Lifting platform, control method of lifting platform and robot maintenance system

Abstract

The invention discloses a lifting platform, a control method of the lifting platform and a robot maintenance system. The lifting platform comprises a supporting seat, a lifting supporting assembly in sliding fit with the supporting seat, a lifting driving power structure and an anti-rollover structure, wherein the lifting driving power structure and the anti-rollover structure are arranged between the supporting seat and the lifting supporting assembly. The lifting supporting assembly comprises a connecting framework connected with the supporting base in a sliding fit mode, and a supporting platform arranged above the connecting framework and suitable for being rotationally matched with the connecting framework. The power output end of the lifting driving power structure is connected with the connecting framework; and the anti-rollover structure at least comprises a linear driver which is connected with the supporting platform and is suitable for performing linear motion.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a lifting platform, a control method for the lifting platform, and a robot maintenance system. Background Technology

[0002] In the maintenance of high-speed railway power supply lines, manual inspection is not only difficult but also risky. When the workload of high-speed railway power supply line maintenance is large, the labor intensity of manual labor increases significantly, increasing labor costs and affecting the smoothness of the maintenance process. Therefore, using robots to maintain high-speed railway power supply lines can avoid the above problems. With the development of automation and intelligence in high-speed railway operation and maintenance, the demand for automated lifting equipment to support maintenance robots is increasing day by day.

[0003] In the specific process of high-speed rail power supply line maintenance, using a stable and controllable lifting platform to achieve robot lifting is a crucial step in ensuring the smooth progress of maintenance work. Currently, high-speed rail power supply line maintenance generally relies on manual assistance or simple lifting devices in conjunction with robot operation. For manual assistance, the work scenarios are often at height or in complex line environments, posing significant safety hazards. Furthermore, operators are easily affected by the environment while assisting the robot in positioning, increasing the risk of injury. Therefore, this method has many shortcomings. In addition, manual assistance is inefficient and cannot meet the demands of modern high-speed rail maintenance for high-efficiency repairs. As for using simple lifting devices, only basic upward and downward movement adjustments are possible. In the actual maintenance process, the robot may shift, causing uneven stress on the platform supporting the robot. This could lead to the entire lifting platform tipping over, which would not only reduce maintenance accuracy and affect the quality of high-speed rail power supply line maintenance, but also potentially cause incalculable risks and losses if the lifting platform were to tip over.

[0004] Therefore, based on the above situation, there is an urgent need for a stable and controllable lifting platform for robots that maintain high-speed rail power supply lines, so as to ensure the reliability and stability of the robot's lifting process, guarantee the smooth completion of maintenance work, improve maintenance efficiency, reduce the risk of personnel injury, and meet the modern needs of high-speed rail maintenance. Summary of the Invention

[0005] The primary objective of this invention is to provide a lifting platform to address the technical problem of improving the reliability and stability of the lifting process.

[0006] The second objective of this invention is to provide a control method for a lifting platform to solve the technical problem of improving the reliability and stability of the lifting process.

[0007] A third objective of this invention is to provide a robot repair system that addresses the technical problem of improving the efficiency and reliability of its repair operations.

[0008] The lifting platform of this invention is implemented as follows: A lifting platform includes at least: a support base, a lifting support assembly slidably engaged with the support base, and a lifting drive power structure and an anti-tipping structure disposed between the support base and the lifting support assembly; wherein The lifting support assembly includes a connecting frame that is slidably coupled with the support base, and a support platform located above the connecting frame and adapted to rotate with the connecting frame. The power output end of the lifting drive structure is connected to the connecting frame; and The anti-rollover structure includes at least a linear actuator suitable for linear motion, which is connected to the support platform.

[0009] In an optional embodiment of the present invention, the support platform includes a flat plate support frame and a plurality of connecting beams disposed at the bottom of the flat plate support frame for rotational engagement with the connecting frame.

[0010] In an optional embodiment of the invention, the connecting frame has multiple support beams for mating with multiple connecting beams; and Each of the connecting beams is respectively equipped with a rotating shaft, and each of the supporting beams is provided with a bearing seat adapted to the rotating shaft; wherein The axis of rotation of the multiple connecting beams coincides.

[0011] In an optional embodiment of the present invention, the lifting drive power structure includes at least two lifting actuators arranged in pairs; Each of the aforementioned lifting actuators has its power output end connected to a support beam via a corner connector.

[0012] In an optional embodiment of the invention, each of the corner connectors includes a top plate connected to the power output end of the lifting drive, and a pair of side connecting plates arranged in pairs and respectively connected to the top plate. Both of the side connecting plates are perpendicular to the top plate; and each of the side connecting plates is provided with a connecting slot for engaging the support beam corresponding to the lifting drive. The top plate faces the flat plate support frame; the power output end of the lifting drive is connected to the side end of the top plate facing away from the flat plate support frame.

[0013] In an optional embodiment of the present invention, a guide component is further designed between the connecting frame and the support base; The guide assembly includes a slider disposed on the connecting frame and a guide rail disposed in the support base that slides in cooperation with the slider.

[0014] In an optional embodiment of the invention, the power output end of the linear actuator is connected to the plate support frame facing the support base, and the portion of the linear actuator connected to the plate support frame is offset relative to the axis of rotation of the plurality of connecting beams.

[0015] The control method of the lifting platform of the present invention is implemented as follows: A control method for a lifting platform, applicable to the lifting platform, comprising: Step S1: The main controller regulates the operation of the lifting support assembly and the anti-tipping structure, and the lifting support assembly enables the support platform to move upward relative to the support base; Step S2: Obtain the lifting height data of the support platform relative to the support base during the lifting process, and adjust the operating status of the lifting support assembly in real time according to the lifting height data so that the support platform rises to the target height relative to the support base. Step S3: After the support platform is raised and lowered to the target height relative to the support base, monitor the tilt angle data of the support platform relative to the horizontal plane in real time and adjust the operation status of the anti-rollover structure in real time according to the tilt angle data so that the support platform remains parallel to the horizontal plane.

[0016] In an optional embodiment of the present invention, the main controller is electrically connected to a ranging detection element and a tilt detection element; The ranging detection device is mounted on the support base; and the tilt detector is mounted on the support platform.

[0017] The robot repair system of this invention is implemented as follows: A robotic repair system includes: the aforementioned lifting platform, and a repair robot adapted to be mounted on the support platform.

[0018] By adopting the above technical solution, the present invention has the following beneficial effects: The lifting platform, the control method of the lifting platform, and the robot maintenance system of the present invention, through the rotational cooperation between the connecting frame and the support platform, enable the lifting support assembly to synchronously drive the support platform to move when driving the connecting frame to move up and down. This achieves the lifting movement of the maintenance robot placed on the support platform, improving the efficiency and safety of the maintenance process. In this process, the anti-tipping structure corrects and adjusts the tilt of the support platform relative to the horizontal plane caused by the unbalanced force of the robot, ensuring the parallelism of the support platform relative to the horizontal plane during use, thereby preventing the robot from tipping over and further improving the stability and reliability of the operation process. Attached Figure Description

[0019] Figure 1 This is a first-view structural diagram of the lifting platform of the present invention; Figure 2 This is a second-view structural diagram of the lifting platform of the present invention; Figure 3 This is a partial structural diagram of the lifting platform of the present invention. Figure 1 ; Figure 4 This is a partial structural diagram of the lifting platform of the present invention. Figure 2 ; Figure 5 This is a partial structural diagram of the lifting platform of the present invention. Figure 3 ; Figure 6 This is a partial structural diagram of the lifting platform of the present invention. Figure 4 .

[0020] In the diagram: Support base 1, connecting frame 2, support beam 21, support platform 3, flat plate support frame 31, connecting beam 32, slider 41, guide rail 42, rotating shaft 51, bearing seat 52, lifting drive 6, top plate 71, side connecting plate 72, connecting bayonet 73, linear drive 8, main controller 91, distance measuring detection component 92, tilt angle detection component 93, oil tank 101, accumulator 102, pump motor 103, return oil filter 104, heater 105, hydraulic valve 106. Detailed Implementation

[0021] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0022] Example 1: Please see Figures 1 to 6 As shown, this embodiment provides a lifting platform, which includes at least: a support base 1, a lifting support assembly that slides with the support base 1, and a lifting drive power structure and an anti-tipping structure disposed between the support base 1 and the lifting support assembly.

[0023] Specifically, the first part is the support base 1, which can be a seat structure with a certain supporting force that can be supported on the ground by assembling multiple support tubes. This embodiment does not make absolute limitations on the specific number of support tubes or the angle or method of assembly. From the perspective of ease of processing, the overall support base 1 is roughly rectangular, regular and highly stable.

[0024] Secondly, the lifting support assembly includes a connecting frame 2 that slides with the support base 1, and a support platform 3 located above the connecting frame 2 and adapted to rotate with the connecting frame 2. The power output end of the lifting drive power structure is connected to the connecting frame 2.

[0025] Similarly, the connecting frame 2 here can be assembled from multiple support tubes to form a roughly rectangular structure, which makes the connecting frame 2 not only easy to process, but also compatible with the support base 1, forming a sliding fit connection with the support base 1.

[0026] Based on the above structure, for the sliding fit between the connecting frame 2 and the support base 1, in conjunction with the attached figure, a guide component is also designed between the connecting frame 2 and the support base 1; the guide component includes a slider 41 on the connecting frame 2 and a guide rail 42 in the support base 1 that slides in fit with the slider 41.

[0027] Regarding the rotational fit between the connecting frame 2 and the supporting platform 3, a specific optional scenario will be explained in detail here, with reference to the attached diagram: The support platform 3 includes a flat support frame 31 and multiple connecting beams 32 located at the bottom of the flat support frame 31 for rotatable engagement with the connecting frame 2. The connecting frame 2 has multiple support beams 21 for mates with the multiple connecting beams 32; and each connecting beam 32 is respectively equipped with a rotating shaft 51, and each support beam 21 is provided with a bearing seat 52 adapted to the rotating shaft 51; wherein the axis of rotation of the multiple connecting beams 32 coincides, and the coincident axis of rotation of the multiple connecting beams 32 constitutes the axis of rotation of the support platform 3 relative to the connecting frame 2. Furthermore, the lifting drive power structure includes at least two paired lifting actuators 6; the power output end of each lifting actuator 6 is connected to a support beam 21 through a corner connector. The lifting actuator 6 here can be, for example, but not limited to, a cylinder or a hydraulic cylinder, and this embodiment does not make an absolute limitation on this.

[0028] Based on the above, it should also be noted that each corner connector includes a top plate 71 connected to the power output end of the lifting drive 6, and a pair of side connecting plates 72 respectively connected to the top plate 71; both side connecting plates 72 are perpendicular to the top plate 71; and each side connecting plate 72 has a connecting slot 73 for engaging the corresponding support beam 21 of the lifting drive 6; the top plate 71 faces the flat plate support frame 31; the power output end of the lifting drive 6 is connected to the side end face of the top plate 71 facing away from the flat plate support frame 31. Based on this structure, when the power output end of the lifting drive 6 is extended, the connecting frame can rise under its action, and simultaneously, the support platform 3 mated with the connecting frame will also rise together; when the power output end of the lifting drive 6 is retracted, the process is the opposite of the above. In other words, the rotational fit between the support platform 3 and the connecting frame will not affect the lifting and lowering movement of the support platform 3 along with the connecting frame. That is, the rotational fit between the support platform 3 and the connecting frame is completely independent of the situation where the support platform 3 can lift and lower synchronously with the connecting frame.

[0029] Based on the above structure, it should be noted that the anti-rollover structure in this embodiment includes at least a linear actuator 8 suitable for linear motion, which is connected to the support platform 3. The linear actuator 8 can be, for example, but not limited to, a cylinder or a hydraulic cylinder. The fixed end of the linear actuator 8 is still mounted and fixed on the support base 1, and the power output end of the linear actuator 8 is connected to the flat plate support frame 31 facing the support base 1.

[0030] Based on the above, it should also be noted that the portion of the linear actuator 8 connected to the plate support frame 31 is offset relative to the axis of rotation 51 of the multiple connecting beams 32. Because of this, under the action of the linear actuator 8, the support platform 3 can rotate relative to the connecting frame 2 around the axis of rotation 51. Taking the case where the overall plate support frame 31 adopts a cuboid structure as an example, considering the actual use of the robot, the axis of rotation 51 of the multiple connecting beams 32 is located at the midpoint of the width direction of the plate support frame 31. The reason for this design is as follows: Because the length dimension is large, even if the robot's center is biased towards one side of the length direction centerline due to displacement along the length direction, resulting in uneven force on the plate support frame 31, the probability of the large support platform 3 tilting laterally and causing the entire lifting platform and robot to overturn is relatively low. However, because the width dimension is smaller than the length dimension, the probability of overturning in this direction may increase significantly.

[0031] Based on the above, the anti-rollover structure is designed so that the rotation of the support platform 3 relative to the connecting frame is prevented from rotating unexpectedly due to the force of the anti-rollover structure. The support platform 3 will only rotate relative to the connecting frame when the power output end of the anti-rollover structure extends or retracts.

[0032] In summary, for the lifting platform in this embodiment, the rotational cooperation between the connecting frame 2 and the support platform 3 allows the lifting support assembly to synchronously drive the support platform 3 when driving the connecting frame 2 to move up and down. This enables the lifting movement of the maintenance robot mounted on the support platform 3, improving the efficiency and safety of the maintenance process. During this process, the anti-tipping structure corrects and adjusts the tilt of the support platform 3 relative to the horizontal plane caused by the unbalanced force exerted by the robot, ensuring the parallelism of the support platform 3 relative to the horizontal plane during use. This prevents the robot from tipping over, further improving the stability and reliability of the operation.

[0033] Example 2: Based on the lifting platform of Embodiment 1, this embodiment provides a control method for the lifting platform, applicable to the lifting platform of Embodiment 1, including: Step S1: The main controller 91 regulates the operation of the lifting support assembly and the anti-tipping structure, enabling the support platform 3 to rise relative to the support base 1 via the lifting support assembly. The main controller 91 is electrically connected to a distance measuring device 92 and a tilt measuring device 93. The distance measuring device 92 is mounted on the support base 1, and the tilt measuring device is mounted on the support platform 3. The distance measuring device can be an infrared or laser rangefinder. The tilt measuring device can be a tilt sensor.

[0034] Step S2: Obtain the rising height data of the support platform 3 relative to the support base 1 during the upward movement process, and adjust the operating status of the lifting support assembly in real time according to the rising height data so that the support platform 3 rises to the target height relative to the support base 1.

[0035] Step S3: After the support platform 3 is raised and lowered relative to the support base 1 to the target height, the tilt angle data of the support platform 3 relative to the horizontal plane is monitored in real time, and the operation status of the anti-rollover structure is adjusted in real time according to the tilt angle data so that the support platform 3 remains parallel to the horizontal plane.

[0036] Specifically, in this embodiment, when the lifting actuator 6 and linear actuator 8 are hydraulic cylinders, both the lifting actuator 6 and linear actuator 8 are connected to a hydraulic pump workstation that provides power to the hydraulic cylinders. The specific hydraulic pump workstation can utilize any mature existing technology; this embodiment will not make any further improvements, nor will it impose absolute limitations on its specific structure and implementation principle. The general hydraulic pump workstation includes a working oil tank 101, an accumulator 102, a pump motor 103, a return oil filter 104, a heater 105, and a hydraulic valve 106. The pump motor 103 draws oil from the oil tank 101 and pumps it, converting mechanical energy into hydraulic oil pressure energy. The hydraulic oil is regulated in direction, pressure, and flow through the hydraulic valve 106. After being heated by the heater 105 and filtered by the return oil filter 104, the hydraulic oil is transmitted to the hydraulic cylinders via external pipelines. Since the lifting actuator 6 and linear actuator 8 operate separately, both cylinders can share one oil tank 101, while the remaining structures are independent of each other.

[0037] Based on the above, the main controller 91 obtains the height of the support platform 3 relative to the support base 1 during its upward movement using a distance measuring instrument. It then compares this height with a preset standard value (adaptively set manually according to actual conditions) within the main controller 91 to obtain the deviation. The main controller 91 then generates a corresponding hydraulic power adjustment signal and transmits this signal to the hydraulic pump workstation. The hydraulic pump workstation, acting as a power source and distribution unit, dynamically adjusts the output pressure and flow parameters of the hydraulic system based on the received adjustment signal. By precisely distributing the drive parameters of the lifting drive 6, it raises the support platform 3 relative to the support base 1 to the target height. Similarly, the main controller 91 obtains the tilt angle data of the support platform 3 relative to the horizontal plane using a tilt measuring instrument. It then compares this tilt angle with a preset standard value (normally 0 degrees) within the main controller 91 to obtain the deviation. The main controller 91 then generates a corresponding hydraulic power adjustment signal and transmits this signal to the hydraulic pump workstation. The hydraulic pump workstation, as a power source and distribution unit, dynamically adjusts the output pressure and flow parameters of the hydraulic system according to the received adjustment signal. By precisely distributing the drive parameters of the linear actuator 8, the support platform 3 is kept parallel to the horizontal plane (the tilt angle of the support platform 3 relative to the horizontal plane is 0 degrees).

[0038] In summary, this embodiment uses the main controller 91 to coordinate the operation of the lifting support assembly and the anti-tipping structure, making the overall lifting platform more intelligent and reliable in use.

[0039] Example 3: Based on the lifting platform of Embodiment 1, this embodiment provides a robot repair system, including: the lifting platform of Embodiment 1, and a repair robot suitable for mounting on the support platform 3. This embodiment does not modify the specific structure and implementation principle of the repair robot used here; therefore, it can be any mature method in the prior art.

[0040] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0041] In the description of this invention, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0042] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0044] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0045] In this invention, unless otherwise expressly specified and limited, "above or below" a first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on" the first feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the first feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

Claims

1. A lifting platform, characterized in that, At least including: The support base, the lifting support assembly that slides with the support base, and the lifting drive power structure and anti-rollover structure located between the support base and the lifting support assembly; in The lifting support assembly includes a connecting frame that is slidably coupled with the support base, and a support platform located above the connecting frame and adapted to rotate with the connecting frame. The power output end of the lifting drive structure is connected to the connecting frame; and The anti-rollover structure includes at least a linear actuator suitable for linear motion, which is connected to the support platform.

2. The lifting platform according to claim 1, characterized in that, The support platform includes a flat plate support frame and multiple connecting beams located at the bottom of the flat plate support frame for rotational engagement with the connecting frame.

3. The lifting platform according to claim 2, characterized in that, The connecting frame has multiple support beams for mates with multiple connecting beams; and Each of the connecting beams is respectively equipped with a rotating shaft, and each of the supporting beams is provided with a bearing seat adapted to the rotating shaft; wherein The axis of rotation of the multiple connecting beams coincides.

4. The lifting platform according to claim 3, characterized in that, The lifting drive power structure includes at least two lifting actuators arranged in pairs; Each of the aforementioned lifting actuators has its power output end connected to a support beam via a corner connector.

5. The lifting platform according to claim 4, characterized in that, Each of the aforementioned corner connectors includes a top plate connected to the power output end of the lifting drive, and a pair of side connecting plates arranged in pairs and respectively connected to the top plate. Both of the side connecting plates are perpendicular to the top plate; and each of the side connecting plates is provided with a connecting slot for engaging the support beam corresponding to the lifting drive. The top plate faces the flat plate support frame; the power output end of the lifting drive is connected to the side end of the top plate facing away from the flat plate support frame.

6. The lifting platform according to claim 1, characterized in that, A guide component is also designed between the connecting frame and the support base; The guide assembly includes a slider disposed on the connecting frame and a guide rail disposed in the support base that slides in cooperation with the slider.

7. The lifting platform according to claim 3, characterized in that, The power output end of the linear actuator is connected to the plate support frame facing the support base, and the part of the linear actuator connected to the plate support frame is offset relative to the axis of rotation of the multiple connecting beams.

8. A control method for a lifting platform, applicable to the lifting platform as described in any one of claims 1 to 7, characterized in that, include: Step S1: The main controller regulates the operation of the lifting support assembly and the anti-tipping structure, and the lifting support assembly enables the support platform to move upward relative to the support base; Step S2: Obtain the lifting height data of the support platform relative to the support base during the lifting process, and adjust the operating status of the lifting support assembly in real time according to the lifting height data so that the support platform rises to the target height relative to the support base. Step S3: After the support platform is raised and lowered to the target height relative to the support base, monitor the tilt angle data of the support platform relative to the horizontal plane in real time and adjust the operation status of the anti-rollover structure in real time according to the tilt angle data so that the support platform remains parallel to the horizontal plane.

9. The control method for the lifting platform according to claim 8, characterized in that, The main controller is electrically connected to a distance measuring device and a tilt measuring device; The ranging detection device is mounted on the support base; and the tilt detector is mounted on the support platform.

10. A robot repair system, characterized in that, include: The lifting platform as described in any one of claims 1 to 7, and the maintenance robot suitable for mounting on the support platform.

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