Robot loading and unloading auxiliary platform

Abstract

The robot loading and unloading auxiliary platform provided by the embodiment of the invention comprises a base and a robot adsorption table, and the robot adsorption table is mounted above the base; the base can carry the robot adsorption table to move and adapt to tower drum wall surfaces with different diameters; the robot adsorption table is a multi-degree-of-freedom system, and key components such as a robot front wheel adsorption plate, a rear wheel adsorption plate, an adsorption plate extension pipe and a pipe connecting piece can flexibly rotate, so that the auxiliary platform can adapt to wheel type wall-climbing robots of different sizes and models, and can be applied to different terrain environments and tower wall surfaces. And the applicability is greatly improved.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a robot loading and unloading auxiliary platform. Background Art

[0002] In the wind power tower industry, wall-climbing robots can replace manual labor to complete daily inspection, rust removal and cleaning, spraying and other tasks with their unique structural design and adsorption technology. The most common wall-climbing robot is the permanent magnet adsorption wheeled wall-climbing robot, which can walk and work on the tower wall by the stable and powerful adsorption force provided by the permanent magnet adsorption unit. However, on the other hand, due to structural limitations and strong magnetic adsorption force, the process of the wall-climbing robot climbing up and down the wall usually cannot be completed independently. Therefore, a device that can safely and reliably assist the robot in climbing up and down the wall is needed. Existing wall-climbing robots generally achieve climbing up and down the wall through multi-person cooperation placement or auxiliary lifting platforms. The former is time-consuming and laborious, with potential work hazards and a significant impact on work efficiency. The latter is difficult to apply when the wheel spacing or overall size of the robot changes due to its fixed size. On the other hand, for walls with a certain curvature, the auxiliary effect of the auxiliary lifting platform will be affected, causing inconvenience.

[0003] Application Content

[0004] An embodiment of this application provides a robot loading and unloading auxiliary platform, aiming to solve the problems that the existing loading and unloading auxiliary platforms cannot be applied to different-sized tower barrels and the loading and unloading operations are inconvenient.

[0005] This application provides a robot loading and unloading auxiliary platform, which includes a base and a robot adsorption platform. The robot adsorption platform is installed above the base;

[0006] The base includes:

[0007] Base bottom pipes, there are two base bottom pipes, the two base bottom pipes are arranged in parallel and are connected by a base limiting cross pipe between the two base bottom pipes;

[0008] Extension frame bottom pipes, there are two extension frame bottom pipes. Both of the two base bottom pipes include left ends, and both of the two extension frame bottom pipes include right ends. The right ends of the two extension frame bottom pipes are respectively hinged to the left ends of the two base bottom pipes through extension frame bottom pipe hinge parts. The extension frame bottom pipes can rotate horizontally around the left ends of the base bottom pipes. The two extension frame bottom pipes are located at the same end of the two base bottom pipes;

[0009] The robot adsorption platform includes:

[0010] The bottom plate, the bottom plate is of a V-shaped structure, the bottom of the V-shaped structure of the bottom plate is fixed on the limiting cross tube of the base, and the two ends of the V-shaped structure of the bottom plate are respectively connected to the two base bottom tubes;

[0011] Robot front wheel adsorption plate connectors, there are two robot front wheel adsorption plate connectors, and the two robot front wheel adsorption plate connectors are respectively fixed at the two end positions of the V-shaped structure of the bottom plate, and the robot front wheel adsorption plate connectors are perpendicular to the bottom plate;

[0012] Robot front wheel adsorption plates, there are two robot front wheel adsorption plates, and the two robot front wheel adsorption plates are respectively connected to the two robot front wheel adsorption plate connectors, and the robot front wheel adsorption plates can rotate horizontally with the robot front wheel adsorption plate connectors as the center;

[0013] Robot rear wheel adsorption plate connectors, the robot rear wheel adsorption plate connectors are vertically connected to the bottom of the V-shaped structure of the bottom plate;

[0014] Robot rear wheel adsorption plates, the robot rear wheel adsorption plates are connected to the tops of the robot rear wheel adsorption plate connectors, and the robot rear wheel adsorption plates can rotate horizontally with the robot rear wheel adsorption plate connectors as the center.

[0015] In some possible embodiments, the base further includes:

[0016] Vertical bottom tube connectors, the vertical bottom tube connectors are of an L-shaped structure, the vertical bottom tube connectors include a vertical first mounting hole and a horizontal second mounting hole, and the left end of the base bottom tube is embedded in the second mounting hole to connect the vertical bottom tube connectors to the base bottom tube;

[0017] Base riser tubes, the bottoms of the base riser tubes are arranged in the first mounting holes to connect the base riser tubes to the base bottom tubes, and the base riser tubes are perpendicular to the base bottom tubes;

[0018] Base connectors, the base connectors are of a V-shaped structure, the base connectors include a third mounting hole, and the tops of the base riser tubes are embedded in the third mounting holes of the base connectors to connect the base connectors to the base riser tubes.

[0019] In some possible embodiments, the base further includes: extension frame inclined tubes, extension seat tube connectors, extension frame inclined tube hinge parts, the extension seat tube connectors are sleeved outside the extension frame bottom tubes, the extension frame inclined tube hinge parts are arranged above the base connectors and are hinged to the base connectors, and the two ends of the extension frame inclined tubes are respectively connected to the extension seat tube connectors and the extension frame inclined tube hinge parts;

[0020] The extension frame inclined tube is arranged obliquely with respect to the extension frame bottom tube, and the extension frame inclined tube can rotate around the extension frame inclined tube hinge.

[0021] An extension frame bottom tube hinge, through which the extension frame bottom tube is hinged to the left end of the base bottom tube.

[0022] In some possible embodiments, the base further includes a base inclined tube, an inclined tube bottom tube connector, and a cross tube bottom tube connector, which are respectively arranged on the two base bottom tubes;

[0023] There are two base inclined tubes and two base connectors. Both base connectors include a fourth mounting hole. The two ends of one base inclined tube are respectively connected to the fourth mounting hole of one base connector and the inclined tube bottom tube connector, and the two ends of the other base inclined tube are respectively connected to the fourth mounting hole of the other base connector and the cross tube bottom tube connector. The base inclined tube is arranged obliquely with respect to the base bottom tube.

[0024] In some possible embodiments, the base further includes a base cross tube, and the two ends of the base cross tube are respectively connected to the inclined tube bottom tube connector and the cross tube bottom tube connector. The base cross tube is arranged parallel to the base limiting cross tube.

[0025] In some possible embodiments, the robot front wheel suction plate connector includes:

[0026] A front plate support column, which is vertically fixed at the end position of the V-shaped structure of the bottom plate;

[0027] A tube connector, on which a fifth mounting hole is formed, and the fifth mounting hole opens towards the bottom plate. The top of the front plate support column is embedded in the fifth mounting hole to connect the front plate support column and the tube connector;

[0028] A suction plate extension tube, which is arranged above the tube connector. A sixth mounting hole is formed on the tube connector, and the sixth mounting hole opens towards the suction plate extension tube. The bottom of the suction plate extension tube is embedded in the sixth mounting hole to connect the suction plate extension tube and the tube connector;

[0029] An extension tube mounting seat, which is sleeved on the top of the suction plate extension tube. The robot front wheel suction plate is connected to the suction plate extension tube through the extension tube mounting seat.

[0030] In some possible embodiments, the robot rear wheel suction plate connector includes:

[0031] Rear panel support column, the rear panel support column is vertically fixed at the bottom of the V-shaped structure of the bottom plate;

[0032] Rear panel fixing member, the rear panel fixing member is fixed at the top end of the rear panel support column away from the bottom plate, and the rear end fixing member can rotate horizontally around the rear panel support column, and the robot rear wheel adsorption plate is fixed on the rear panel fixing member.

[0033] In some possible embodiments, the base further includes rotary shaft connecting members, there are two rotary shaft connecting members, and the two rotary shaft connecting members are respectively installed on the sides of the inclined pipe bottom pipe connecting member and the horizontal pipe bottom pipe connecting member, and the two rotary shaft connecting members are arranged oppositely.

[0034] In some possible embodiments, the robot loading and unloading auxiliary platform further includes:

[0035] Integral machine rotary shaft, both ends of the integral machine rotary shaft are respectively connected to the two rotary shaft connecting members;

[0036] Rotary shaft hinge member, the rotary shaft hinge member is fixed on the front panel support column and located between the bottom plate and the pipe connecting member, the rotary shaft hinge member includes a first hinge portion protruding from the front panel support column, and the first hinge portion is hinged to the integral machine rotary shaft;

[0037] Rotary shaft middle hinge member, the rotary shaft middle hinge member is fixed on the rear panel support column and located between the bottom plate and the rear panel fixing member, the rotary shaft middle hinge member includes a second hinge portion protruding from the rear panel support column, and the second hinge portion is hinged to the integral machine rotary shaft.

[0038] In some possible embodiments, the base further includes an extended pin caster mounting seat and a caster mounting seat, the extended pin caster mounting seat is connected to the end of the extended frame bottom pipe away from the base bottom pipe, the caster mounting seat is connected to the end of the base bottom pipe away from the extended frame bottom pipe, universal wheels are respectively installed on the extended pin caster mounting seat and the caster mounting seat, and a universal wheel is also installed at the bottom of the vertical bottom pipe connecting member.

[0039] The robot loading and unloading auxiliary platform provided by the embodiment of the present application includes a base and a robot adsorption platform, and the robot adsorption platform is installed above the base; the base can carry the robot adsorption platform to move and adapt to the tower wall surfaces with different diameters; the robot adsorption platform is a multi-degree-of-freedom system, and key components such as the robot front wheel adsorption plate, rear wheel adsorption plate, adsorption plate extension pipe, pipe connecting member, etc. can rotate flexibly so that the auxiliary platform can adapt to wheeled wall-climbing robots of different sizes and models, and can be applied to different terrain environments and tower wall surfaces, greatly improving the applicability. Description of the Drawings

[0040] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 is a schematic diagram of the overall structure of an embodiment of the robot loading and unloading auxiliary platform provided by an embodiment of the present application;

[0042] Figure 2 is a front view of an embodiment of the robot loading and unloading auxiliary platform provided by an embodiment of the present application;

[0043] Figure 3 is a left view of an embodiment of the robot loading and unloading auxiliary platform provided by an embodiment of the present application;

[0044] Figure 4 is a schematic diagram of the structure of an embodiment of the base provided by an embodiment of the present application;

[0045] Figure 5 is a schematic diagram of the structure of an embodiment of the robot adsorption platform provided by an embodiment of the present application;

[0046] Figure 6 is a schematic diagram of the effect of the robot loading and unloading provided by an embodiment of the present application.

[0047] 1. Extended pinion wheel mounting seat; 2. Extended seat pipe connector; 3. Extended frame bottom pipe; 4. Extended frame inclined pipe; 5. Extended frame inclined pipe hinge; 6. Extended frame bottom pipe hinge; 7. Vertical bottom pipe connector; 8. Base connector; 9. Base riser pipe; 10. Front cross pipe connector; 11. Base inclined pipe; 12. Base bottom pipe; 13. Inclined pipe bottom pipe connector; 14. Universal wheel; 15. Caster wheel mounting seat; 16. Base cross pipe; 17. Cross pipe bottom pipe connector; 18. Base limit cross pipe; 19. Rotating shaft connector;

[0048] 20. Robot front wheel adsorption plate; 21. Extended pipe mounting seat; 22. Adsorption plate extended pipe; 23. Pipe connector; 24. Rear wheel adsorption plate; 25. Front plate support column; 26. Rear plate fixing piece; 27. Rear plate support column; 28. Bottom plate; 29. Support rod fixing seat; 30. Middle rotating shaft hinge; 31. Rotating shaft hinge; 32. Whole machine rotating shaft; 33. Wind power tower barrel; 34. Robot front wheel; 35. Robot rear magnetic wheel. Detailed implementation manners

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0050] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0051] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection, an electrical connection or a connection capable of mutual communication; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0052] In the present application, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include indirect contact between the first and second features through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0053] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0054] Specifically, please refer to Figures 1 to 6 , the present application provides a robot loading and unloading auxiliary platform, which is applicable to wheeled wall-climbing robots of different sizes and models, can be applied to different terrain environments and tower wall surfaces, and can effectively improve the applicability of the wall-climbing robot. Taking the Figures 1 - 3 illustrated embodiment as an example, the robot loading and unloading auxiliary platform includes two main parts: a base and a robot adsorption platform; among them, the robot adsorption platform is installed above the base, and the robot can be adsorbed on the robot adsorption platform and move under the drive of the base. It should be noted that the robot loading and unloading auxiliary platform provided by the present application is mainly used to assist the robot in displacement. The auxiliary platform itself does not include the robot, and the auxiliary platform will not climb along the side wall of the tower.

[0055] Figure 4 is a schematic structural diagram of an embodiment of the base provided by the present application; please refer to Figure 4 , the base provided by the present application includes two base bottom tubes 12. The two base bottom tubes 12 are arranged in parallel and are connected by a base limit cross tube 18; and both ends of the base limit cross tube 18 of the present application are respectively connected to the middle positions of the two base bottom tubes 12. More specifically, the base further includes two cross tube front connectors 10 which are respectively arranged on the two base bottom tubes 12; both ends of the base limit cross tube 18 are respectively connected to the two cross tube front connectors 10 to connect the two base bottom tubes 12, providing a stable basic framework for the base. The base bottom tubes 12 provide the basic framework for the base, and other components in the base are directly or indirectly connected to the base bottom tubes 12 to form a complete base; the base limit cross tube 18 in the present application can also play a role of limit protection while connecting the two base bottom tubes 12. The base further includes two extension frame bottom tubes 3. Taking the Figure 4Taking the illustrated embodiment as an example, both of the bottom pipes 12 of the two bases each include a left end portion, and both of the bottom pipes 3 of the two extension frames each include a right end portion. The right end portions of the two bottom pipes 3 of the extension frames are respectively hinged to the left end portions of the two bottom pipes 12 of the bases through the hinge members 6 of the bottom pipes of the extension frames; and the bottom pipes 3 of the extension frames can rotate horizontally around the left end portions of the bottom pipes 12 of the bases to change the angle between the two bottom pipes 3 of the extension frames, so that the base can be applicable to tower barrels with different diameters. In Figure 4 Both of the bottom pipes 3 of the extension frames are located on the same side of the two bottom pipes 12 of the bases.

[0056] Please continue to refer to Figure 4 , the base provided in this application further includes a vertical pipe connecting member 7. The vertical pipe connecting member is integrally in an L-shaped structure and includes a vertical first mounting hole and a horizontal second mounting hole. The left end portion of the bottom pipe 12 of the base is embedded in the horizontally arranged second mounting hole to connect the vertical pipe connecting member 7 with the bottom pipe 12 of the base. The base further includes a base riser 9. The bottom of the base riser 9 is embedded in the vertical first mounting hole of the vertical pipe connecting member 7 to connect the base riser 9 with the vertical pipe connecting member 7, and further connect the bottom pipe 12 of the base with the bottom pipe 12 of the base. In Figure 4 In the illustrated embodiment, the base riser 9 is perpendicularly arranged to the bottom pipe 12 of the base. The hinge member 6 of the bottom pipe of the extension frame in this application is hinged to the base riser 9 to connect the bottom pipe 3 of the extension frame with the bottom pipe 12 of the base; the two bottom pipes 3 of the extension frames can rotate horizontally around the left end portion of the bottom pipe 12 of the base, actually rotating horizontally around the base riser 9 as the center. Please continue to refer to Figure 4 , the base further includes a base connecting member 8. The base connecting member 8 is in a V-shaped structure. The V-shaped structure of the base connecting member opens towards the direction of the base riser 9, and the base connecting member is formed with a third mounting hole; wherein, the top of the longitudinally arranged bottom pipe riser is embedded in the third mounting hole of the base connecting member to connect the base connecting member with the bottom pipe 12 of the base.

[0057] In Figure 4In the illustrated embodiment, the base further includes a base inclined pipe 11, an inclined pipe bottom pipe connector, and a horizontal pipe bottom pipe connector; wherein, the inclined pipe bottom pipe connector and the horizontal pipe bottom pipe connector are respectively arranged on two base bottom pipes 12 and are located at the middle positions of the base bottom pipes 12. There are two base inclined pipes and two base connectors in this application. The structures of the two base connectors are the same and both include a fourth mounting hole; the two ends of one base inclined pipe 11 are respectively connected to the fourth mounting hole of one base connector 8 and the inclined pipe bottom pipe, and the two ends of the other base inclined pipe 11 are respectively connected to the fourth mounting hole of the other base connector 8 and the horizontal pipe bottom pipe connector 17. The two base inclined pipes 11 are arranged obliquely with respect to the base bottom pipe 12. At this time, the base bottom pipe 12, the base riser pipe 9, and the base inclined pipe 11 form a triangular structure together. Due to the stability of the triangular structure, such connection can improve the stability of the entire base frame. Similarly, the base further includes an extension frame inclined pipe 4, an extension seat pipe connector 2, and an extension frame inclined pipe hinge 5; wherein, the extension seat pipe connector 2 includes a part sleeved outside the extension frame bottom pipe 3 and also includes a part protruding from the extension frame bottom pipe 3. One end of the extension frame inclined pipe 4 is connected to the part of the extension seat pipe connector 2 protruding from the extension frame bottom pipe 3 to connect the extension frame inclined pipe 4 to the extension frame bottom pipe 3. The extension frame inclined pipe hinge 5 is arranged above the base connector 8 and is hinged to the base connector 8. The other end of the extension frame inclined pipe 4 is connected to the extension frame inclined pipe hinge 5 to achieve connecting the extension frame inclined pipe 4 to the base riser pipe 9. As Figure 4 shown, at this time, the extension frame bottom pipe 3, the base riser pipe 9, and the extension frame inclined pipe 4 also form a triangular structure with stable structure together, thereby increasing the structural stability of the entire base.

[0058] In the above embodiment, two different triangular structures share the base riser pipe 9, and the two triangular structures can further increase the structural stability of the overall base. In some embodiments, the extension seat pipe connector 2 can slide along the extension direction of the extension frame bottom pipe 3, and the extension frame inclined pipe 4, the base inclined pipe 11, and the base riser pipe 9 can all be telescopic structures; by telescoping the extension frame inclined pipe 4, the base inclined pipe 11, and the base riser pipe 9, the base is applicable to tower barrels of different sizes and always maintains the stability of the base.

[0059] Please continue to refer to Figure 4 , the base provided in this application further includes a base horizontal pipe 16. The two ends of the base horizontal pipe 16 are respectively connected to the inclined pipe bottom pipe connector 13 and the horizontal pipe bottom pipe connector 17, and the base horizontal pipe 16 is arranged parallel to the base limit horizontal pipe 18. By providing the parallel base horizontal pipe 16 and the base limit horizontal pipe 18, the stability of the base frame can be further improved.

[0060] The main frame structure of the base was described in the foregoing embodiments. The base further includes an extended pin caster mount 1 and a caster mount 15. The extended pin caster mount 1 is connected to the end of the extended frame bottom tube 3 away from the base bottom tube 12, and the caster mount 1 is connected to the end of the base bottom tube 12 away from the extended frame bottom tube 3. Universal wheels are respectively installed on the extended pin caster mount 1 and the caster mount 15. A universal wheel is also installed at the bottom of the vertical bottom tube connector 7. By installing universal wheels on different structures respectively, the base has a high degree of freedom and is suitable for more terrain environments.

[0061] It should be noted that the base in this application is a symmetrical structure. The extended pin caster mount 1, the extended seat tube connector 2, the extended frame bottom tube 3, the extended frame diagonal tube 4, the extended frame diagonal tube hinge 5, the extended frame bottom tube hinge 6, the vertical bottom tube connector 7, the base connector 8, the base vertical tube 9, the front cross tube connector 10, the base diagonal tube 11, the base bottom tube 12, the caster mount 1, the caster mount 15, the base cross tube 16, the base limit cross tube 18, the rotating shaft connector 19, etc. described in the foregoing embodiments are all two; while there is one each of the diagonal tube bottom tube connector 13 and the cross tube bottom tube connector 17, but their structures are similar; and there are multiple universal wheels.

[0062] Please refer to Figure 5Schematic structural diagram of an embodiment of the robot adsorption platform provided by this application; the robot adsorption platform provided by this application enables the robot adsorption platform to have multiple degrees of freedom through connections of different structures, and can provide a transition for robots of different size signals from a complex bottom surface to the tower wall surface. The robot adsorption platform mainly includes functional modules such as a bottom plate 28, a robot front-wheel adsorption plate 20, and a robot rear-wheel adsorption plate 24; among them, the bottom plate 28 is fixedly connected to the base, so that when the base moves, it can drive the displacement of the bottom plate 28, and further drive the robot adsorbed on the robot adsorption platform to move. The robot front-wheel adsorption plate 20 and the robot rear-wheel adsorption plate 24 are the main positions for robot adsorption. The robot adsorbs its front wheels and rear wheels on the corresponding adsorption plates respectively, so that the robot can be adsorbed on the robot adsorption platform. The bottom plate 28 of this application is of a V-shaped structure, where the bottom of the V-shaped structure is fixed on the base limit cross tube 18, and the two ends of the V-shaped structure of the bottom plate are respectively connected to the two base bottom tubes 12, thereby fixing the bottom plate 28 to the base. There are two robot front-wheel adsorption plates 20, and the two robot front-wheel adsorption plates 20 are respectively connected to the bottom plate 28 through two robot front-wheel adsorption part connectors. Specifically, there are two robot front-wheel adsorption part connectors. The two robot front-wheel adsorption part connectors are respectively fixed at the two end positions of the V-shaped structure of the bottom plate, and are vertically arranged with respect to the bottom plate 28 of the robot front-wheel adsorption connector; that is, the two ends of the robot front-wheel adsorption part connector are respectively connected to the bottom plate 28 and the robot front-wheel adsorption plate 20, thereby fixing the robot front-wheel adsorption plate 20 to the bottom plate 28. And the robot front-wheel adsorption plate 20 can rotate horizontally with the robot front-wheel adsorption part connector as the center. That is, the robot front-wheel adsorption plate 20 can rotate around different directions, thereby changing the relative position between the robot and the outer wall of the tower. Similarly, for the robot rear-wheel adsorption plate 24, there is also a robot rear-wheel adsorption part connector. The robot rear-wheel adsorption part connector is vertically connected to the bottom of the V-shaped structure of the bottom plate, and the robot rear-wheel adsorption plate 24 is connected to the top of the robot rear-wheel adsorption part connector; the two ends of the robot rear-wheel adsorption part connector are respectively connected to the bottom plate 28 and the robot rear-wheel adsorption plate 24 to connect the robot rear-wheel adsorption plate 24 to the base. And the robot rear-wheel adsorption plate 24 can also rotate horizontally with the robot rear-wheel adsorption part connector as the center. During the actual adsorption rotation process, the robot front-wheel adsorption plate 20 and the robot rear-wheel adsorption plate 24 usually need to cooperate in motion to ensure that the robot does not fall off the adsorption plate.

[0063] Please continue to refer to Figure 5, the robot front wheel adsorption plate 20 connecting member and the robot rear wheel adsorption plate 24 connecting member provided in this application also respectively include a plurality of different modules. Specifically, the robot front wheel adsorption plate 20 connecting member includes a front plate support column 25, and the front plate support column 25 is vertically fixed at the end position of the V-shaped structure of the bottom plate; generally, there are two robot front wheel adsorption plates 20 in this application, so there are also two robot front wheel adsorption plate 20 connecting members, and there are also two front plate support columns 25. The two front plate support columns 25 are respectively fixed at the two end positions of the V-shaped structure of the bottom plate through support rod fixing seats 29. It also includes a pipe connecting member 23. A fifth mounting hole is formed on the pipe connecting member 23, and the fifth mounting hole opens in the direction towards the bottom plate 28. The top of the front plate support column 25 is embedded in the fifth mounting hole to connect the front plate support column 25 and the pipe connecting member 23. Please continue to refer to Figure 5 , it also includes an adsorption plate extension pipe 22. The adsorption plate extension pipe 22 is arranged above the pipe connecting member 23. A sixth mounting hole that opens towards the adsorption plate extension pipe 22 is also formed on the pipe connecting member 23. The bottom of the adsorption plate extension pipe 22 is embedded in the sixth mounting hole to connect the adsorption plate extension pipe 22 and the pipe connecting member 23. The robot front wheel adsorption plate 20 connecting member also includes an extension pipe mounting seat 21. The extension pipe mounting seat 21 is sleeved on the top of the adsorption plate extension pipe 22, and the robot front wheel adsorption plate 20 is connected to the adsorption plate extension pipe 22 through the extension pipe mounting seat 21. For the robot front wheel adsorption plate 20 connecting member provided in this application, the top of the front plate support column 25 is embedded in the fifth mounting hole of the pipe connecting member 23, and the bottom of the adsorption plate extension plate is embedded in the sixth mounting hole of the pipe connecting member 23; it is possible to control the pipe connecting member 23 to rotate around the front plate support column 25 in the fifth mounting hole, thereby driving the adsorption plate extension plate embedded in the sixth mounting hole to rotate around the front plate support column 25, and further driving the front wheel adsorption plate to displace to change the position of the robot.

[0064] Please continue to refer to Figure 5 , the robot rear wheel adsorption plate 24 connecting member provided in this application includes a rear plate support column 27, and the rear plate support column 27 is vertically fixed at the bottom of the V-shaped structure of the bottom plate through a support rod fixing seat 29; it also includes a rear plate fixing member 26. The rear plate fixing member 26 is fixed at the top end of the rear plate support column 27 away from the bottom plate 28, and the rear plate fixing member 26 can rotate horizontally with the rear plate support column 27 as the center. In Figure 5 , the rear plate fixing member 26 includes a part fixed on the rear plate support column 27, and also includes a part protruding from the rear plate support column 27. The robot rear wheel adsorption plate 24 is fixed on the part of the rear plate fixing member 26 protruding from the rear plate support column 27. Generally, the height of the robot rear wheel adsorption plate 24 in this application is lower than the height of the robot front wheel adsorption plate 20, and the robot rear wheel adsorption plate 24 is located between the two robot front wheel adsorption plates 20.

[0065] Please continue to refer to Figure 4Figure 5 The base provided by the present application further includes two rotating shaft connectors 19, which are respectively installed on the sides of the inclined pipe bottom pipe connector 13 and the horizontal pipe bottom pipe connector 17, and the two rotating shaft connectors 19 are arranged oppositely. That is, one rotating shaft connector 19 is installed on the side of the inclined pipe bottom pipe connector 13 close to the horizontal pipe bottom pipe connector 17, and the other rotating shaft connector 19 is installed on the side of the horizontal pipe bottom pipe connector 17 close to the inclined pipe bottom pipe connector 13. The robot loading and unloading auxiliary platform further includes a whole machine rotating shaft 32, and both ends of the whole machine rotating shaft 32 are respectively connected to the two rotating shaft connectors 19; the whole machine rotating shaft 32 is arranged parallel to the base limiting horizontal pipe 18. The robot loading and unloading auxiliary platform further includes a rotating shaft hinge 31, and the rotating shaft hinge 31 is fixed on the front plate support column 25 and is located between the bottom plate 28 and the pipe connector 23; the rotating shaft hinge 31 includes a first hinge part connected to the front plate support column 25, and the first hinge part is hinged to the whole machine rotating shaft 32 to connect the front plate support column 25 and the whole machine rotating shaft 32. It further includes a rotating shaft middle hinge 30, and the rotating shaft middle hinge 30 is fixed on the rear plate support column 27 and is located between the bottom plate 28 and the rear plate fixing part 26. The rotating shaft middle hinge 30 includes a second hinge part protruding from the rear plate support column 27, and the second hinge part is hinged to the whole machine rotating shaft 32 to connect the rear plate support column 27 and the whole machine rotating shaft 32. When the whole machine rotating shaft 32 rotates, it can drive the rotating shaft hinge 31 and the rotating shaft middle hinge 30 hinged thereto to rotate; when the rotating shaft hinge 31 rotates, it can drive the robot front wheel adsorption plate 20 to rotate around the whole machine rotating shaft 32, and when the rotating shaft middle hinge 30 rotates, it can drive the robot rear wheel adsorption plate 24 to rotate around the rear plate fixing part 26. When the robot front wheel adsorption plate 20 and the robot rear wheel adsorption plate 24 rotate until the robot can smoothly walk onto the adsorption plate and stop, after the robot walks onto the adsorption plate and is ensured to be stable, then control the front wheel adsorption plate and the rear wheel adsorption plate 24 to rotate to a vertical angle with the bottom surface, and then control the robot loading and unloading auxiliary platform to move to the tower barrel.

[0066] Since most of the tower barrels are cylindrical structures, it is necessary to control the extension frame bottom pipe hinge 6 to connect the extension frame bottom pipe 3 to rotate around the base vertical pipe 9 to ensure that the extension frame bottom pipe 3 is tangent to the wall surface of the tower barrel, that is, to ensure that the extension frame bottom pipe 3 is in close contact with the tower barrel. Then control the adsorption plate extension pipe 22 to rotate around the pipe connector 23 until both the front wheel adsorption plate 20 and the rear wheel adsorption plate 24 of the robot are in good contact with the wall surface of the tower barrel; at this time, control the robot to leave the adsorption plate and continue to move to the wall surface of the tower barrel to complete the robot's boarding process. When the robot needs to disembark, similarly control the extension frame bottom pipe 3 to be tangent to the wall surface of the tower barrel, and both the front wheel adsorption plate 20 and the rear wheel adsorption plate 24 of the robot are in good contact with the wall surface of the tower barrel; at this time, control the robot to move away from the wall surface of the tower barrel to the adsorption plate. When the robot is stably adsorbed, then control the robot's boarding and disembarking auxiliary platform to move to the designated area, and control the front wheel adsorption plate 20 and the rear wheel adsorption plate 24 of the robot to rotate so that the robot can drive away from the adsorption plate smoothly to complete the robot's disembarking process. The robot boarding and disembarking auxiliary platform provided by this application, because the extension frame bottom pipe hinge 6 can connect the extension frame bottom pipe 3 to rotate at different angles around the base vertical pipe 9 to ensure that the extension frame bottom pipe 3 is in close contact with the wall surface of the tower barrel, is applicable to tower barrels of different sizes and has a wider application scenario. Even if the ground around the tower barrel is uneven so that the base is not at a vertical angle to the wall surface of the tower barrel, the robot boarding and disembarking auxiliary platform provided by this application can also rotate the rotation shaft hinge 31 and the middle rotation shaft hinge 30 around the whole machine rotation shaft 32 and rotate the wheel adsorption plate around the rear plate fixing member 26 so that the rear wheel adsorption plate 24 of the robot can still fit on the wall surface of the tower barrel to achieve a stable boarding and disembarking process. The whole machine of the robot boarding and disembarking auxiliary platform provided by this application adopts a modular design. Different structures and different modules do not interfere with each other but cooperate with each other. They can be disassembled, replaced and assembled separately during installation and maintenance, which is more convenient for maintenance.

[0067] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0068] The above has introduced in detail a robot boarding and disembarking auxiliary platform provided by the embodiments of this application. Specific examples are used in this article to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the technical solution and its core idea of this application; those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A robot loading and unloading auxiliary platform, characterized in that, The auxiliary platform includes a base and a robot adsorption table, and the robot adsorption table is installed above the base; The base includes: Base bottom tubes, there are two base bottom tubes, the two base bottom tubes are arranged in parallel and are connected by a base limiting cross tube between the two base bottom tubes; Extension frame bottom tubes, there are two extension frame bottom tubes, both of the two base bottom tubes include left ends, both of the two extension frame bottom tubes include right ends, the right ends of the two extension frame bottom tubes are respectively hinged to the left ends of the two base bottom tubes through extension frame bottom tube hinge parts, the extension frame bottom tubes can rotate horizontally around the left ends of the base bottom tubes, and the two extension frame bottom tubes are located at the same end of the two base bottom tubes; The robot adsorption table includes: A bottom plate, the bottom plate is of a V-shaped structure, the bottom of the V-shaped structure of the bottom plate is fixed on the base limiting cross tube, and the two ends of the V-shaped structure of the bottom plate are respectively connected to the two base bottom tubes; Robot front wheel adsorption plate connecting parts, there are two robot front wheel adsorption plate connecting parts, the two robot front wheel adsorption plate connecting parts are respectively fixed at the two end positions of the V-shaped structure of the bottom plate, and the robot front wheel adsorption plate connecting parts are perpendicular to the bottom plate; Robot front wheel adsorption plates, there are two robot front wheel adsorption plates, the two robot front wheel adsorption plates are respectively connected to the two robot front wheel adsorption plate connecting parts, and the robot front wheel adsorption plates can rotate horizontally around the robot front wheel adsorption plate connecting parts; Robot rear wheel adsorption plate connecting part, the robot rear wheel adsorption plate connecting part is vertically connected to the bottom of the V-shaped structure of the bottom plate; Robot rear wheel adsorption plate, the robot rear wheel adsorption plate is connected to the top of the robot rear wheel adsorption plate connecting part, and the robot rear wheel adsorption plate can rotate horizontally around the robot rear wheel adsorption plate connecting part.

2. The robot loading and unloading auxiliary platform according to claim 1, characterized in that, The base further includes: A vertical bottom tube connecting part, the vertical bottom tube connecting part is of an L-shaped structure, the vertical bottom tube connecting part includes a vertical first mounting hole and a horizontal second mounting hole, and the left end of the base bottom tube is embedded in the second mounting hole to connect the vertical bottom tube connecting part with the base bottom tube; A base riser tube, the bottom of the base riser tube is arranged in the first mounting hole to connect the base riser tube with the base bottom tube, and the base riser tube is perpendicular to the base bottom tube; A base connecting part, the base connecting part is of a V-shaped structure, the base connecting part includes a third mounting hole, and the top of the base riser tube is embedded in the third mounting hole of the base connecting part to connect the base connecting part with the base riser tube.

3. The robot loading and unloading auxiliary platform according to claim 2, wherein The base further includes: an extension frame inclined tube, an extension seat tube connecting part, an extension frame inclined tube hinge part, the extension seat tube connecting part is sleeved outside the extension frame bottom tube, the extension frame inclined tube hinge part is arranged above the base connecting part and is hinged to the base connecting part, and the two ends of the extension frame inclined tube are respectively connected to the extension seat tube connecting part and the extension frame inclined tube hinge part; The extension frame inclined tube is arranged obliquely with respect to the extension frame bottom tube, and the extension frame inclined tube can rotate around the extension frame inclined tube hinge; An extension frame bottom tube hinge, through which the extension frame bottom tube is hinged to the left end of the base bottom tube.

4. The robot loading and unloading auxiliary platform according to claim 2, wherein, The base further includes a base inclined tube, an inclined tube bottom tube connector, and a cross tube bottom tube connector, which are respectively arranged on the two base bottom tubes; There are two base inclined tubes and two base connectors. Both base connectors include a fourth mounting hole. The two ends of one base inclined tube are respectively connected to the fourth mounting hole of one base connector and the inclined tube bottom tube connector, and the two ends of the other base inclined tube are respectively connected to the fourth mounting hole of the other base connector and the cross tube bottom tube connector. The base inclined tube is arranged obliquely with respect to the base bottom tube.

5. The robot loading and unloading auxiliary platform according to claim 4, wherein, The base further includes a base cross tube, the two ends of which are respectively connected to the inclined tube bottom tube connector and the cross tube bottom tube connector, and the base cross tube is arranged parallel to the base limiting cross tube.

6. The robot loading and unloading auxiliary platform according to claim 4, wherein, The robot front wheel suction plate connector includes: A front plate support column, which is vertically fixed at the end position of the V-shaped structure of the bottom plate; A tube connector, on which a fifth mounting hole is formed, and the fifth mounting hole opens towards the bottom plate. The top of the front plate support column is embedded in the fifth mounting hole to connect the front plate support column and the tube connector; A suction plate extension tube, which is arranged above the tube connector. A sixth mounting hole is formed on the tube connector, and the sixth mounting hole opens towards the suction plate extension tube. The bottom of the suction plate extension tube is embedded in the sixth mounting hole to connect the suction plate extension tube and the tube connector; An extension tube mounting seat, which is sleeved on the top of the suction plate extension tube, and the robot front wheel suction plate is connected to the suction plate extension tube through the extension tube mounting seat.

7. The robot loading and unloading auxiliary platform according to claim 6, characterized in that, The robot rear wheel suction plate connector includes: A rear plate support column, which is vertically fixed at the bottom of the V-shaped structure of the bottom plate; A rear plate fixing member, which is fixed at the top of the rear plate support column away from the bottom plate. The rear end fixing member can rotate horizontally around the rear plate support column, and the robot rear wheel suction plate is fixed on the rear plate fixing member.

8. The robot loading and unloading auxiliary platform according to claim 7, wherein, The base further includes two rotating shaft connectors, which are respectively installed on the sides of the inclined tube bottom tube connector and the cross tube bottom tube connector, and the two rotating shaft connectors are arranged opposite to each other.

9. The robot loading and unloading auxiliary platform according to claim 8, characterized in that, The robot loading and unloading auxiliary platform further includes: A whole machine rotating shaft, the two ends of which are respectively connected to the two rotating shaft connectors; A rotating shaft hinge member, which is fixed on the front plate support column and located between the bottom plate and the tube connector. The rotating shaft hinge member includes a first hinge portion protruding from the front plate support column, and the first hinge portion is hinged to the whole machine rotating shaft; The middle hinge of the rotating shaft, the middle hinge of the rotating shaft is fixed on the rear plate support column and is located between the bottom plate and the rear plate fixing member. The middle hinge of the rotating shaft includes a second hinge portion protruding from the rear plate support column, and the second hinge portion is hinged to the whole machine rotating shaft.

10. The robot loading and unloading auxiliary platform according to claim 2, characterized in that, The base further includes an extended pin caster mounting seat and a caster mounting seat. The extended pin caster mounting seat is connected to the end of the extended frame bottom tube away from the base bottom tube, and the caster mounting seat is connected to the end of the base bottom tube away from the extended frame bottom tube. Universal wheels are respectively installed on the extended pin caster mounting seat and the caster mounting seat, and a universal wheel is also installed at the bottom of the vertical bottom tube connecting member.

Images