Robot folding and unfolding device for urban collaborative operation environment

Abstract

The invention relates to the technical field of hardware integration and machine manufacturing, and discloses a robot folding and unfolding device for an urban collaborative operation environment. The device comprises a bearing platform, a mounting adapter plate, a hydraulic driving unit, inner and outer lifting guide rails and a power unit, the inner and outer lifting guide rails comprise an outer guide rail and an inner guide rail, the outer guide rail is connected with a vehicle body through the mounting adapter plate, the inner guide rail is connected with the bearing platform, and the bearing platform is used for arranging the micro-robot; the power unit is connected with the hydraulic driving unit through an oil pipe to provide power, the hydraulic driving unit comprises a lifting hydraulic driving unit and an overturning hydraulic driving unit, the lifting hydraulic driving unit is arranged in the outer guide rail and connected with the inner guide rail, one end of the overturning hydraulic driving unit is connected with the inner guide rail, and the other end of the overturning hydraulic driving unit is connected with the bearing platform. The lifting hydraulic driving unit is used for driving the inner guide rail to lift along the outer guide rail to drive the bearing platform to lift, and the overturning hydraulic driving unit is used for driving the bearing platform to open or close.

Description

Technical Field

[0001] The present invention relates to the technical field of hardware integration and mechanical manufacturing, and in particular to a robot retracting and deploying device for an urban collaborative working environment. Background Art

[0002] With the rapid development of cutting-edge technologies such as artificial intelligence and robotics, unmanned systems will gradually play an increasingly important role in future urban environment operations. However, as related technologies mature, unmanned systems will also gradually expand from low-intensity tasks and low-risk environments to complex, changeable and high-threat environments such as future cities.

[0003] Analyzing the characteristics of the urban operating environment, we can find that in addition to outdoor open spaces, urban spaces also have vast sheltered spaces such as buildings and underground spaces. These areas are also one of the areas where unmanned systems operate in depth.

[0004] In response to the task requirements of multi-space operations in cities and with the goal of improving operational efficiency, unmanned systems are gradually replacing manned operations and are deeply involved in the process of urban environment operations. However, there are limitations in the capabilities of a single unmanned platform. Large ground unmanned vehicles, as carriers, have the characteristics of high mobility and strong load-bearing capacity. They can move quickly in open urban operating environments, but cannot enter narrow and obstructed spaces such as buildings, alleys or underground pipelines to carry out designated tasks. Micro robots have the characteristics of high flexibility and strong concealment.

[0005] In order to improve the operation and perception capabilities of unmanned systems in complex urban operating environments, it is necessary to design a robot retracting and deploying device for complex urban collaborative operating environments by combining the advantages of both, so as to achieve the complementary advantages of the motion capabilities of large unmanned platforms and micro robots. However, there is no relevant retracting and deploying device in the prior art. Summary of the invention

[0006] The present invention provides a robot retracting and deploying device for an urban collaborative working environment, which can solve the problems in the prior art.

[0007] The present invention provides a robot folding and unfolding device for an urban collaborative working environment, wherein the device includes a carrying platform, an installation adapter plate, a hydraulic drive unit, inner and outer lifting guide rails and a power unit, wherein the inner and outer lifting guide rails include an outer guide rail and an inner guide rail, wherein the outer guide rail is connected to the vehicle body through the installation adapter plate, and the inner guide rail is connected to the carrying platform, and the carrying platform is used to set the robot, and the power unit is connected to the hydraulic drive unit through an oil pipe to provide power, and the hydraulic drive unit includes a lifting hydraulic drive unit and a flipping hydraulic drive unit, wherein the lifting hydraulic drive unit is arranged in the outer guide rail and connected to the inner guide rail, wherein one end of the flipping hydraulic drive unit is connected to the inner guide rail, and the other end is connected to the carrying platform, wherein the lifting hydraulic drive unit is used to drive the inner guide rail to move up and down along the outer guide rail to drive the carrying platform to lift and lower, and wherein the flipping hydraulic drive unit is used to drive the carrying platform to open or close.

[0008] Preferably, the device further comprises a control unit for sending a lifting instruction or a flipping instruction, wherein the lifting instruction is used to control the lifting hydraulic drive unit to perform a corresponding lifting drive operation, and the flipping instruction is used to control the flipping hydraulic drive unit to perform a corresponding flipping drive operation.

[0009] Preferably, the lifting hydraulic drive unit is a lifting hydraulic cylinder, the flipping hydraulic drive unit is a flipping hydraulic cylinder, the power unit is a hydraulic pump, and the hydraulic pump includes a DC motor, a reversing solenoid valve and a unloading solenoid valve.

[0010] Preferably, the lifting instruction includes an ascending instruction and a descending instruction.

[0011] When the ascending command is sent, the DC motor starts to work to supply oil to the oil circuit, the reversing solenoid valve is energized and in the left position, the unloading solenoid valve is in the right position, and the hydraulic oil enters the lifting cylinder to control the lifting cylinder to move upward;

[0012] When a descending command is sent, the DC motor does not work, the reversing solenoid valve is in the power-off state and in the right position, and the unloading solenoid valve is in the right position.

[0013] Preferably, the flipping instruction includes an eversion instruction and an inversion instruction.

[0014] When the outward turning command is sent, the reversing solenoid valve is in the non-powered state and in the right position. Under the action of gravity, the hydraulic oil in the inverting hydraulic cylinder flows back to the oil tank to complete the pressure relief work, thereby realizing the opening action of the bearing platform;

[0015] When the inner rotation command is sent, the DC motor starts to work to supply oil to the oil circuit, the reversing solenoid valve is in the right position, and the hydraulic oil enters the flip hydraulic cylinder, controlling the flip hydraulic cylinder to push the piston rod inward until the load-bearing platform completes the closing action.

[0016] Preferably, the mounting adapter plate is connected to the vehicle body on one side by bolts and countersunk holes provided on the vehicle body, and is connected to the outer guide rail on the other side by welding.

[0017] Preferably, the mounting adapter plate includes a vertical mounting plate, a first connecting plate, a first rib plate, a second connecting plate and a second rib plate, the first connecting plate and the first rib plate form a trapezoidal structure with the vertical mounting plate at the upper part of the vertical mounting plate, the trapezoidal structure is connected to the top end of the rear part of the vehicle body, the second connecting plate and the second rib plate form a triangular structure with the vertical mounting plate at the lower part of the vertical mounting plate, and the triangular structure is connected to the bottom end of the rear part of the vehicle body.

[0018] Preferably, the vertical mounting plate is a steel plate.

[0019] Through the above technical solution, the rail-type vertical lifting mode can be adopted, and the lifting and flipping of the retracting and releasing device can be realized through the power unit and the hydraulic drive unit. At the same time, the adapter plate is used to connect the vehicle body and the outer rail, which can have the characteristics of modular disassembly, simple structure, convenient disassembly and assembly, and can realize the stable retraction and release of the micro robot. In addition, the device is conducive to the complementary functional advantages of the large unmanned platform mother body and the micro robot, greatly improving the future urban multi-space operation and perception capabilities of the unmanned system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A schematic diagram of a robot retracting and deploying device for an urban collaborative working environment according to an embodiment of the present invention is shown;

[0022] Figure 2 A schematic diagram of force analysis of a lifting state of a robot retracting and releasing device for an urban collaborative working environment according to an embodiment of the present invention is shown;

[0023] Figure 3A schematic diagram of force analysis of a robot retracting and releasing device for an urban collaborative working environment in a flipping state according to an embodiment of the present invention is shown;

[0024] Figure 4A and 4B A schematic diagram of the connection of an installation adapter plate of a robot retracting and releasing device for an urban collaborative working environment according to an embodiment of the present invention is shown;

[0025] Figure 5 A schematic diagram of a power unit according to an embodiment of the present invention is shown;

[0026] Figure 6 A working principle diagram of a power unit and a hydraulic drive unit according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0030] Figure 1 A schematic diagram of a robot retracting and deploying device for an urban collaborative working environment according to an embodiment of the present invention is shown.

[0031] like Figure 1 As shown, an embodiment of the present invention provides a robot retracting and releasing device for an urban collaborative working environment, wherein the device includes a carrying platform 1, an installation adapter plate 2, a hydraulic drive unit, inner and outer lifting guide rails and a power unit 3, wherein the inner and outer lifting guide rails include an outer guide rail 5 and an inner guide rail 6, wherein the outer guide rail 5 is connected to the vehicle body 4 through the installation adapter plate 2, and the inner guide rail 5 is connected to the carrying platform 1, and the carrying platform 1 is used to set a robot (for example, a micro robot), and the power unit 3 is connected to the hydraulic drive unit through an oil pipe 8 to provide power, and the hydraulic drive unit includes a lifting hydraulic drive unit and a flipping hydraulic drive unit 7, wherein the lifting hydraulic drive unit is arranged in the outer guide rail 5 and connected to the inner guide rail 6, wherein one end of the flipping hydraulic drive unit 7 is connected to the inner guide rail 6, and the other end is connected to the carrying platform 1, wherein the lifting hydraulic drive unit is used to drive the inner guide rail 6 to move up and down along the outer guide rail 5 to drive the carrying platform to lift and lower, and the flipping hydraulic drive unit 7 is used to drive the carrying platform 1 to open or close (release outward or retract inward).

[0032] Through the above technical solution, the rail-type vertical lifting mode can be adopted, and the lifting and flipping of the retracting and releasing device can be realized through the power unit and the hydraulic drive unit. At the same time, the adapter plate is used to connect the vehicle body and the outer rail, which can have the characteristics of modular disassembly, simple structure, convenient disassembly and assembly, and can realize the stable retraction and release of the micro robot. In addition, the device is conducive to the complementary functional advantages of the large unmanned platform mother body and the micro robot, greatly improving the future urban multi-space operation and perception capabilities of the unmanned system.

[0033] For example, the working scene of the retractable device can be a future urban working environment. Taking the micro-robot as an example, after the vehicle body equipped with the retractable device runs to the designated position, the release of the micro-robot can be started. The process includes: the carrying platform of the retractable device flips outward and opens, the micro-robot drives to the carrying platform autonomously, the carrying platform vertically descends to the ground and completes the release of the robot. When the robot completes the designated task, the recovery process is the reverse process of the release. The mechanical structure design of the retractable device focuses on its carrying capacity, operating stability, force conditions, etc., which can ensure that the entire movement process is smooth, horizontal, without jamming, and flexible in retraction and release.

[0034] According to one embodiment of the present invention, the device also includes a control unit for sending a lifting instruction or a flipping instruction, wherein the lifting instruction is used to control the lifting hydraulic drive unit to perform a corresponding lifting drive operation, and the flipping instruction is used to control the flipping hydraulic drive unit 7 to perform a corresponding flipping drive operation.

[0035] According to one embodiment of the present invention, the lifting hydraulic drive unit is a lifting hydraulic cylinder, the flipping hydraulic drive unit 7 is a flipping hydraulic cylinder, the power unit 3 is a hydraulic pump, and the hydraulic pump includes a DC motor, a reversing solenoid valve (including a reversing valve and an electromagnet) and an unloading solenoid valve (unloading valve).

[0036] The hydraulic cylinder can be composed of a piston and a sealing device, which is used to generate force to push the load-bearing platform to complete the lifting and flipping movements; the hydraulic pump can transmit the hydraulic oil through the oil pipe to the lifting hydraulic cylinder and the flipping hydraulic cylinder of the retracting device to provide the power for extension and retraction. When the hydraulic oil enters the hydraulic cylinder, the pressure of the hydraulic oil pushes the piston upward, downward, inward and outward, thereby realizing the lifting and flipping movements of the micro-robot retracting device. The control valve can be used to control the flow direction and flow of the hydraulic oil, thereby controlling the movement of the hydraulic cylinder. By opening or closing the control valve, the lifting, flipping, stopping and locking functions of the micro-robot retracting device can be realized.

[0037] More specifically, if Figure 5 As shown, the power unit (oil source) may also include an oil inlet, an oil drain, a gear pump, an oil return pipe, an oil inlet pipe, a contactor, a throat clamp, an oil source box and an overflow valve. During operation, after the DC motor is connected to the power supply, it can drive the gear pump to pump the oil in the oil tank into the hydraulic cylinder to realize the lifting and turning of the retractable device. The specific arrangement of these components can be realized by the existing technology, and in order not to confuse the present invention, it will not be repeated here.

[0038] According to an embodiment of the present invention, the lifting instruction includes an ascending instruction and a descending instruction.

[0039] When the ascending command is sent, the DC motor starts to supply oil to the oil circuit, the reversing solenoid valve (two-position three-way) is energized and is in the left position, the unloading solenoid valve is in the right position, and the hydraulic oil enters the lifting cylinder to control the lifting cylinder (lifting cylinder) to move upward. Figure 6 As shown;

[0040] That is, during the rising process of the carrying platform, after the rising switch is energized, the DC motor M starts to work and supplies oil to the oil circuit. At this time, the reversing solenoid valve is energized to put it in the left working state, and the unloading valve is in the right working state. The hydraulic oil enters the lifting hydraulic cylinder, pushing the lifting cylinder upward.

[0041] When the descending command is sent, the DC motor does not work, the reversing solenoid valve is powered off and in the right position, and the unloading solenoid valve is in the right position. Figure 6 shown.

[0042] That is, the descending process of the load-bearing platform is opposite to the ascending process. After the descending switch is closed, the DC motor does not work at this time. At this time, the reversing solenoid valve is in the power-off state and is in the right position working state, and the unloading solenoid valve is in the right position.

[0043] According to an embodiment of the present invention, the flipping instruction includes an eversion instruction and an inversion instruction.

[0044] When the flip command is sent, the reversing solenoid valve is in the non-powered state and in the right position. Under the action of gravity, the hydraulic oil in the flip hydraulic cylinder (door closing cylinder) flows back to the oil tank to complete the pressure relief work, thereby realizing the opening action of the bearing platform 1. Figure 6 As shown;

[0045] That is, when the load-bearing platform is extending outward, the relay corresponds to the switch under the control of the control instruction, so that the reversing solenoid valve is in an unpowered state. At this time, the reversing valve is in the right position. Under the action of gravity, the hydraulic oil in the flip hydraulic cylinder flows back to the oil tank, completing the pressure relief work, and then realizing the extension action of the load-bearing platform.

[0046] When the inner rotation command is sent, the DC motor starts to work to supply oil to the oil circuit, the reversing solenoid valve is in the right position, and the hydraulic oil enters the flip hydraulic cylinder, controlling the flip hydraulic cylinder to push the piston rod inward until the load-bearing platform 1 completes the closing action. Figure 6 shown.

[0047] That is, when the load-bearing platform is shrinking inward, the relay corresponds to the switch function under the control of the control command, the DC motor is energized and drives the gear pump P to supply oil to the circuit. At this time, the reversing valve is in the right working state, and the hydraulic oil flows into the flip hydraulic cylinder through the hydraulic control one-way valve. The hydraulic cylinder pushes the piston rod to shrink inward until the entire load-bearing platform completes the closing action.

[0048] More specifically, if Figure 6 As shown in the figure, after the DC motor M is connected to the power supply, it can drive the gear pump P to supply oil to the entire hydraulic pipeline, and control the movement of the lifting hydraulic cylinder and the tilting hydraulic cylinder through the two-position three-way electromagnetic reversing valve. The function of the overflow valve is to ensure that the pressure in the hydraulic circuit does not exceed the normal working pressure. At the same time, the one-way valve, that is, the hydraulic lock, can realize the brake locking of the hydraulic cylinder at different positions. The speed regulating valve can realize the control of the oil supply flow of the oil circuit, thereby realizing the control of the movement speed of the lifting hydraulic cylinder.

[0049] That is, under electro-hydraulic drive, the lifting hydraulic cylinder can drive the guide rail to make the load-bearing platform realize vertical rising and falling movement, and the flipping hydraulic cylinder can realize the flipping movement of the load-bearing platform. The mode switching and motion control of the lifting and flipping movement process of the robot retracting and releasing device can be realized by controlling the on-off signal of the relay (the on-off signal is sent according to the lifting instruction and the flipping instruction) to control the on-off of the solenoid valve. There is a closed cavity in the solenoid valve, with through holes at different positions, each hole is connected to a different oil pipe, the middle of the cavity is a piston, and the two sides are two electromagnets. The valve body will be attracted to which side the magnet coil is energized. By controlling the movement of the valve body, different oil drain holes are opened or closed, and the oil inlet hole is normally open, the hydraulic oil will enter different oil drain pipes, and then the piston of the oil cylinder is pushed by the oil pressure, and the piston drives the piston rod, and the piston rod drives the mechanical device. Therefore, by controlling the on-off current of the electromagnet to push the valve body in the oil circuit to move, the corresponding mechanical movement can be controlled.

[0050] According to an embodiment of the present invention, the mounting adapter plate 2 is a mounting adapter plate 2 having one side through which bolts and a countersunk hole (such as Figure 4B As shown in the figure, one side is connected to the vehicle body 4, and the other side is connected to the outer guide rail 5 by welding.

[0051] According to an embodiment of the present invention, as shown in Figure 4, the mounting adapter plate 2 includes a vertical mounting plate 21, a first connecting plate 22, a first rib plate 23, a second connecting plate 24 and a second rib plate 25, the first connecting plate 22 and the first rib plate 23 form a trapezoidal structure with the vertical mounting plate 21 at the upper part of the vertical mounting plate 21, and the trapezoidal structure is connected to the top end of the rear part of the vehicle body 4, the second connecting plate 24 and the second rib plate 25 form a triangular structure with the vertical mounting plate 21 at the lower part of the vertical mounting plate 21, and the triangular structure is connected to the bottom end of the rear part of the vehicle body 4.

[0052] That is, a trapezoidal structure can be used at the top of both sides of the rear of the vehicle, which can be connected to the rear of the vehicle by bolts. The top can be used to support the apron for unmanned system function expansion, and the lower part of the adapter plate can be bolted to the bottom of the vehicle body using a triangular structure. In order to ensure the stability of the connection with the vehicle body and the convenience of disassembly, one side of the vertical mounting plate can be connected to the vehicle body with bolts, and the other side can be welded to the outer guide rail. This connection method is easy to install, and is conducive to the overall disassembly of the retractable device, increasing the maneuverability of the mobile platform, and facilitating the unmanned platform to switch modes for different work tasks. In addition, the trapezoidal structure and the triangular structure can improve the force strength of the adapter plate and the mechanical stability of the entire system.

[0053] According to an embodiment of the present invention, the vertical mounting plate 21 is a steel plate.

[0054] As mentioned above, the movement process of the robot retracting and releasing device includes two processes: lifting and flipping. Figure 2 and Figure 3 As shown in the force analysis. Taking the recovery of the micro robot from the ground as the research object, when the carrying platform is on the ground, the force between the vehicle body and the retracting device mainly comes from the weight of the lifting guide rail G1. After the loading of the micro robot is completed, the carrying platform rises horizontally. At this time, the force on the carrying platform includes its own gravity G2 and the pulling force F1 of the flipping hydraulic cylinder. At this time, the force on the connection between the vehicle body and the whole device includes the weight of the guide rail G1, the weight of the carrying platform G2 and the weight of the cylinder G3, plus the weight P of the micro robot. The force analysis of the flipping state is shown in the figure. Figure 3 As shown, when the load-bearing platform is flipped inward, the resultant moment received by the connection gradually decreases.

[0055] From the above embodiments, it can be seen that the robot retracting and deploying device for urban collaborative working environment of the present invention can improve the multi-space working ability of unmanned platform in future urban working environment, and the detachable design can flexibly change the configuration of mobile platform, which is convenient for performing different types of working tasks. In addition, the retracting and deploying device of the present invention is conducive to realizing the complementary advantages of the movement ability of large unmanned platform and micro robot, greatly improving the environmental perception coverage ability of future urban working and improving the collaborative working and perception ability of unmanned system.

[0056] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0057] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0058] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot retracting and deploying device for urban collaborative working environment, It is characterized in that The device comprises a bearing platform (1), an installation adapter plate (2), a hydraulic drive unit, inner and outer lifting guide rails and a power unit (3), wherein the inner and outer lifting guide rails comprise an outer guide rail (5) and an inner guide rail (6), wherein the outer guide rail (5) is connected to the vehicle body (4) via the installation adapter plate (2), and the inner guide rail (5) is connected to the bearing platform (1), wherein the bearing platform (1) is used to set a robot, and the power unit (3) is connected to the hydraulic drive unit via an oil pipe (8) to provide power, and the hydraulic drive unit The invention comprises a lifting hydraulic drive unit and a flipping hydraulic drive unit (7), wherein the lifting hydraulic drive unit is arranged in the outer guide rail (5) and connected to the inner guide rail (6), one end of the flipping hydraulic drive unit (7) is connected to the inner guide rail (6), and the other end is connected to the carrying platform (1), the lifting hydraulic drive unit is used to drive the inner guide rail (6) to move up and down along the outer guide rail (5) to drive the carrying platform to move up and down, and the flipping hydraulic drive unit (7) is used to drive the carrying platform (1) to open or close.

2. The device according to claim 1, It is characterized in that The device also includes a control unit for sending a lifting instruction or a flipping instruction, wherein the lifting instruction is used to control the lifting hydraulic drive unit to perform a corresponding lifting drive operation, and the flipping instruction is used to control the flipping hydraulic drive unit (7) to perform a corresponding flipping drive operation.

3. The device according to claim 2, It is characterized in that The lifting hydraulic drive unit is a lifting hydraulic cylinder, the flipping hydraulic drive unit (7) is a flipping hydraulic cylinder, the power unit (3) is a hydraulic pump, and the hydraulic pump comprises a DC motor, a reversing solenoid valve and a unloading solenoid valve.

4. The device according to claim 3, It is characterized in that The lifting instructions include an ascending instruction and a descending instruction. When the ascending command is sent, the DC motor starts to work to supply oil to the oil circuit, the reversing solenoid valve is energized and in the left position, the unloading solenoid valve is in the right position, and the hydraulic oil enters the lifting cylinder to control the lifting cylinder to move upward; When a descending command is sent, the DC motor does not work, the reversing solenoid valve is in the power-off state and in the right position, and the unloading solenoid valve is in the right position.

5. The device according to claim 3, It is characterized in that The flipping instruction includes an eversion instruction and an inversion instruction. When an outward turning command is sent, the reversing solenoid valve is in an unpowered state and in the right position. Under the action of gravity, the hydraulic oil in the turning hydraulic cylinder flows back to the oil tank, completing the pressure relief work, thereby realizing the opening action of the bearing platform (1); When an inward rotation command is sent, the DC motor starts to supply oil to the oil circuit, the reversing solenoid valve is in the right position, and hydraulic oil enters the tilting hydraulic cylinder, controlling the tilting hydraulic cylinder to push the piston rod inward to retract until the bearing platform (1) completes the closing action.

6. The device according to any one of claims 1 to 5, It is characterized in that The mounting adapter plate (2) is connected to the vehicle body (4) on one side by bolts and countersunk holes provided on the vehicle body (4), and is connected to the outer guide rail (5) on the other side by welding.

7. The device according to claim 6, It is characterized in that The mounting adapter plate (2) comprises a vertical mounting plate (21), a first connecting plate (22), a first rib plate (23), a second connecting plate (24) and a second rib plate (25); the first connecting plate (22) and the first rib plate (23) form a trapezoidal structure with the vertical mounting plate (21) at the upper part of the vertical mounting plate (21); the trapezoidal structure is connected to the top end of the rear part of the vehicle body (4); the second connecting plate (24) and the second rib plate (25) form a triangular structure with the vertical mounting plate (21) at the lower part of the vertical mounting plate (21); the triangular structure is connected to the bottom end of the rear part of the vehicle body (4).

8. The device according to claim 7, It is characterized in that The vertical mounting plate (21) is a steel plate.

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