Lifting platform suitable for robot maintenance system and control method

Abstract

The invention discloses a lifting platform suitable for a robot maintenance system and a control method. The lifting platform comprises a supporting base, a first lifting support suitable for being in sliding fit with the inner layer of the supporting base, and a second lifting support suitable for being in sliding fit with the inner layer of the first lifting support. The second lifting support comprises a supporting framework and a supporting platform rotationally matched with the supporting framework. An anti-rollover structure is arranged between the supporting platform and the supporting framework; the anti-rollover structure at least comprises a linear driver which is connected with the supporting platform and is suitable for doing linear motion; a lifting driving power structure is arranged between the supporting seat and the first lifting bracket; pulley assemblies are further arranged among the first lifting support, the second lifting support and the supporting base.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a lifting platform suitable for a robot maintenance system and a control method. BACKGROUND

[0002] In the process of high-speed rail power supply line maintenance, manual maintenance is not only difficult but also risky. When the task of high-speed rail power supply line maintenance is large, the labor intensity of manual labor is significantly increased, which not only increases the cost of manual labor, but also affects the smoothness of the maintenance process. Therefore, using a robot to maintain the high-speed rail power supply line can avoid the above problems. With the development of high-speed rail operation automation and intelligence, the demand for automatic lifting equipment for maintenance robots is increasing.

[0003] In combination with the specific process of high-speed rail power supply line maintenance, using a stable and controllable lifting platform to realize the lifting of the robot is a key link to ensure the smooth development of the maintenance work. In the existing high-speed rail power supply line maintenance operation, manual assistance lifting or simple lifting device is generally used to cooperate with the robot operation. For the manual assistance lifting method, since the working scene is mostly in high altitude or complex line environment, there is a great safety hazard, and the operating personnel are easily affected by the environment during the assistance of the robot positioning process, increasing the risk of injury. Therefore, this method still has many deficiencies. In addition, manual assistance lifting also has the problem of low efficiency, which is difficult to meet the demand of modern high-speed rail operation for efficient maintenance. For the method of using a simple lifting device to realize lifting, in combination with the specific application situation, the following problems are found: First, the size of the lifting stroke is directly subject to the stroke size of the driving module. Based on this, when the lifting platform needs to realize a large lifting stroke, a driving module with a large stroke needs to be used. The larger the stroke, the larger the overall size of the driving module, and the higher the production cost.

[0004] Second, only simple up and down motion adjustment can be realized. In combination with the actual maintenance operation process of the robot, the robot may produce displacement, causing the platform supporting the robot to be unbalanced, which may cause the overall lifting platform to overturn. This not only reduces the maintenance precision and affects the maintenance quality of the high-speed rail power supply line, but also may cause immeasurable risks and losses once the lifting platform overturns.

[0005] Therefore, based on the above situation, there is an urgent need for a stable and controllable lifting platform for a robot that maintains a high-speed rail power supply line to realize the reliability and stability of the lifting process of the robot, while also considering the problem of reducing the production cost of the overall structure. SUMMARY

[0006] The first object of the present application is to provide a lifting platform suitable for a robot maintenance system to solve the technical problem of optimizing the lifting process.

[0007] The second object of the present application is to provide a lifting platform suitable for a robot maintenance system to solve the technical problem of improving the efficiency and reliability of its maintenance operation.

[0008] The lifting platform of the present application is implemented as follows: A lifting platform at least comprises a support base, a first lifting support adapted to slide with the inner layer of the support base, and a second lifting support adapted to slide with the inner layer of the first lifting support; The second lifting support comprises a support platform adapted to rotate with the support framework; A roll-over prevention structure is arranged between the support platform and the support framework; the roll-over prevention structure at least comprises a linear actuator adapted to perform linear motion and connected to the support platform; and A lifting driving power structure is arranged between the support base and the first lifting support; A pulley assembly is further arranged between the first lifting support, the second lifting support and the support base.

[0009] In an optional embodiment of the present application, the support platform comprises a flat support frame and a plurality of connecting beams arranged at the bottom of the flat support frame and adapted to rotate with the support framework.

[0010] In an optional embodiment of the present application, the support framework has a plurality of support beams adapted to connect the plurality of connecting beams; and Each of the connecting beams is respectively connected with a rotating shaft, and each of the support beams is provided with a bearing seat adapted to the rotating shaft; wherein The axis lines of the rotating shafts of the plurality of connecting beams coincide.

[0011] In an optional embodiment of the present application, the power output end of the linear actuator is connected with the end surface of the flat support frame facing the support base, and the part of the power output end of the linear actuator connected with the flat support frame is distributed in a bias manner relative to the axis lines of the rotating shafts of the plurality of connecting beams.

[0012] In an optional embodiment of the present application, the lifting driving power structure adopts a pneumatic cylinder, and the power output end of the pneumatic cylinder is connected with the second lifting support.

[0013] In an optional embodiment of the present application, a first guide assembly is arranged between the first lifting support and the second lifting support; and A second guide assembly is arranged between the first lifting support and the support base.

[0014] In the alternative embodiment of the present application, the first guiding assembly and the second guiding assembly each comprise a matched slide rail and a slide groove.

[0015] In the alternative embodiment of the present application, the pulley assembly comprises a pair of guiding wheels arranged in an up-down distribution on the first lifting support, an auxiliary wheel arranged on the second lifting support, and a traction rope wound around the pair of guiding wheels and the auxiliary wheel. Both ends of the traction rope are fixed on the support seat.

[0016] The control method of the lifting platform of the present application is implemented as follows: A control method of a lifting platform, applicable to the lifting platform, comprising: Step S1: The main controller regulates the operation process of the lifting driving power structure and the anti-rollover structure, and realizes the upward movement of the first lifting support and the second lifting support relative to the support seat through the lifting driving power structure; Step S2: Obtain the lifting height data of the second lifting support during the upward movement relative to the support seat and regulate the running state of the lifting driving power structure in real time according to the lifting height data, so as to lift the second lifting support to the target height relative to the support seat; Step S3: After the second lifting support is lifted to the target height relative to the support seat, the inclination angle data of the first lifting support relative to the horizontal plane is monitored in real time, and the running state of the anti-rollover structure is regulated in real time according to the inclination angle data, so as to keep the second lifting support parallel to the horizontal plane.

[0017] In the alternative embodiment of the present application, the main controller is electrically connected with a distance measuring detection member and an inclination angle detection member; The distance measuring detection member is arranged on the support seat, and the inclination angle detection member is arranged on the support platform.

[0018] By adopting the above technical solution, the present invention has the following beneficial effects: The lifting platform and control method of the present invention, applicable to robot maintenance systems, achieves lifting and lowering of the maintenance robot placed on the support platform by means of the rotational cooperation between the support frame and the support platform, allowing the second lifting bracket to move relative to the support seat. This improves the efficiency and safety of the maintenance process. During this process, an anti-tipping structure corrects and adjusts the tilt of the support platform relative to the horizontal plane caused by the unbalanced force exerted by the robot, ensuring the parallelism of the support platform relative to the horizontal plane during use. This prevents the robot from tipping over, further improving the stability and reliability of the operation. Furthermore, the pulley assembly between the first and second lifting brackets and the support seat allows the total height of the lifting stroke of the first and second lifting brackets relative to the support seat to be greater than the stroke of the lifting drive power structure. Therefore, for the same lifting stroke requirement, the present invention can use a lifting drive power structure with a relatively smaller stroke, resulting in lower cost. Attached Figure Description

[0019] Figure 1 This is a first-view structural diagram of the lifting platform applicable to the robot maintenance system of the present invention; Figure 2 This is a second-view structural diagram of the lifting platform applicable to the robot maintenance system of the present invention; Figure 3 This is a partial structural diagram of the lifting platform of the present invention applicable to robot maintenance systems. Figure 1 ; Figure 4 This is a partial structural diagram of the lifting platform of the present invention applicable to robot maintenance systems. Figure 2 .

[0020] In the diagram: Support base 1, First lifting bracket 2, Second lifting bracket 3, Support frame 31, Support beam 32, Support platform 33, Flat plate support frame 34, Connecting beam 35, Slide rail 41, Slide groove 42, Rotating shaft 51, Bearing seat 52, Lifting drive power structure 6, Guide wheel 71, Auxiliary wheel 72, Linear drive 8, Main controller 91, Inclination detection component 93, Oil tank 101, Accumulator 102, Pump motor 103, Return oil filter 104, 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:

[0023] Please see Figures 1 to 4As shown, the embodiment provides a lifting platform suitable for a robot maintenance system, at least comprising: a support seat 1, a first lifting support 2 adapted to slide with the inner layer of the support seat 1, and a second lifting support 3 adapted to slide with the inner layer of the first lifting support 2; the second lifting support 3 comprises a support skeleton 31 and a support platform 33 rotating with the support skeleton 31; a rollover prevention structure is arranged between the support platform 33 and the support skeleton 31; the rollover prevention structure at least comprises a linear actuator 8 adapted to linear motion and connected with the support platform 33; a lifting driving power structure 6 is arranged between the support seat 1 and the first lifting support 2; a pulley assembly is further arranged between the first lifting support 2, the second lifting support 3 and the support seat 1.

[0024] Specifically, first of all, the support seat 1 can be a seat structure formed by assembling a plurality of support tubes and capable of supporting on the ground with a certain supporting force. The number of the support tubes and the angle or way of assembly are not absolutely limited in the embodiment. From the perspective of easy processing, the overall support seat 1 is generally in the shape of a cuboid, which is regular and has strong stability. The first lifting support 2 and the second lifting support 3 can also be assembled by a plurality of support tubes to form a generally cuboid structure, so that the first lifting support 2 and the second lifting support 3 are not only easy to process, but also can be adapted to the support seat 1 and form a sliding connection relationship with the support seat 1.

[0025] The lifting driving power structure 6 used in the embodiment can be, for example but not limited to, a pneumatic cylinder or an oil cylinder or a lead screw, which is not absolutely limited in the embodiment.

[0026] Regarding the rotating connection between the support skeleton 31 and the support platform 33, a specific optional condition is illustrated in detail in combination with the drawings as follows: The support platform 33 comprises a flat support frame 34 and a plurality of connecting beams 35 arranged at the bottom of the flat support frame 34 for rotating connection with the support skeleton 31. The support skeleton 31 has a plurality of support beams 32 for connecting with the plurality of connecting beams 35; each connecting beam 35 is connected with a rotating shaft 51, and each support beam 32 is provided with a bearing seat 52 adapted to the rotating shaft 51; the shaft center lines of the rotating shafts 51 of the plurality of connecting beams 35 coincide, and the rotating shafts 51 of the plurality of connecting beams 35 form an axis of rotation of the support platform 33 relative to the support skeleton 31.

[0027] On the basis of the above structure, it should be noted that the rollover prevention structure in the embodiment at least comprises a linear actuator 8 adapted to linear motion and connected with the support platform 33. The linear actuator 8 can be, for example but not limited to, a pneumatic cylinder or an oil cylinder. The fixed end of the linear actuator 8 is mounted on the support seat 1, and the power output end of the linear actuator 8 is connected with the flat support frame 34 towards the support seat 1.

[0028] Based on the above, it is also necessary to note that the power output end of the linear actuator 8 is connected to the part of the flat plate support frame 34 relative to the axis of the plurality of connecting beams 35. Based on this, under the action of the linear actuator 8, the support platform 33 can be rotated around the axis of the rotating shaft 51 relative to the support frame 31. Here, for example, the overall flat plate support frame 34 adopts a cuboid structure, and in combination with the actual use of the robot, the axis of the plurality of connecting beams 35 is located at the midpoint of the width direction of the flat plate support frame 34. The reason for this design is as follows: Because the length direction size is large, even if the robot is displaced along the length direction and the center of the robot is deviated to one side of the center line of the length direction, causing the flat plate support frame 34 to be unevenly stressed, for a larger size support platform 33, the probability of lateral tilting and causing the entire lifting platform and the robot to be side-tilted is relatively low. However, because the width direction size is smaller than the length direction, the probability of side-tilting in this direction is increased.

[0029] Based on the above, through the design of the anti-rollover structure, the rotation of the support platform 33 relative to the support frame 31 is affected by the force of the anti-rollover structure, and unintended rotation does not occur. Only when the power output end of the anti-rollover structure is extended or retracted will the support platform 33 rotate relative to the support frame 31.

[0030] Next, it is necessary to note that the first lifting frame 2 and the second lifting frame 3 are provided with a first guide assembly, and the first lifting frame 2 and the support seat 1 are provided with a second guide assembly. Specifically, the first guide assembly and the second guide assembly each include a matching slide rail 41 and a slide groove 42.

[0031] Furthermore, it is to be explained that, regarding the pulley assembly, preferably four sets are arranged, distributed in four different positions, and the four sets of pulley assemblies form a substantially rectangular structure. Each pulley assembly comprises a pair of guide wheels 71 arranged in an up-down distribution on the first lifting support 2, an auxiliary wheel 72 arranged on the second lifting support 3, and a traction rope wound around the pair of guide wheels 71 and the auxiliary wheel 72; both ends of the traction rope are fixed on the support base 1. Specifically, one end of the traction rope is first fixed on the support base 1, then the traction rope is U-shapedly folded to extend over the upper guide wheel 71 on the first lifting support 2 to the lower guide wheel 71, and is U-shapedly folded to extend over the guide wheel 71 to the auxiliary wheel 72 of the second lifting support 3, so that the traction rope is U-shapedly folded to be fixed on the second lifting support 3 after passing over the auxiliary wheel 72. The traction rope wound around the pair of guide wheels 71 on the first lifting support 2 forms an S-shaped path. Based on this structure, when the first lifting support 2 moves upward under the action of the lifting driving power structure 6, the traction rope is acted on by the upper guide wheel 72 on the first lifting support 2 at this time. Since the length of the entire traction rope is fixed and one end of the traction rope is fixed on the support base 1 and cannot move, the second lifting support 3 connected to the other end of the traction rope can move upward synchronously with the upward movement of the first lifting support 2. When the first lifting support 2 moves downward under the action of the lifting driving power structure 6, the traction rope is acted on by the lower guide wheel 72 on the first lifting support 2 at this time. Since the length of the entire traction rope is fixed and one end of the traction rope is fixed on the support base 1 and cannot move, the second lifting support 3 connected to the other end of the traction rope can move downward synchronously with the downward movement of the first lifting support 2.

[0032] In summary, for the lifting platform and control method suitable for the robot maintenance system of the present embodiment, the rotation of the support skeleton 31 and the supporting platform 33 enables the second lifting support 3 to move up and down relative to the support base 1, which can realize the lifting movement of the maintenance robot placed on the supporting platform 33, improve the efficiency and safety of the maintenance process, and correct the inclination of the supporting platform 33 relative to the horizontal plane caused by the unbalanced force of the robot, ensuring the parallelism of the supporting platform 33 during use, thereby preventing the robot from tilting and further improving the stability and reliability of the operation process. Furthermore, the pulley assembly arranged between the first lifting support 2, the second lifting support 3 and the support base 1 enables the total height of the upward stroke of the first lifting support 2 and the second lifting support 3 relative to the support base 1 to be greater than the stroke of the lifting driving power structure 6. Based on this, for the same lifting stroke requirement, the present application can use a lifting driving power structure 6 with a relatively small stroke, which is more cost-effective.

[0033] Embodiment 2: On the basis of the lifting platform of embodiment 1, the embodiment provides a control method of a lifting platform suitable for a robot maintenance system, suitable for the lifting platform suitable for the robot maintenance system of embodiment 1, comprising: Step S1: The main controller 91 regulates the operation process of the lifting driving power structure 6 and the anti-rollover structure, and realizes the upward movement of the first lifting support 2 and the second lifting support 3 relative to the support seat 1 through the lifting driving power structure 6; wherein the main controller 91 is electrically connected with a distance measuring detection piece and an inclination detection piece 93; the distance measuring detection piece is arranged on the support seat 1; and the inclination detection piece 93 is arranged on the supporting platform 33. The distance measuring detector here can be an infrared or laser range finder. The inclination detection piece 93 can be an inclination sensor.

[0034] Step S2: Obtain the lifting height data of the second lifting support 3 during the upward movement relative to the support seat 1 and regulate the running state of the lifting driving power structure 6 in real time according to the lifting height data, so that the second lifting support 3 is lifted to the target height relative to the support seat 1.

[0035] Step S3: After the second lifting support 3 is lifted to the target height relative to the support seat 1, the inclination angle data of the first lifting support 2 relative to the horizontal plane is monitored in real time, and the running state of the anti-rollover structure is regulated in real time according to the inclination angle data, so that the second lifting support 3 keeps parallel state relative to the horizontal plane.

[0036] Specifically, when the lifting driving power structure 6 and the linear drive 8 of the embodiment are oil cylinders, the lifting driving power structure 6 and the linear drive 8 are connected with a hydraulic pump station for providing power to the oil cylinder. The specific hydraulic pump station can adopt any mature means in the prior art, and the embodiment does not make any improvement, and the specific structure and implementation principle are not absolutely limited. The general hydraulic pump station includes an oil tank 101, an accumulator 102, a pump motor 103, an oil return filter 104 and a hydraulic valve 106 used in cooperation. The pump motor 103 sucks oil from the oil tank 101 and then pumps oil, which converts mechanical energy into pressure energy of hydraulic oil. The hydraulic oil realizes direction, pressure and flow adjustment through the hydraulic valve 106, and is filtered through the oil return filter 104 and transmitted to the oil cylinder through the external pipeline. Since the lifting driving power structure 6 and the linear drive 8 here operate separately, for the two oil cylinders, one oil tank 101101 can be shared, and the rest of the structure is independent and separate.

[0037] Based on the above, the main controller 91 obtains the height of the support platform 33 relative to the support base 1 during its upward movement using a distance measuring device. 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, it raises the support platform 33 relative to the support base 11 to the target height. Similarly, the main controller 91 obtains the tilt angle data of the support platform 33 relative to the horizontal plane using a tilt angle detector. 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 33 is kept parallel to the horizontal plane (the tilt angle of the support platform 33 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] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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 suitable for robot maintenance systems, characterized in that, It includes at least: a support base, a first lifting bracket adapted to slide with the inner layer of the support base, and a second lifting bracket adapted to slide with the inner layer of the first lifting bracket; The second lifting support includes a support frame and a support platform that rotatably engages with the support frame; An anti-rollover structure is provided between the support platform and the support frame; the anti-rollover structure includes at least a linear actuator suitable for linear motion connected to the support platform; and A lifting drive power structure is provided between the support base and the first lifting bracket; A pulley assembly is also provided between the first lifting bracket, the second lifting bracket and the support base.

2. The lifting platform for robot maintenance systems 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 support frame.

3. The lifting platform for robot maintenance systems according to claim 2, characterized in that, The support frame has multiple support beams for connecting 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 for robot maintenance systems according to claim 3, characterized in that, The power output end of the linear actuator is connected to the end face of 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.

5. The lifting platform for robot maintenance systems according to any one of claims 1 to 4, characterized in that, The lifting drive power structure adopts a cylinder, and the power output end of the cylinder is connected to the second lifting bracket.

6. The lifting platform for robot maintenance systems according to any one of claims 1 to 4, characterized in that, A first guide assembly is provided between the first lifting bracket and the second lifting bracket; and A second guide assembly is provided between the first lifting bracket and the support base.

7. The lifting platform for robot maintenance systems according to claim 6, characterized in that, Both the first guide component and the second guide component include a matching slide rail and a slide groove.

8. The lifting platform for robot maintenance systems according to any one of claims 1 to 4, characterized in that, The pulley assembly includes a pair of guide wheels arranged vertically on the first lifting bracket, an auxiliary wheel on the second lifting bracket, and a traction rope wound around the pair of guide wheels and the auxiliary wheel. Both ends of the traction rope are fixed to the support base.

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

10. The control method for a lifting platform applicable to a robot maintenance system according to claim 9, characterized in that, The main controller is electrically connected to a distance measuring device and a tilt measuring device; The distance measuring device is mounted on the support base; and the tilt measuring device is mounted on the support platform.

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