System and method for deploying robots and robotic system

Abstract

The present disclosure relates to a system and method for deploying a robot and a robot system. The system (100) for deploying a robot comprises a carrying platform (110) configured to carry a robot (200) comprising a robotic arm, a plurality of support legs (120) configured to support the carrying platform (110), each of the plurality of support legs (120) comprising a lifting assembly configured to adjust a height of the carrying platform (110), and a securing assembly comprising a first securing component (132) disposed on the support leg (120), the first securing component (132) being configured to releasably engage with a second securing component (134) disposed on the ground, wherein in a state that the first securing component (132) engages with the second securing component (134), the robot (200) is allowed to operate, and in a state that the first securing component (132) is disengaged from the second securing component (134), the system (100) is allowed to move.

Description

Technical Field

[0001] The embodiments of this disclosure generally relate to the field of industrial robots, and more particularly to systems and methods for deploying robots, as well as robot systems. Background Technology

[0002] Industrial robots are widely used in various industrial fields. An industrial robot consists of a manipulator arm with multiple axes. The end effector of the robotic arm can be equipped with a machining tool, allowing for high-precision machining and / or handling of objects by controlling the movement of the robot's arm. In some applications, robots need to move within a factory. Traditionally, Automated Guided Vehicles (AGVs) are used to transport robots.

[0003] However, in applications where robots are heavy and have high loads, the risk of the robot tipping over is extremely high when using AGVs to carry it, posing a significant safety hazard. Even increasing the size of the AGV to ensure robot safety cannot meet the actual operational requirements. This is because, while increasing the weight of the AGV platform reduces the risk of tipping, it also reduces the robot's working range, preventing it from operating as expected.

[0004] Some traditional solutions, such as CN113903584A, propose a suspension support and mobile robot approach. This involves providing a pair of fixed supports in the factory, with a movable truss mounted on the fixed supports, suspending the robot on the truss. The robot is then moved by moving the truss. However, this approach significantly increases robot deployment costs, and the robot's movement is severely limited by the truss layout. There is a desire to improve upon traditional robot deployment platforms. Summary of the Invention

[0005] Embodiments of this disclosure provide a system and method for deploying robots, which enables the deployment of robots, particularly large robots, at low cost and with high flexibility.

[0006] According to a first aspect of this disclosure, a system for deploying a robot is provided. The system includes: a carrier platform configured to carry a robot including a robotic arm; a plurality of support legs configured to support the carrier platform, each of the plurality of support legs including a lifting assembly configured to adjust the height of the carrier platform; and a fixing assembly including a first fixing member disposed on the support leg, the first fixing member being configured to releasably engage with the second fixing member disposed on the ground, wherein the robot is permitted to operate when the first fixing member is engaged with the second fixing member, and the system is permitted to move when the first fixing member is disengaged from the second fixing member.

[0007] In some embodiments, the system further includes a first sensor configured to detect the force exerted on each of the support legs, wherein the force provided by the first sensor indicates whether there is false support in the support leg.

[0008] In some embodiments, the lifting assembly includes a fixed end and a slide that moves vertically relative to the fixed end, and the support platform is fixed to the fixed end.

[0009] In some embodiments, the slide table further includes a universal joint bearing for supporting the slide table relative to the first fixed member; and / or the slide table further includes a limiting member for limiting the angle of the universal joint bearing.

[0010] In some embodiments, the lifting assembly further includes one or more linear guides for guiding the movement of the slide, the slide being mounted on the guides and configured to move along the linear guides, the slide being configured to be driven via a servo motor.

[0011] In some embodiments, the lifting assembly further includes a transmission system configured to transmit power from the servo motor to the slide, the transmission system including a worm gear mechanism.

[0012] In some embodiments, the system further includes a second sensor configured to detect the levelness of the support platform, wherein the levelness signal provided by the second sensor is used to adjust the height of one or more of the support legs and / or for coordinate compensation of the robot.

[0013] In some embodiments, the first fixing component includes an electro-permanent magnet unit, and the second fixing component includes a ferromagnetic component adapted to be magnetically attracted to the electro-permanent magnet unit. The electro-permanent magnet unit includes a permanent magnet unit and an electromagnetic unit, wherein the first fixing component is magnetically attracted to the second fixing component by magnetizing the electromagnetic unit, and the first fixing component is released from the second fixing component by demagnetizing the electromagnetic unit.

[0014] In some embodiments, the system further includes a third sensor configured to detect the magnetization and / or demagnetization state of the electromagnetic unit, wherein the magnetic field strength provided by the third sensor indicates whether the electromagnetic unit has been properly magnetized and / or demagnetized.

[0015] In some embodiments, the system further includes a fourth sensor configured to detect the contact state between the first fixing component and the second fixing component.

[0016] In some embodiments, the plurality of support legs are arranged below the support platform and are spaced apart from each other to form a receiving space below the support platform, wherein the size of the receiving space is configured to allow a transfer device to enter below the support platform to transfer the system from a first position to a second position from below the support platform.

[0017] In some embodiments, the carrying platform further includes a lifting interface to allow lifting equipment to engage with the lifting interface to transfer the system from a first position to a second position.

[0018] According to a second aspect of this disclosure, a method for deploying a robot is provided, utilizing a system for deploying a robot according to any one of the first aspects. The method includes: at a first position, releasing the engagement between a first fixing member and a second fixing member; transferring the system for deploying the robot from the first position to a second position using a transfer device, wherein the robot is carried on a support platform; and at the second position, securely engaging the first fixing member to the second fixing member.

[0019] In some embodiments, the method further includes: adjusting a lifting assembly disposed in each of the support legs based on a first sensor signal from a first sensor configured to detect the force exerted on each of the support legs, such that each of the support legs exerts substantially the same force.

[0020] In some embodiments, the method further includes: adjusting at least one of the lifting components disposed in each of the support legs, based on a second sensor signal from a second sensor configured to detect the levelness of the support platform, so that the support platform is in a horizontal orientation.

[0021] In some embodiments, the first fixing component includes an electro-permanent magnet unit, and the method further includes: determining whether to allow the robot to operate based on a third sensor signal from a third sensor configured to detect the magnetization and / or demagnetization state of the electromagnetic unit and / or a fourth sensor signal from a fourth sensor configured to detect the contact state between the first fixing component and the second fixing component.

[0022] In some embodiments, the method further includes: operating the robot at a first speed; determining a vibration level of the support platform based on a first sensor signal from the first sensor and / or a second sensor signal from the second sensor while the robot is operating at the first speed; and readjusting the position of the support platform in response to determining that the vibration level is greater than a first predetermined threshold.

[0023] In some embodiments, the method further includes: in response to determining that the vibration level is less than a first predetermined threshold, causing the robot to operate at a second speed higher than the first speed; in the case that the robot is operating at the second speed, determining a second vibration level of the carrier platform based on a first sensor signal from the first sensor and / or a second sensor signal from the second sensor; and in response to determining that the second vibration level is less than a second predetermined threshold, allowing the robot to operate normally.

[0024] In some embodiments, transferring the system for deploying robots from the first position to the second position using a transfer device includes: moving at least one of a rail-guided vehicle, an automated guided vehicle, a forklift fork, and an electric trolley into the space below the system for deploying robots; and moving at least one of the rail-guided vehicle, the automated guided vehicle, the forklift fork, and the electric trolley to move the system for deploying robots.

[0025] According to a third aspect of this disclosure, a robot system is provided. The robot system includes: a system (100) for deploying a robot according to any one of the first aspects; and a robot (200) mounted to a carrier platform (110) of the system (100) for deploying the robot.

[0026] According to this disclosure, one or more of the following technical effects can be achieved:

[0027] The size of the system used to deploy the robot has been reduced, ensuring that the robot has a large effective working area;

[0028] The robot can be easily moved by releasing the engagement between the first and second fixed components;

[0029] By locking the engagement between the first and second fixed components, the force exerted by the robot during operation is transmitted to the ground through the engagement between the first and second fixed components, effectively reducing the risk of the robot tipping over.

[0030] The use of multiple sensors improves the safety of systems used to deploy robots.

[0031] The system disclosed herein is inexpensive and easy to implement. Attached Figure Description

[0032] The above and other objects, features, and advantages of embodiments of the present disclosure will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated in the drawings by way of example and not limitation.

[0033] Figure 1 A schematic diagram of the overall environment of a system for deploying a robot according to an embodiment of the present disclosure is shown.

[0034] Figure 2 A perspective view of a system for deploying robots according to an embodiment of the present disclosure is shown.

[0035] Figure 3 This diagram shows a side view of a system for deploying a robot according to an embodiment of the present disclosure.

[0036] Figure 4 A flowchart illustrating a method for deploying a robot according to an embodiment of the present disclosure is shown.

[0037] In the various figures, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0038] Preferred embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0039] The term "comprising" and its variations as used herein signify an open-ended inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". Terms such as "upper", "lower", "front", and "rear", indicating placement or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are used only for the purpose of describing the principles of this disclosure, and are not intended to indicate or imply that the elements referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as limiting this disclosure.

[0040] Figure 1 A schematic diagram of the overall environment for a system for deploying a robot according to an embodiment of the present disclosure is shown. As an example environment, the system 100 for deploying the robot may be located within a factory building and implemented, for example, as a robot deployment platform (also indicated by reference numeral 100). Figure 1 As shown, a workpiece 10 to be processed can be set up in factory 1. The workpiece 10 is large in size and heavy in weight. In some embodiments, the workpiece 10 can be, for example, the core of a transformer. A robot 200 is fixed to a robot deployment platform 100. The robot 200 is a multi-axis robot and includes a robotic arm composed of multiple joints. An end flange can be installed at the end of the robotic arm, and a tool for processing the workpiece 10 can be installed at the end flange. During robot operation, the workpiece 10 is automatically processed by controlling the movement of the robotic arm. Figure 1 As shown, one or more robot deployment platforms 100 are arranged around the workpiece 10.

[0041] Figure 2 A perspective view of a system 100 (i.e., robot deployment platform 100) for deploying robots according to an embodiment of the present disclosure is shown. Figure 3 This diagram illustrates a side view of a system for deploying a robot according to an embodiment of the present disclosure. Figure 2 and Figure 3 In the illustrated embodiments, the robot 200 is shown with dashed lines or simplified outlines to avoid obscuring the structure of the robot deployment platform 100 according to this disclosure. Figure 2 and Figure 3 As shown, the robot deployment platform 100 includes a support platform 110, a plurality of support legs 120, and a fixing assembly. The support platform 110 is configured to support a robot 200. The support platform 110 may include a top surface and a mounting base 112 disposed on the top surface, the mounting base being fixed to the base of the robot 200, for example, by screws. In some embodiments, such as Figure 2 and Figure 3As shown, other parts of the support platform 110 can be used, for example, to house the robot controller 210 and the controller 150 of the robot deployment platform 100. Control circuitry for the robot deployment platform 100 can be housed in the controller 150. It should be understood that the illustrated embodiment is merely exemplary, and the robot controller 210 and controller 150 can be located in other suitable locations.

[0042] The support platform 110 can be placed on the ground via multiple support legs 120. Each support leg 120 may include a lifting assembly (not shown) to raise or lower the support platform 110, thereby adjusting the height of the support platform 110. In some embodiments, the lifting assembly may include a fixed end and a slide 122 that moves vertically relative to the fixed end. The fixed end is a stationary component, and the slide 122 is a moving component. The support platform 110 may be fixed to the slide 122. Thus, the vertical height of the support platform 110 can be adjusted by adjusting the position of the slide 122.

[0043] The fixing assembly is configured to releasably secure the support leg 120 to the ground. In some embodiments, the fixing assembly may include a first fixing member 132. The first fixing member 132 is disposed at a fixed end of the support leg 120 and is releasably engaged with a second fixing member 134. The second fixing member 134 may be disposed on the ground and is adapted to releasably engage with the first fixing member 132.

[0044] By providing a fixing component, the force generated during the operation of the robot 200 can be effectively transmitted to the ground through the fixing component, thereby significantly reducing the size of the support platform 110. When the size of the support platform 110 is small, the support platform 110 can be effectively arranged as close as possible to the workpiece 10, avoiding a reduction in the robot's working radius due to the support platform 110 being too large.

[0045] According to this disclosure, the fixed assembly is configured to releasably secure the support leg 120 to the ground, which is advantageous for facilitating the movement of the carrier platform 110. In some embodiments, it is necessary to move the carrier platform 110 carrying the robot 200 to different locations on the workpiece 10 to perform processing on different parts of the workpiece 10. With this releasable design, the carrier platform 110 can be easily moved simply by separating the first fixed component 132 from the second fixed component 134. In some embodiments, the slide 122 may also include a universal joint bearing for supporting the slide 122 relative to the first fixed component 132. The universal joint bearing allows for adaptive adjustment of the support of the slide 122 to accommodate uneven ground, ensuring reliable support between the slide 122 and the first fixed component 132.

[0046] In some embodiments, the slide 122 further includes a limiting member for limiting the angle of the universal joint bearing. The limiting member prevents the slide 122 from moving in an undesirable direction.

[0047] In some embodiments, the lifting assembly may further include one or more linear guides for guiding the movement of the slide 122, the slide 122 being mounted on the guides and configured to move along the linear guides. In some embodiments, the slide 122 is configured to be driven via a servo motor, thereby allowing precise control of the amount of movement of the slide 122.

[0048] In some embodiments, the lifting assembly may further include a transmission system 100 configured to transmit power from a servo motor to the slide 122, the transmission system 100 including a worm gear mechanism. It should be understood that the transmission system 100 may be merely exemplary and may be implemented as other types of drive mechanisms. In some embodiments, the worm may include a T-screw. The self-locking property provided by the T-screw prevents the support leg from accidentally rising or falling during robot movement. In some embodiments, a force sensor may be mounted at the connection between the slide and the screw assembly to detect the force exerted on the support leg. As an example, the force sensor may be a single-axis force sensor.

[0049] In some embodiments, the releasable connection between the first fixing member 132 and the second fixing member 134 can be implemented as an electromagnetic attraction. This can be achieved by controlling the on / off state of the power supply, allowing the first fixing member 132 and the second fixing member 134 to lock and release each other. It should be understood that this is merely exemplary, and the releasable connection between the first fixing member 132 and the second fixing member 134 can also be implemented in other ways, such as screw fastening.

[0050] In some embodiments, the first fixing member 132 may include an electro-permanent magnet unit, and the second fixing member 134 may include a ferromagnetic member adapted to be magnetically attracted to the electro-permanent magnet unit. For example... Figure 1 As shown, the second fixing member 134 may be, for example, a steel plate surrounding or below the workpiece 10. The electro-permanent magnet unit may include one or more permanent magnet units and one or more electromagnetic units. The electromagnetic units may be magnetized to magnetically attract the first fixing member 132 to the second fixing member 134. The electromagnetic units may be demagnetized to release the first fixing member 132 from the second fixing member 134. Thus, the electromagnetic units may be magnetized to achieve mutual locking between the first fixing member 132 and the second fixing member 134, and may be demagnetized to achieve mutual release between the first fixing member 132 and the second fixing member 134.

[0051] In some embodiments, the robot deployment platform 100 may further include a sensor configured to detect the magnetization and / or demagnetization state of the electromagnetic unit. In some embodiments, the sensor is, for example, a Gaussian detector. It should be understood that this is merely exemplary, and other types of sensors may be used to indicate whether the electromagnetic unit is properly magnetized and / or demagnetized by the magnetic field strength provided by the sensor. Thus, it can be confirmed that the electro-permanent magnet unit of the first fixing member 132 is functioning reliably.

[0052] In some embodiments, the robot deployment platform 100 may further include a contact sensor configured to detect the contact state between the first fixing member 132 and the second fixing member 134. The signal provided by the contact sensor indicates the contact state between the first fixing member 132 and the second fixing member 134. This confirms that the first fixing member 132 is indeed in contact with the second fixing member 134, which is beneficial for further improving system safety.

[0053] In some embodiments, a plurality of support legs 120 are arranged below the support platform 110, and the plurality of support legs 120 are spaced apart from each other. This creates a receiving space below the support platform 110. The receiving space below the support platform 110 can accommodate a transfer device 300, thereby allowing the transfer device 300 to enter below the support platform 110 to transfer the robot deployment platform 100 from a first position to a second position from below the support platform 110. Figure 3 In the illustrated embodiment, the transfer device 300 moves beneath the support platform 110 and elevates the robot deployment platform 100 as a whole to facilitate movement and transfer of the robot deployment platform 100. The transfer device 300 may be, for example, a rail-guided vehicle, an automated guided vehicle, an electric trolley, etc. In some embodiments, the transfer tool may be the forks of a forklift. In the illustrated embodiment, the robot deployment platform 100 has four support legs 120; it should be understood that the number of support legs is merely exemplary, and other numbers of support legs may also be present, such as three, five, etc.

[0054] like Figures 1-3 As shown, the transfer device 300 enters the space below the support platform 110, thereby facilitating the transfer of the robot deployment platform 100. In this case, the number of robot deployment platforms 100 that need to be deployed within the factory 1 can be reduced. For example, the robot deployment platform 100 can be conveniently transferred to different working positions using the transfer device 300. In some embodiments, the support platform 110 also includes a lifting interface. This allows lifting equipment to engage with the lifting interface to transfer the robot deployment platform 100. As an example, the lifting equipment may be a factory overhead crane, a modular crane (KBK), a truck crane, or similar equipment.

[0055] In some embodiments, the robot deployment platform 100 may further include sensors configured to detect the forces exerted on each support leg 120. The force provided by the sensors indicates whether there is false support in the support leg 120. This can avoid safety hazards caused by false support in the support leg 120.

[0056] In some embodiments, the robot deployment platform 100 may further include sensors configured to detect the levelness of the support platform 110. In some embodiments, the levelness signal provided by the sensors is used to adjust the height of the slides 122 of the plurality of support legs 120 to ensure that the support platform 110 is indeed level. In some embodiments, the levelness signal provided by the sensors is used for coordinate compensation of the robot 200, such as vertical coordinate compensation, to ensure the verticality of the robot's operation.

[0057] Figure 4 A flowchart of a method 400 for deploying a robot according to an embodiment of the present disclosure is shown. The method utilizes a robot deployment platform 100 according to the present disclosure to deploy a robot 200. The robot deployment platform 100 can be moved to a suitable position near the workpiece 10 as needed using method 400. At block 402, in a first position, the engagement between the first fixing member 132 and the second fixing member 134 is released. At block 404, the robot deployment platform 100 is transferred from the first position to a second position using a transfer device, wherein the robot 200 is fixed to the support platform 110. Instead of providing a transfer member on the robot deployment platform 100 itself, using a transfer device to move the robot deployment platform 100 minimizes the size occupied by the robot deployment platform 100. At block 406, in the second position, the first fixing member 132 is fixedly engaged to the second fixing member 134. Thus, the forces generated during robot operation on the robot deployment platform 100 can be transmitted to the ground via the second fixing member 134, preventing the robot from tipping over during operation on the robot deployment platform 100.

[0058] In some embodiments, the method may further include adjusting each lifting assembly based on a first sensor signal from a first sensor configured to detect the force exerted on each support leg 120, such that each support leg 120 experiences substantially the same force. This is performed, for example, after the robot deployment platform 100 has been moved to a second position. This prevents the support legs 120 from experiencing false support.

[0059] In some embodiments, the method may further include adjusting one or more lifting components based on a second sensor signal from a second sensor configured to detect the levelness of the support platform 110, so that the support platform 110 is in a horizontal orientation. This is beneficial for the normal operation of the robot 200.

[0060] In some embodiments, the first fixing member 132 may include an electro-permanent magnet unit. In this case, the method may further include: fixing the first fixing member 132 to the second fixing member 134 based on a third sensor signal from a third sensor configured to detect the magnetization and / or demagnetization state of the electromagnetic unit and / or a fourth sensor signal from a fourth sensor configured to detect the contact state between the first fixing member 132 and the second fixing member 134. The third sensor ensures that the electro-permanent magnet unit in each of the first fixing members 132 is still functioning. The fourth sensor signal confirms that the first fixing member 132 is fixedly engaged to the second fixing member 134. This improves safety during robot operation.

[0061] In some embodiments, the method may further include: operating the robot 200 at a first speed; determining a vibration level of a platform component based on a first sensor signal from a first sensor and / or a second sensor signal from a second sensor while the robot 200 is operating at the first speed; and readjusting the position of the support platform 110 in response to determining that the vibration level is greater than a first predetermined threshold. This allows for testing the operational safety of the robot deployment platform 100.

[0062] In some embodiments, the method may further include: in response to determining that the vibration level is less than a first predetermined threshold, causing the robot 200 to operate at a second speed higher than the first speed; while the robot 200 is operating at the second speed, determining a second vibration level of the platform component based on a first sensor signal from a first sensor and / or a second sensor signal from a second sensor; and allowing the robot 200 to operate normally in response to determining that the second vibration level is less than a second predetermined threshold. This allows for further testing of the operational safety of the robot deployment platform 100. In some embodiments, if the second vibration level is determined to be greater than the second predetermined threshold, the position of the support platform 110 is readjusted.

[0063] In some embodiments, transferring the robot deployment platform 100 from a first position to a second position using a transfer device may include: allowing at least one of a rail-guided vehicle, an automated guided vehicle, a forklift fork, or an electric trolley to enter the space below the platform assembly; and using at least one of the rail-guided vehicle, the automated guided vehicle, the forklift fork, or the electric trolley to move the robot deployment platform 100. This allows for convenient movement of the robot deployment platform 100.

[0064] In some embodiments, the method may further include calibrating the robot 200 after adjusting the support platform 110 into position. In some embodiments, machine vision methods may be used to calibrate the robot. As a calibration example, an imaging device 220 may be provided at the end of the robot's robotic arm, and visual markers 230 may be provided in the factory. Thus, image processing can be performed on images taken by the imaging device against the visual markers to calibrate the robot 200. It should be understood that the illustrated calibration arrangement is merely exemplary, and any other suitable method may be applied to calibrate the robot 200.

[0065] Furthermore, although the operations are described in a specific order, this should be understood as requiring that such operations be performed in the specific order shown or in sequential order, or requiring that all illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0066] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

[0067] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for deploying a robot (200), utilizing a system (100) for deploying robots to deploy the robot (200), the system (100) comprising: A carrying platform (110) is configured to carry a robot (200) including a robotic arm; a plurality of support legs (120) are configured to support the carrying platform (110), each of the plurality of support legs (120) including a lifting assembly configured to adjust the height of the carrying platform (110); a fixing assembly including a first fixing member (132) disposed on the support leg (120), the first fixing member (132) being configured to releasably engage with a second fixing member (134) disposed on the ground; A third sensor is configured to detect the force exerted on each of the support legs (120), and the force provided by the third sensor indicates whether there is false support in the support leg (120); and a fourth sensor configured to detect the levelness of the support platform (110), The method includes: At the first position, the engagement between the first fixing member (132) and the second fixing member (134) is released; The system (100) for deploying the robot is transferred from the first position to the second position using a transfer device, wherein the robot (200) is carried on the carrier platform (110); and At the second position, the first fixing member (132) is fixedly engaged to the second fixing member (134). The robot (200) is made to operate at a first speed; When the robot (200) operates at a first speed, the vibration level of the bearing platform (110) is determined based on the third sensor signal from the third sensor and / or the fourth sensor signal from the fourth sensor. In response to determining that the vibration level is greater than a first predetermined threshold, the position of the bearing platform (110) is readjusted; In response to determining that the vibration level is less than the first predetermined threshold, the robot (200) is made to operate at a second speed higher than the first speed; When the robot (200) operates at a second speed, a second vibration level of the bearing platform (110) is determined based on the third sensor signal from the third sensor and / or the fourth sensor signal from the fourth sensor; and In response to determining that the second vibration level is less than a second predetermined threshold, the robot (200) is allowed to operate normally.

2. The method for deploying a robot (200) according to claim 1, wherein the first fixing member (132) includes an electro-permanent magnet unit, the second fixing member (134) includes a ferromagnetic member adapted to be magnetically attracted to the electro-permanent magnet unit, the electro-permanent magnet unit including a permanent magnet unit and an electromagnetic unit, the system further comprising a first sensor configured to detect the magnetization and / or demagnetization state of the electromagnetic unit, and a second sensor configured to detect the contact state between the first fixing member (132) and the second fixing member (134). The method further includes: Based on a first sensor signal from a first sensor configured to detect the magnetization and / or demagnetization state of the electromagnetic unit and a second sensor signal from a second sensor configured to detect the contact state between the first fixing member (132) and the second fixing member (134), it is determined whether the robot operation is permitted.

3. The method according to claim 1, further comprising: Based on the signal from the third sensor, the lifting assembly disposed in each of the support legs (120) is adjusted so that each of the support legs (120) bears substantially the same force.

4. The method according to any one of claims 1 to 3, further comprising: Based on the signal from the fourth sensor, at least one of the lifting components in each of the support legs (120) is adjusted so that the carrying platform (110) is in a horizontal position.

5. The method according to any one of claims 1 or 3, further comprising: The robot's coordinates are compensated based on the signals from the fourth sensor.

6. The method according to any one of claims 1 to 3, wherein the plurality of support legs (120) are arranged below the support platform (110), and the plurality of support legs (120) are spaced apart from each other to form a receiving space below the support platform (110), wherein the size of the receiving space is configured to allow a transfer device to enter below the support platform (110). The transfer of the system (100) for deploying the robot from the first location to the second location using a transfer device includes: To allow at least one of the following—a rail-guided vehicle, an automated guided vehicle, a forklift fork, or an electric trolley—to enter the space below the system (100) for deploying the robot; and Move at least one of the rail-guided vehicle, the automated guided vehicle, the forklift forks, and the electric trolley to move the system (100) for deploying the robot.

7. The method according to any one of claims 1 to 3, wherein each of the lifting components disposed in each support leg (120) includes a fixed end and a slide (122) movable relative to the fixed end in a vertical direction, the bearing platform (110) being fixed to the slide (122), wherein the lifting component further includes one or more linear guides disposed on the support leg (120) for guiding the slide (122) to move in the vertical direction, the slide (122) being configured to move along the linear guides; The slide (122) further includes a universal joint bearing for supporting the slide (122) relative to the first fixed component (132) to achieve adaptive adjustment of the support of the slide (122) relative to the first fixed component (132) to adapt to the unevenness of the ground on which the system (100) is located. The slide also includes a limiting component for limiting the angle of the universal joint bearing.

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