to the first bevel gear 10, the first bevel gear 10 meshes with the second bevel gear 11, the second bevel gear 11 is connected to the transmission shaft 12, and the transmission shaft 12 is connected to the arc-shaped locking plate 13. The central axis of the first bevel gear 10 is perpendicular to the central axis of the second bevel gear 11. This arrangement of the drive mechanism can ensure that the drive is realized in the limited space of the platform body 32.

[0063] It is understandable that in some other implementations, the geared motor 9 and the transmission shaft 12 can be used directly to drive the arc-shaped locking plate 13. Those skilled in the art can choose the driving method according to the specific working conditions, as long as the rotation and locking of the arc-shaped locking plate 13 can be achieved. This will not be elaborated here.

[0064] In this embodiment, a notch is provided at the center of the first end of the platform body 32. The notch divides the hook groove 3 into two symmetrical parts, and the arc-shaped locking plate 13 is located at the notch.

[0065] In the embodiment, the first end of the platform body 32 is provided with at least two first traction ropes 26 hooks, the second end of the platform body 32 is provided with at least two second traction ropes 29 hooks, and the traction rope hooks of the first end and the second end of the platform body 32 are symmetrically arranged along the platform body 32.

[0066] In the embodiment, the card wire groove 4 is a horn groove facing directly below the platform body 32, and the hook wire groove 3 is a groove facing the inner side below the platform body 32.

[0067] In the embodiment, in order to avoid electromagnetic interference, a plurality of shielding boxes are arranged, such as a control panel shielding box 16, a battery shielding box 17, a driver shielding box 18, and a relay shielding box 19.

[0068] In the embodiment, the platform body 32 and the layout of each component on the platform body 32 are optimized to ensure that the center of gravity of the platform body 32 and the components thereon is located at the center position of the robot beam platform 25, so as to ensure the stability and safety of the robot beam platform 25 when the robot beam platform 25 is raised and lowered.

[0069] Embodiment 2:

[0070] The embodiment 2 of the present application provides a robot raising and lowering method. Taking the four-split conductor 23 as an example, a beam platform 25 described in the embodiment 1 is horizontally spanned above the upper two conductors (i.e. the first conductor 1 and the second conductor 2) of the four-split conductor 23, the two ends of the beam platform 25 are clamped on the two upper conductors, so as to ensure that the beam platform 25 will not fall off the two upper conductors, and then the beam platform 25 is used to hoist the robot 30 between the four-split conductors 23, so as to realize the robot 30 raising and lowering;

[0071] Specifically, the process includes the following steps:

[0072] S1: using the unmanned aerial vehicle 21 to hang the hook and bucket pulley 24 on the ground wire 20, first using the unmanned aerial vehicle 21 to carry the end of the 2mm traction rope to fly over from the outside of the four-split conductor 23 to a position above the ground wire 20, and then the 2mm traction rope 22 is dropped from the inside of the ground wire 20, and the 2mm traction rope is manually replaced with a 12mm silk rope (i.e. the first traction rope 26) with a pulley, and the pulley is installed on the ground wire 20, as shown in Figure 4 .

[0073] S2: the first end of the 12mm silk rope (i.e. the first traction rope 26) on the follow-up trolley 24 is connected to the traction rope hook 14 of the beam platform 25, and the second end of the 12mm silk rope is pulled by manpower or winch to quickly pull the beam platform 25 to the vicinity of the four-split conductor 23, the debugging personnel control the second auxiliary rope 34 connected to the auxiliary rope hook 15 of the beam platform 25 to make the hooking groove 3 of the beam platform 25 away from the lower conductor of the four-split conductor 23, and then continue to drive the winch to make the beam platform 25 as a whole to the vicinity of the upper conductor, the debugging personnel control the first traction rope 26 and the second auxiliary rope 34 to make the hooking groove 3 of the beam platform 25 can hook to the first conductor 1, as shown in Figure 5 and Figure 6 .

[0074] S3: the locking device is started, the first bevel gear 10 and the second bevel gear 11 are rotated by the deceleration motor 9, and then the transmission shaft 12 is rotated, and then the arc-shaped locking plate 13 is rotated, which cooperates with the hooking groove 3 to lock the beam platform 25 on the first conductor 1, as shown in Figure 7 , and then the first traction rope 26 of the follow-up trolley 24 is released, so that the beam platform 25 is slowly placed on the upper conductor, and finally the horn is clamped on the second conductor 2 under the positioning of the horn, as shown in Figure 8 .

[0075] S4: after the beam platform 25 is positioned on the upper conductor (i.e. the first conductor 1 and the second conductor 2), the locking device is opened, the ground debugging personnel give a signal to make the magnetic attraction device 33 (such as an electromagnet) of the upper pulley of the beam platform 25 be powered off, then the counterweight attached to the fixed pulley starts to fall with the first auxiliary rope 8 from the second through hole, and the first auxiliary rope 8 is wound around the side of the fixed pulley after measuring the height, as shown in Figure 9 .

[0076] S5: after the weight block 27 at the first end of the first auxiliary rope 8 falls to the ground, the first auxiliary rope 8 is manually pulled until the conical counterweight at the other end of the first auxiliary rope 8 starts to fall (the second end of the first auxiliary rope 8 has a blocking object 28, which cannot continue to move after contacting the conical counterweight 6, and the conical counterweight 6 can be pulled out of the conical counterweight sleeve 5 by continuing to apply pulling force, so as to fall from the third through hole on the other side of the fixed pulley), as shown in Figure 10 , so that the target of hanging the second traction rope 29 (i.e. the silk rope of the traction robot 30) on the beam platform 25 is realized under the cooperation of the counterweight and the conical counterweight, as shown in Figure 11 .

[0077] S6: the first end of the second traction rope 29 hanging on the fixed pulley of the beam platform 25 is fixed on the robot 30, and the second end is connected to the climber, through which the robot 30 is quickly lifted to the conductor, the first end of the second traction rope 29 is connected to a two-way split hinge, and the two split parts are connected to the body of the robot 30, so as to ensure that the robot 30 always maintains a vertical posture during the lifting process, as shown in Figure 12 The adjusting rope for adjusting the posture is installed on the body of the robot 30, so as to ensure that the robot 30 can smoothly enter the four-split conductor 23, and after the robot 30 enters the range of the four-split conductor 23, the robot 30 is directly hung on the upper conductor, and the robot 30 is lifted to the conductor.

[0078] S7: after the robot 30 completes the work, the robot 30 is placed on the ground from the set detection position through the second traction rope 29;

[0079] The locking device is started, the second end of the beam platform 25 is locked on the first conductor 1, the first end of the first traction rope 26 is pulled, so that the wire slot 4 is separated from the second conductor 2, the locking device is released, the beam platform 25 is placed on the ground through the control of the first traction rope 26, and the first traction rope 26 with the pulley is taken off from the ground wire 20 after the beam platform 25 falls to the ground.

[0080] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic in-out line beam platform, characterized by, The platform body, the hooking groove at the first end of the platform body, and the clamping groove at the second end of the platform body are arranged on the platform body, and the locking device for locking the platform body on a split conductor is arranged on the platform body; The first end of the platform body is provided with a traction rope hook, and the second end is provided with an auxiliary rope hook, and the platform body is provided with a fixed pulley, a magnetic attraction device, a conductor groove, a weight block, a conical weight, and a conical weight sleeve, the first through hole is formed in the central axis direction of the conical weight, and the conical weight is arranged in the conical weight sleeve; The first end of the first auxiliary rope is connected with the weight block attracted by the magnetic attraction device, the second end of the first auxiliary rope passes through the through slot of the conical weight and the conductor groove in sequence and naturally drops after passing through the fixed pulley, the second end of the first auxiliary rope is provided with a blocking object for blocking the second end of the first auxiliary rope from passing out of the first through hole, and the platform body is provided with a second through hole for the weight block to fall and a third through hole for the conical weight to fall; The second through hole is located at a position opposite the bottom of the weight block on the platform body, the third through hole is located at the outlet position of the conical weight of the conical weight sleeve, the second through hole and the third through hole are located on both sides of the fixed pulley, and the central axis of the conductor groove is perpendicular to the central axis of the fixed pulley; The fourth through hole for placing the conical weight is formed in the conical weight sleeve, the central axis of the fourth through hole is at a set angle with the upper surface of the platform body, and the conical weight outlet of the fourth through hole faces obliquely upward of the platform body.

2. The robot line-up and line-down beam platform according to claim 1, wherein the locking device comprises a driving mechanism, a photoelectric switch, and an arc-shaped locking plate, the driving mechanism is connected with the arc-shaped locking plate, the arc-shaped locking plate can be rotated to the conductor under the driving of the driving mechanism, and the arc-shaped locking plate is locked with the conductor in cooperation with the hooking groove; and the photoelectric switch is used for detecting whether the arc-shaped locking plate is rotated to the position.

3. The robot line-up and line-down beam platform according to claim 2, wherein the driving mechanism comprises a speed reducer motor, a first bevel gear, a second bevel gear, and a transmission shaft. The output end of the speed reducer motor is connected with the first bevel gear, the first bevel gear is engaged with the second bevel gear, the second bevel gear is connected with the transmission shaft, the transmission shaft is connected with the arc-shaped locking plate, and the central axis of the first bevel gear is perpendicular to the central axis of the second bevel gear.

4. The robot line-up and line-down beam platform according to claim 2, wherein a notch is formed at the central position of the first end of the platform body, the notch divides the hooking groove into two symmetrical parts, and the arc-shaped locking plate is located at the notch position.

5. The robot line-up and line-down beam platform according to claim 1, wherein the first end of the platform body is provided with at least two traction rope hooks, the second end of the platform body is provided with at least two auxiliary rope hooks, and the traction rope hooks at the first end and the second end of the platform body are arranged symmetrically along the platform body.

6. The robot line-up and line-down beam platform according to claim 1, wherein the clamping groove is a horn groove facing the position directly below the platform body, and the hooking groove is a groove facing the inner side below the platform body. The robot line-up and line-down beam platform according to any one of claims 1-6 comprises the following process: The first traction rope with a pulley is hung on the ground wire. ​ ​ ​ ​ 7. A robot line-up method characterized by comprising: ​ ​ The first end of the first traction rope is hung on the traction rope hook at the first end of the platform body, and the first traction rope and the second auxiliary rope connected to the auxiliary rope hook are pulled to pull the robot up and down the beam platform to the guide wire position; The first traction rope is adjusted to hook the hooking groove to the first guide wire, the locking device is started to lock the second end of the platform body on the first guide wire, the first traction rope is loosened, the platform body is slowly flattened, and the clamping groove is clamped on the second guide wire, wherein the first guide wire and the second guide wire are guide wires located on the same horizontal plane; The locking device is opened, the magnetic attraction device is powered off, the weight block attracted to the magnetic attraction device starts to fall from the second through hole with the first auxiliary rope, after the weight block falls to the ground, the first auxiliary rope is continuously pulled, the tapered weight is pulled out of the tapered weight sleeve under the cooperation of the blocking object, so that the tapered weight falls from the third through hole; The first auxiliary rope is replaced by a second traction rope for pulling the robot, and the robot is pulled to the working position under the cooperation of the robot up and down the beam platform and the second traction rope; After the robot completes the work, the robot is placed on the ground from the set detection position through the second traction rope; The locking device is started to lock the second end of the platform body on the first guide wire, the first end of the first traction rope is pulled to make the clamping groove disengage from the second guide wire, the locking device is loosened, and the platform body is placed on the ground by controlling the first traction rope and the second auxiliary rope; After the platform body falls to the ground, the first traction rope with the pulley is taken off from the ground wire.

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