Inverted multifunctional mechanical arm hoisting method

Abstract

According to the inverted multifunctional mechanical arm hoisting method, after the mechanical arm is driven by the connecting mechanism to rotate in the vertical plane, the mechanical arm is located below the working platform, and then when the second containing groove is driven by the telescopic mechanism to stretch out, the lifting arm arranged in the second containing groove achieves first-stage stretching out and drawing back; the lifting operation radius of the lifting arm is preliminarily adjusted, after the second containing groove stops stretching out, the lifting arm stretches out again through the telescopic mechanism, then the lifting arm achieves second-stage stretching out and drawing back, and the lifting operation radius of the lifting arm is adjusted again. Therefore, heavy objects in different hoisting target areas below the working platform can be hoisted and moved out of the position below the working platform.

Description

Technical Field

[0001] This invention relates to the field of lifting and hoisting technology, and specifically to a method for hoisting an inverted multi-functional robotic arm. Background Technology

[0002] With the increasing demand from wind power and mineral development, the market size of marine cranes in my country is expected to reach 55 billion yuan in 2025. Technological progress has promoted the diversified development of the marine economy, resulting in the continuous use of different cranes for lifting operations at sea based on different actual working conditions. For example, large-scale projects such as offshore wind power and oil platforms require the lifting of components weighing tens to thousands of tons, such as wind turbine blades and drilling modules.

[0003] For example, Chinese patent document No. 202223080865.2, published on March 21, 2023, discloses a fixing device for an ultra-low headroom ship crane, relating to the field of lifting equipment technology. It includes a base mounted on the hull, a bottom plate rotatably mounted on the base, the bottom plate and the center of the base being on the same axis, a rack ring mounted on the outer wall of the base along the circumferential direction of the base, an outwardly protruding plate mounted on the outer wall of the bottom plate, a linkage gear mounted on the end wall of the outwardly protruding plate meshing with the rack ring, and a driving component for driving the linkage gear to rotate on the outwardly protruding plate.

[0004] The aforementioned document describes installing a crane above a base, allowing the crane to perform lifting operations around the base. However, in actual operations on offshore mine crane platforms, the working platform is moved and protrudes beyond the mine crane platform. Even when the crane's wire rope is lowered to the vicinity of the working platform, because the crane is positioned above the working platform, it cannot reach the area directly below the working platform. Consequently, the crane described in the aforementioned document cannot lift objects located below the working platform. Summary of the Invention

[0005] The purpose of this invention is to provide an inverted multi-functional robotic arm hoisting method, which solves the problem of hoisting objects located below the work platform by using an inverted robotic arm.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a lifting method for an inverted multi-functional robotic arm, implemented through a lifting device, the lifting device comprising a working platform, a base, a slewing bearing, a connecting mechanism, and a robotic arm, the robotic arm comprising a first support groove, a second support groove sleeved within the first support groove, a telescopic mechanism disposed below the second support groove, and a boom sleeved within the second support groove; the lifting device further comprises a connecting mechanism; and further comprises the following steps: S1 has a base installed on one side of the work platform, a slewing bearing installed under the base, and then the two ends of the connecting mechanism are fixedly connected to the slewing bearing and the robotic arm respectively. S2 drives the robotic arm to rotate in the vertical plane around the fixed arm in the connecting mechanism through the drive component in the connecting mechanism until the upper end face of the robotic arm is located at the lower end of the working platform. Then, through the slewing bearing in the horizontal plane, it drives the connecting mechanism and the robotic arm to rotate below the working platform and align with the lifting target area. S3 uses a telescopic mechanism to extend the second support groove along the axis of the first support groove, so that the boom moves synchronously with the second support groove for the first time. Then, the telescopic mechanism again extends the boom along the axis of the second support groove and moves it above the lifting target area. S4 uses a winch located below the telescopic mechanism to lower the wire rope and the hook connected to the wire rope to the target area for hoisting.

[0007] The above method involves first installing a mounting base on one side of the work platform, then installing a slewing bearing below the mounting base. The slewing bearing is then connected to the robotic arm via a connecting mechanism. The robotic arm is equipped with a telescopic mechanism and a support slot to achieve lateral extension and retraction. The connecting mechanism enables the robotic arm to rise and fall in the vertical plane, while the slewing bearing enables it to rotate in the horizontal plane. This allows for lifting and lowering of heavy objects in both the horizontal and vertical planes of the work platform, as well as rotation in the horizontal plane, thus enabling the lifting of heavy objects at different positions on the work platform. Heavy objects within the target lifting area can also be lifted. The connecting mechanism drives the robotic arm to move vertically... After rotating in the plane, the robotic arm can be positioned below the work platform, facilitating the lifting of heavy objects in the target lifting area below the work platform. When the second support slot is extended by the telescopic mechanism, the boom located in the second support slot achieves a first-stage extension, initially adjusting the lifting radius of the boom. After the second support slot stops extending, the boom extends again by the telescopic mechanism, achieving a second-stage extension, further adjusting the lifting radius of the boom. This allows the boom to lift and move heavy objects located in different target lifting areas below the work platform out of the work platform.

[0008] Furthermore, the connecting mechanism includes a drive assembly, a first fixed arm, and a second fixed arm. One end of the first fixed arm is fixedly connected to a slewing bearing, the other end of the first fixed arm is rotatably connected to one end of the second fixed arm, and the other end of the second fixed arm is fixedly connected to a first support groove.

[0009] With the above settings, driven by the drive component, the fixed arm 2 and the robotic arm can rotate around the rotational connection between the fixed arm 1 and the fixed arm 2, thereby adjusting the position of the robotic arm and placing it at different heights.

[0010] Furthermore, the drive assembly includes a drive cylinder and a push rod. The push rod is movably disposed within the drive cylinder. One end of the drive cylinder is rotatably connected to a fixed seat disposed on a slewing bearing, and one end of the push rod is rotatably connected to a connecting lug disposed on a first support groove.

[0011] The above setup enables the push rod to extend and retract via the drive cylinder, thereby allowing the push rod to rotate the fixed arm and the robotic arm in the vertical plane.

[0012] Furthermore, the telescopic mechanism includes a primary telescopic cylinder, a secondary telescopic cylinder, and a telescopic rod. A first support frame and a second support frame are fixedly connected to the lower end of the first support groove. The primary telescopic cylinder is fixedly connected to the first support frame and the second support frame, and the winch is fixedly connected to the lower end of the second support frame.

[0013] The above configuration enables the fixed arm 2, the first support groove, the first-stage telescopic cylinder and the winch to be connected as a whole, and to achieve synchronous rotation under the drive of the drive assembly.

[0014] Furthermore, one end of the second support groove is fitted into the first support groove, and the other end of the second support groove is provided with a second support seat. The lower end of the second support seat protrudes downward from the second support groove and is fixedly connected to the secondary telescopic cylinder. The secondary telescopic cylinder is movably disposed inside the primary telescopic cylinder and is arranged parallel to the second support groove.

[0015] With the above configuration, when the secondary telescopic cylinder extends and retracts within the primary telescopic cylinder, it can drive the second support groove to extend and retract synchronously within the first support groove, thereby adjusting the working radius of the boom.

[0016] Furthermore, one end of the boom is fitted into the second support groove, and the other end of the boom is provided with a first support seat. The lower end of the first support seat protrudes downward from the boom. One end of the telescopic rod is movably installed in the secondary telescopic cylinder, and the other end of the telescopic rod is fixedly connected to the first support seat and is arranged parallel to the boom. The lower end of the first support seat is provided with a pulley.

[0017] With the above setup, the boom can be extended or retracted via the telescopic rod, and the radius of action of the boom can be further adjusted. In this way, the winch can drive the wire rope to lift and raise heavy objects in the target area.

[0018] Furthermore, the lower end of the first support base is also provided with a pressure detection device. The pressure detection device includes a fixed frame and a first pulley, a second pulley, and a third pulley fixed on the fixed frame. A pressure sensor is provided on the first pulley. The first pulley is located above the second and third pulleys and is arranged in a triangle with the second and third pulleys. The wire rope on the winch passes through the upper end of the third pulley, the lower end of the first pulley, and the upper end of the second pulley in sequence, and then passes through the pulleys to connect with the hook.

[0019] The above setup ensures that before lifting, the wire rope exerts an upward force on the first pulley. A pressure sensor installed on the first pulley can detect this force, which is equal to the weight of the object being lifted. By comparing the detected force with the rated lifting capacity of the winch, overloading of the object can be prevented to avoid lifting accidents.

[0020] Furthermore, in step S1, the slewing bearing is installed at the lower end of the base, and the rotation of the slewing bearing is achieved by the slewing motor driving the slewing bearing.

[0021] The above settings enable the slewing bearing to rotate 360° in the horizontal plane.

[0022] Furthermore, step S4 also includes: After the heavy object is lifted from the target area, the slewing bearing drives the robotic arm to rotate, so that the robotic arm moves the lifted heavy object out of the working platform and to the direction of the target placement area. Then, the first-stage telescopic cylinder drives the second placement slot to extend and retract, and then the second-stage telescopic cylinder drives the boom to extend and retract. By adjusting the radius of the boom through the two extensions and retractions, the heavy object on the hook is positioned above the target placement area. Then, the winch drives the wire rope to lower the heavy object, proceeding to step S5.

[0023] With the above settings, the heavy objects under the work platform can be completely removed.

[0024] Furthermore, step S5 includes: The slewing bearing drives the robotic arm to rotate to one side of the work platform. Then, the first-stage telescopic cylinder drives the second support slot to retract into the first support slot. At the same time, the second-stage telescopic cylinder drives the boom to retract into the second support slot. Then, the drive assembly drives the robotic arm to rotate around the fixed arm to a position higher than the lower end of the work platform. Finally, the work platform is moved onto the drilling platform.

[0025] The above settings allow the robotic arm to retract after lifting heavy objects, thus preventing the robotic arm's rotation and extended position from hindering the work platform's retrieval and movement onto the drilling platform, while also preventing the robotic arm from occupying too much space. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the application of the present invention on an offshore drilling platform.

[0027] Figure 2 This is the front view of the present invention.

[0028] Figure 3 This is a top view of the present invention.

[0029] Figure 4 This is a side view of the robotic arm after it has retracted in this invention.

[0030] Figure 5 for Figure 2 Enlarged view of section A1 in the middle.

[0031] Figure 6 This is a schematic diagram of another embodiment of the present invention. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 1-6 As shown, an inverted multi-functional robotic arm hoisting method is implemented through a hoisting device, which includes a working platform 1, a base 2, a slewing bearing 3, a connecting mechanism, and a robotic arm 4. The robotic arm 4 includes a first resting groove 5, a second resting groove 6 sleeved within the first resting groove 5, a telescopic mechanism disposed below the second resting groove 6, and a boom 7 sleeved within the second resting groove 6. The connecting mechanism includes a drive assembly, a first fixed arm 8, and a second fixed arm 9. One end of the first fixed arm 8 is fixedly connected to the slewing bearing 3, and the other end of the first fixed arm 8 is rotatably connected to one end of the second fixed arm 9. The other end of the second fixed arm 9 is fixedly connected to the first resting groove 5. Thus, under the drive of the drive assembly, the second fixed arm 9 and the robotic arm 4 can rotate around the rotatable connection between the first fixed arm 8 and the second fixed arm 9, thereby adjusting the position of the robotic arm 4 to different heights.

[0034] like Figure 2 As shown, the drive assembly includes a drive cylinder 10 and a push rod 11. The push rod 11 is movably disposed inside the drive cylinder 10. One end of the drive cylinder 10 is rotatably connected to a fixed seat disposed on the slewing bearing 3, and one end of the push rod 11 is rotatably connected to a connecting ear disposed on the first support groove 5. In this way, the drive cylinder 10 can drive the push rod 11 to extend and retract, thereby causing the push rod 11 to drive the fixed arm 2 9 and the mechanical arm 4 to rotate in the vertical plane.

[0035] like Figure 2As shown, the telescopic mechanism includes a primary telescopic cylinder 12, a secondary telescopic cylinder 13, and a telescopic rod 14. The lower end of the first support groove 5 is fixedly connected to a first support frame 15 and a second support frame 16. The primary telescopic cylinder 12 is fixedly connected to the first support frame 15 and the second support frame 16. The winch 17 is fixedly connected to the lower end of the second support frame 16, so that the fixed arm 7, the first support groove 5, the primary telescopic cylinder 12, and the winch 17 are connected to form a whole. One end of the second support groove 6 is fitted into the first support groove 5, and the other end of the second support groove 6 is provided with a second support seat. The lower end of the second support seat protrudes downward from the second support groove 6 and is fixedly connected to the secondary telescopic cylinder 13. The secondary telescopic cylinder 13 is movably arranged inside the primary telescopic cylinder 12. The secondary telescopic cylinder 13 and the second support groove 6 are arranged parallel to each other. When the secondary telescopic cylinder 13 extends and retracts inside the primary telescopic cylinder 12, it can drive the second support groove 6 to achieve synchronous extension and retraction within the first support groove 5, thereby initially adjusting the working radius of the boom 7.

[0036] like Figure 2 and 5 As shown, one end of the boom 7 is fitted into the second support groove 6, and the other end of the boom 7 is provided with a first support seat 19. The lower end of the first support seat 19 protrudes downward from the boom 7. One end of the telescopic rod 14 is movably installed in the secondary telescopic cylinder 13, and the other end of the telescopic rod 14 is fixedly connected to the first support seat 19 and is arranged parallel to the boom 7. The lower end of the first support seat 19 is provided with a pulley, so that the boom 7 can be extended and retracted by the telescopic rod 14, and the effective radius of the boom 7 can be further adjusted. In this way, the winch 17 can drive the wire rope 18 to lift and hoist the heavy objects in the target area.

[0037] like Figure 2 and 5 As shown, a pressure detection device is also provided at the lower end of the first support base 19. The pressure detection device includes a fixed frame 20 and a first pulley 21, a second pulley 22, and a third pulley 23 fixed on the fixed frame 20. A pressure sensor is provided on the first pulley 21. The first pulley 21 is positioned above the second pulley 22 and the third pulley 23, and the first pulley 21, the second pulley 22, and the third pulley 23 are arranged in a triangle. The wire rope 18 on the winch 17 passes sequentially around the upper end of the third pulley 23 and the first pulley 23. After the lower end of pulley 21 and the upper end of the second pulley 22, the wire rope 18 passes around the pulley and connects to the hook. In this way, before lifting, the wire rope 18 exerts an upward force on the first pulley 21. The force exerted by the wire rope 18 on the first pulley 21 can be detected by the pressure sensor installed on the first pulley 21. This force is equal to the weight of the object being lifted. By comparing the detected force with the rated lifting weight of the winch 17, overloading of the object being lifted can be prevented to avoid lifting safety accidents.

[0038] The hoisting method includes the following specific steps: S1 as Figure 1 and 2 As shown, a base 2 is installed on the side of the working platform 1 away from the drilling platform 24, and a slewing bearing 3 is installed on the base 2. The slewing bearing 3 is installed at the lower end of the base 2. In this embodiment, the rotation of the slewing bearing 3 is achieved by a slewing motor, so that the slewing bearing 3 can rotate 360° in the horizontal plane. Then, the two ends of the connecting mechanism are fixedly connected to the slewing bearing 3 and the robotic arm 4 respectively. S2 drives the push rod 11 to extend via the drive cylinder 10 in the connecting mechanism, thereby causing the robotic arm 4 to rotate in the vertical plane around the rotational connection between fixed arm 1 8 and fixed arm 2 9 in the connecting mechanism until it protrudes to the lower end of the working platform 1 (see...). Figure 1 Then, through the slewing bearing 3, the connecting mechanism and the robotic arm 4 are driven to rotate under the working platform 1 and align with the lifting target area in the horizontal plane. S3 drives the second support groove 6 to extend along the axis of the first support groove 5 through the first telescopic cylinder 12, so that the boom 7 moves synchronously with the second support groove 6 to initially adjust the working radius of the boom 7. Then, the second telescopic cylinder 13 drives the boom 7 to extend along the axis of the second support groove 6, adjusts the working radius of the boom 7 again, and moves it above the lifting target area. S4 uses a winch 17 located below the telescopic mechanism to lower the wire rope 18 and the hook connected to the wire rope 18 to the target lifting area, and lifts the heavy object in the target lifting area. Before lifting, the pressure value of the pressure sensor located on the first pulley 21 is read and compared with the rated lifting weight of the winch 17. If the pressure value of the pressure sensor is greater than the rated lifting weight of the winch 17, the weight of the lifting object is reduced until the rated lifting weight of the winch 17 is met; otherwise, the heavy object in the target lifting area is lifted, and the slewing bearing 3 drives the mechanical arm 4 to rotate, so that the mechanical arm 4 moves the lifted heavy object out of the working platform 1 and moves it to the direction of the target placement area. Then, the first-stage telescopic cylinder 12 drives the second placement groove 6 to extend and retract, and then the second-stage telescopic cylinder 13 drives the boom 7 to extend and retract. By adjusting the radius of the boom 7 through two extensions and retractions, the heavy object on the hook is positioned above the target placement area. Then, the winch 17 drives the wire rope 18 to lower the heavy object, and proceeds to step S5.

[0039] After the S5 unloads the heavy object, the slewing bearing 3 drives the robotic arm 4 to rotate to one side of the working platform 1. Then, the first-stage telescopic cylinder 12 drives the second support slot 6 to retract into the first support slot 5. At the same time, the second-stage telescopic cylinder 13 drives the boom 7 to retract into the second support slot 6. Then, the drive assembly drives the robotic arm 4 to rotate around the fixed arm 8 to a position higher than the lower end of the working platform 1. Finally, the working platform 1 is moved onto the drilling platform 24.

[0040] The working principle of this invention is as follows: After the connecting mechanism drives the robotic arm 4 to rotate in the vertical plane, the robotic arm 4 can be positioned below the working platform 1, which facilitates the robotic arm 4 to lift heavy objects in the lifting target area below the working platform 1. When the telescopic mechanism drives the second support slot 6 to extend, the boom 7 set in the second support slot 6 achieves a first-stage telescopic movement, initially adjusting the lifting working radius of the boom 7. After the second support slot 6 stops extending, the telescopic mechanism extends the boom 7 again, thereby achieving a second-stage telescopic movement, further adjusting the lifting working radius of the boom 7. In this way, heavy objects located in different lifting target areas below the working platform 1 can be lifted and moved out of the working platform 1.

[0041] In another embodiment, the work platform 1 is provided with a base 2, a slewing bearing 3, a connecting mechanism, and a robotic arm 4 on both adjacent sides, such as... Figure 6 As shown, dashed line L3 represents the maximum working radius of the boom after the robotic arm 4 on one side extends in two stages, and dashed line L4 represents the maximum working radius of the boom after the robotic arm 4 on the other side extends in two stages. When the robotic arm 4 on one side moves the lifted load out of the work platform 1, dashed line L1 represents the minimum working radius of the boom after the robotic arm 4 on one side retracts in two stages. Due to the length setting of the telescopic mechanism of the robotic arm 4 on one side, the lifting target area A2 cannot be reached after the boom 7 moves. At the same time, when the robotic arm 4 on the other side moves the lifted load out of the work platform 1, dashed line L2 represents the minimum working radius of the boom after the robotic arm 4 on one side retracts in two stages. Within a small operating radius, the lifting target area A3 is inaccessible to the boom 7 after its movement due to the length setting of the telescopic mechanism of the adjacent robotic arm 4. By performing the above steps S2~S3 on the adjacent robotic arm 4, the adjacent robotic arm 4 can lift heavy objects in the lifting target area that the boom 7 still cannot reach after two-stage retraction of the robotic arm 4 on one side. In other words, by setting robotic arms 4 on the adjacent sides of the working platform 1, the problem of the boom 7 being unable to reach the lifting target area after its movement due to the length setting of the telescopic mechanism during the lifting process of a single robotic arm 4 can be solved, thus preventing the boom 7 from lifting heavy objects.

Claims

1. A method for hoisting an inverted multi-functional robotic arm, implemented by a hoisting device comprising a working platform, a base, a slewing bearing, and a robotic arm, the robotic arm comprising a first support groove, a second support groove sleeved within the first support groove, a telescopic mechanism disposed below the second support groove, and a boom sleeved within the second support groove; characterized in that: The hoisting device also includes a connecting mechanism; and also includes the following steps: S1 has a base installed on one side of the work platform, a slewing bearing installed under the base, and then the two ends of the connecting mechanism are fixedly connected to the slewing bearing and the robotic arm respectively. S2 drives the robotic arm to rotate in the vertical plane around the fixed arm in the connecting mechanism through the drive component in the connecting mechanism until the upper end face of the robotic arm is located at the lower end of the working platform. Then, through the slewing bearing in the horizontal plane, it drives the connecting mechanism and the robotic arm to rotate below the working platform and align with the lifting target area. S3 uses a telescopic mechanism to extend the second support groove along the axis of the first support groove, so that the boom moves synchronously with the second support groove for the first time. Then, the telescopic mechanism again extends the boom along the axis of the second support groove and moves it above the lifting target area. S4 uses a winch located below the telescopic mechanism to lower the wire rope and the hook connected to the wire rope to the target area for hoisting.

2. The method for hoisting an inverted multi-functional robotic arm according to claim 1, characterized in that: The connecting mechanism includes a drive assembly, a first fixed arm, and a second fixed arm. One end of the first fixed arm is fixedly connected to a slewing bearing, the other end of the first fixed arm is rotatably connected to one end of the second fixed arm, and the other end of the second fixed arm is fixedly connected to a first support groove.

3. The method for hoisting an inverted multi-functional robotic arm according to claim 2, characterized in that: The drive assembly includes a drive cylinder and a push rod. The push rod is movably disposed inside the drive cylinder. One end of the drive cylinder is rotatably connected to a fixed seat disposed on a slewing bearing, and one end of the push rod is rotatably connected to a connecting lug disposed on a first support groove.

4. The method for hoisting an inverted multi-functional robotic arm according to claim 1, characterized in that: The telescopic mechanism includes a primary telescopic cylinder, a secondary telescopic cylinder, and a telescopic rod. The lower end of the first support groove is fixedly connected to a first support frame and a second support frame. The primary telescopic cylinder is fixedly connected to the first support frame and the second support frame. The winch is fixedly connected to the lower end of the second support frame.

5. The method for hoisting an inverted multi-functional robotic arm according to claim 1, characterized in that: One end of the second support groove is fitted into the first support groove, and the other end of the second support groove is provided with a second support seat. The lower end of the second support seat protrudes downward from the second support groove and is fixedly connected to the second-stage telescopic cylinder. The second-stage telescopic cylinder is movably arranged inside the first-stage telescopic cylinder and is arranged parallel to the second support groove.

6. The method for hoisting an inverted multi-functional robotic arm according to claim 1, characterized in that: One end of the boom is fitted into the second support groove, and the other end of the boom is provided with a first support seat. The lower end of the first support seat protrudes downward from the boom. One end of the telescopic rod is movably installed in the secondary telescopic cylinder, and the other end of the telescopic rod is fixedly connected to the first support seat and is arranged parallel to the boom. The lower end of the first support seat is provided with a pulley.

7. The method for hoisting an inverted multi-functional robotic arm according to claim 6, characterized in that: The lower end of the first support base is also provided with a pressure detection device. The pressure detection device includes a fixed frame and a first pulley, a second pulley and a third pulley fixed on the fixed frame. A pressure sensor is provided on the first pulley. The first pulley is located above the second pulley and the third pulley and is arranged in a triangle with the second pulley and the third pulley. The wire rope on the winch passes through the upper end of the third pulley, the lower end of the first pulley and the upper end of the second pulley in sequence, and then passes through the pulley and connects to the hook.

8. The method for hoisting an inverted multi-functional robotic arm according to claim 1, characterized in that: In step S1, the slewing bearing is installed at the lower end of the base, and the rotation of the slewing bearing is achieved by the slewing motor driving the slewing bearing.

9. The method for hoisting an inverted multi-functional robotic arm according to claim 1, characterized in that: Step S4 also includes: After the heavy object is lifted from the target area, the slewing bearing drives the robotic arm to rotate, so that the robotic arm moves the lifted heavy object out of the working platform and to the direction of the target placement area. Then, the first-stage telescopic cylinder drives the second placement slot to extend and retract, and then the second-stage telescopic cylinder drives the boom to extend and retract. By adjusting the radius of the boom through the two extensions and retractions, the heavy object on the hook is positioned above the target placement area. Then, the winch drives the wire rope to lower the heavy object, proceeding to step S5.

10. The method for hoisting an inverted multi-functional robotic arm according to claim 9, characterized in that: Step S5 includes: The slewing bearing drives the robotic arm to rotate to one side of the work platform. Then, the first-stage telescopic cylinder drives the second support slot to retract into the first support slot. At the same time, the second-stage telescopic cylinder drives the boom to retract into the second support slot. Then, the drive assembly drives the robotic arm to rotate around the fixed arm to a position higher than the lower end of the work platform. Finally, the work platform is moved onto the drilling platform.

Images