Robot boarding and alighting device

Abstract

The invention provides a robot boarding and alighting device. The robot boarding and alighting device comprises a base frame; the turnover mechanism is rotationally connected to the base frame in a lockable mode, and the turnover mechanism has a folded state and an unfolded state; the posture adjusting mechanism comprises an adjusting platform and a platform adjusting assembly, one end of the adjusting platform is rotationally connected to the turnover mechanism, when the turnover mechanism is in a folded state, the adjusting platform is vertically arranged, and the platform adjusting assembly is movably connected to the turnover mechanism and rotationally connected with the other end of the adjusting platform; the platform adjusting assembly is used for adjusting the adjusting platform to rotate when the turnover mechanism is in the unfolded state so that the adjusting platform can be in the horizontal state, or used for adjusting the adjusting platform to rotate when the turnover mechanism is in the folded state so that the adjusting platform can be in the inclined state. According to the device, the labor intensity can be reduced, and the working efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of robot handling in ship washing, and in particular to a robot loading and unloading device. Background Technology

[0002] During shipping, cargo holds often need to be cleaned to meet the loading requirements of different cargoes or for routine maintenance. Currently, automated cleaning using wall-climbing robots has become a trend. These cleaning robots typically utilize permanent magnet adsorption technology, enabling them to firmly attach to the vertical or inclined outer plating of the ship to perform their work.

[0003] However, the robot itself cannot autonomously load or unload from the ship. The existing operating procedure involves operators using aerial work platforms (such as boom lifts or articulated boom lifts) to transport the robot, weighing 30-60 kg, to the vicinity of the ship's outer plating. The robot is then manually placed and attached to the hull surface. After the task is completed, operators again need to use aerial work platforms to approach the robot, remove it from the hull, and carry it back to the ground. This manual operation has the following drawbacks:

[0004] High labor intensity and low efficiency: The ship washing robot is heavy and requires at least two operators to work together during the handling process. It has high physical requirements for personnel, and the process of loading and unloading the ship is time-consuming and labor-intensive, which affects the overall operation efficiency.

[0005] High-altitude operations pose significant safety hazards: the entire process of loading and unloading takes place at a height of tens of meters, requiring personnel to move and place heavy objects within a narrow work basket, posing an extremely high risk of falls. Furthermore, the robot's powerful permanent magnet attraction poses a risk of injury to personnel during close-range operations.

[0006] Easily damages ship paint: When the aerial work platform approaches the ship's outer plating, if not properly controlled, the work basket or the robot itself may collide with the hull, causing scratches or damage to the expensive ship paint.

[0007] Difficulty in adjusting robot posture: Manual handling makes it difficult to accurately and smoothly control the robot's posture relative to the hull (which may be a vertical or inclined plane), affecting the success rate and stability of adsorption. Summary of the Invention

[0008] In view of the shortcomings of the above-mentioned related technologies, the purpose of the present invention is to provide a robot loading and unloading device to solve the drawbacks of manual handling of robots in the related technologies.

[0009] To achieve the above and other related objectives, the present invention provides a robot loading and unloading device, comprising:

[0010] Base frame;

[0011] A flipping mechanism is rotatably and lockably connected to the base frame, and the flipping mechanism has a folded state and an unfolded state;

[0012] An attitude adjustment mechanism includes an adjustment platform and a platform adjustment component. One end of the adjustment platform is rotatably connected to the flipping mechanism. When the flipping mechanism is in a folded state, the adjustment platform is vertically positioned. The platform adjustment component is movably connected to the flipping mechanism and rotatably connected to the other end of the adjustment platform. The platform adjustment component is used to adjust the rotation of the adjustment platform when the flipping mechanism is in an unfolded state, so that the adjustment platform is in a horizontal state, or to adjust the rotation of the adjustment platform when the flipping mechanism is in a folded state, so that the adjustment platform is in a tilted state.

[0013] Optionally, the flipping mechanism includes a rotating rod, a hinge shaft, and a fixing pin. There are two rotating rods, each L-shaped, arranged opposite to each other. The hinge shaft passes through the end corners of the two rotating rods, and the two rotating rods are rotatably connected to the base frame via the hinge shaft. The fixing pin is located on the base frame. One side arm of each rotating rod has a limiting groove for inserting and limiting the fixing pin, and the other side arm of each rotating rod is rotatably connected to one end of the adjustment platform.

[0014] Optionally, the platform adjustment assembly includes an adjustment frame, a rotating head, and a driving component. The rotating head is rotatably connected to the flipping mechanism shown, and the rotating head is slidably sleeved on the outside of the adjustment frame. One end of the adjustment frame is rotatably connected to the adjustment platform, and the driving component is connected to the adjustment frame to drive the adjustment frame to rotate the adjustment platform.

[0015] Optionally, the driving component includes a lead screw and a slider. The lead screw extends along the adjustment frame and is rotatably disposed on the adjustment frame. The slider is disposed on the adjustment frame. The lead screw passes through the slider and the two are threadedly connected. The adjustment frame is provided with a clearance hole extending along the adjustment frame. A connector is inserted into the clearance hole. The connector is used to connect the rotating head and the slider.

[0016] Optionally, the adjustment platform is provided with a limiting plate, which is used to stop the robot.

[0017] Optionally, the device further includes a buffer protection mechanism, which includes a buffer pad disposed on the side of the adjustment platform away from the platform adjustment assembly.

[0018] Optionally, the cushioning pad is a polyurethane pad.

[0019] Optionally, the buffer protection mechanism further includes a spring, a mounting plate, and a trigger plate. One end of the spring is connected to the base frame, and the other end of the spring is connected to the mounting plate. The trigger plate is connected to the flipping mechanism. When the flipping mechanism is in a folded state, the trigger plate abuts against the mounting plate.

[0020] Optionally, a buffer block is provided between the mounting plate and the trigger plate.

[0021] As described above, the robot loading and unloading device of the present invention has the following beneficial effects: the adjustment platform of the present invention can be angled, which enhances the adaptability to complex ship operations and the reliability of robot adsorption; by adopting this device, manual handling is avoided, significantly reducing labor intensity and greatly improving work efficiency; in addition, this device greatly improves work safety and completely eliminates the core risks of high-altitude manual operations. Attached Figure Description

[0022] Figure 1 The diagram shown is a schematic representation of the robot's loading and unloading device in an embodiment of the present invention.

[0023] Figure 2 The diagram shown is a schematic representation of the ground attitude-1 of the embarkation / disembarkation device in an embodiment of the present invention.

[0024] Figure 3 This shows the state of the loading and unloading device during the cleaning of the inclined plate in an embodiment of the present invention.

[0025] Figure 4 The diagram shown is a schematic representation of the ground attitude-2 of the embarkation / disembarkation device in an embodiment of the present invention.

[0026] Component designation explanation

[0027] 1. Connecting rod; 2. Reinforcing rod; 3. Vertical rod; 4. Horizontal rod; 5. Hinge shaft; 6. Fixing pin; 7. First rod; 8. Limiting groove; 9. Second rod; 10. Adjusting platform; 101. Limiting plate; 11. Adjusting frame; 12. Rotating head; 13. Lead screw; 14. Slider; 15. Handle; 16. Buffer pad; 17. Spring; 18. Mounting plate; 19. Buffer block; 20. Support rod; 21. Trigger plate. Detailed Implementation

[0028] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0029] In the detailed description of embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In actual fabrication, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0030] For ease of description, spatial relation terms such as “below,” “under,” “lower than,” “below,” “above,” and “upper” may be used herein to describe the relationship between one element or feature shown in the accompanying drawings and other elements or features. It will be understood that these spatial relation terms are intended to include directions other than those depicted in the drawings for the device in use or operation. Furthermore, when a layer is referred to as being “between” two layers, it can be the only layer between the two layers, or there may be one or more layers in between. The phrase “between” as used herein includes both endpoint values.

[0031] In the context of this application, the structure described above the first feature may include embodiments in which the first and second features are formed in direct contact, or embodiments in which additional features are formed between the first and second features, such that the first and second features may not be in direct contact.

[0032] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0033] like Figure 1 As shown, this embodiment provides a robot loading and unloading device, which is fixedly installed at the front end of the work basket of an aerial work platform. The device includes a base frame, a flipping mechanism, an attitude adjustment mechanism, and a buffer protection mechanism.

[0034] The base frame is the main supporting structure of the entire device, rigidly connected to the work basket of the aerial work platform vehicle by bolts or welding. It provides the mounting foundation for the tilting mechanism and attitude adjustment mechanism. It should be noted that the base frame has sufficient strength and rigidity to withstand the weight of the robot and various loads during operation.

[0035] Specifically, the base frame includes two L-shaped rods, multiple connecting rods 1, and multiple reinforcing rods 2. Each L-shaped rod includes a vertical rod 3 and a horizontal rod 4. The two L-shaped rods are arranged opposite each other, with the two vertical rods 3 and the two horizontal rods 4 arranged parallel to each other. The two vertical rods 3 and the two horizontal rods 4 are connected by connecting rods 1. The two L-shaped rods are connected by multiple connecting rods 1 to form an L-shaped frame. For example, the vertical rod 3 has a structure for threading bolts, in which case the base frame is fixed to the work basket by bolts. The reinforcing rods 2 are used to strengthen the connection strength of the entire base frame. A reinforcing rod 2 can be connected between the vertical rod 3 and the horizontal rod 4, and between the vertical rod 3 and the connecting rod 1 in each L-shaped rod.

[0036] The flipping mechanism includes rotating rods, a hinge shaft 5, and a fixing pin 6. There are two rotating rods, each consisting of a first rod 7 and a second rod 9. The first rod 7 and the second rod 9 are connected to form an L-shape (the first rod 7 and the second rod 9 are the two side arms of the rotating rod). The two rotating rods are positioned opposite each other, with the two first rods 7 and the two second rods 9 arranged parallel to each other. The two first rods 7 are located between two horizontal bars 4. The two ends of the hinge shaft 5 pass through the two rotating rods (the connection point of the first rod 7 and the second rod 9) and are connected to the end of the horizontal bar 4 away from the vertical bar 3. The rotating rods can rotate relative to the hinge shaft 5. The rotating rods have a folded state and an unfolded state. When the rotating rods are folded, the first rod 7 and the horizontal bar 4 are parallel, and the second rod 9 is parallel to the vertical bar 3. When the rotating rods are unfolded, the second rod 9 can extend to the ground, such as... Figure 2 As shown.

[0037] The first rod 7 has a limiting groove 8 at the end away from the second rod 9. There are two fixing pins 6. The two fixing pins 6 are respectively inserted into the side of the two horizontal rods 4 near the vertical rod 3. For example, the fixing pins 6 are threaded to the horizontal rods 4. When the rotating rod is rotated to the folded state, the limiting grooves 8 on the two first rods 7 are aligned with the corresponding fixing pins 6. At this time, the fixing pins 6 are adjusted to be inserted into the limiting grooves 8, thereby limiting the rotating rod.

[0038] To facilitate the flipping and rotating of the rods, handles are provided on both the first rod 7 and the second rod 9.

[0039] To increase the connection strength between the first rod 7 and the second rod 9, a diagonal brace is connected between the first rod 7 and the second rod 9.

[0040] The attitude adjustment mechanism includes an adjustment platform 10 and a platform adjustment assembly. The adjustment platform 10 has a plate-like structure. Two connecting rods are provided on one side of the adjustment platform 10, located on two opposite sides of the adjustment platform 10. The two connecting rods are located between two second rods 9, and one end of the connecting rod is hinged to the end of the second rod 9 away from the first rod 7. The adjustment platform 10 can rotate arbitrarily relative to the second rods 9. The adjustment platform 10 has a folded state. When the adjustment platform 10 is in the folded state, the connecting rods are parallel to the second rods 9 and the other end of the connecting rods is close to the first rod 7. Figure 1 As shown.

[0041] When the adjustment platform 10 is folded, a limiting plate 101 is provided on the side of the adjustment platform 10 near the first rod 7. The limiting plate 101 can be used to stop the washing robot to prevent the washing robot from falling.

[0042] like Figure 1 and Figure 3 As shown, the platform adjustment assembly includes an adjustment frame 11, a rotating head 12, a lead screw 13, a slider 14, and a handle 15. The adjustment frame 11 is rectangular with a U-shaped cross-section. One end of the adjustment frame 11 is rotatably connected to the other end of one of the connecting rods. The rotating head 12 is rotatably connected to the second rod 9. The connection method of the rotating head 12 is a mature technology and will not be described in detail here. The rotating head 12 is U-shaped and slides on the outside of the adjustment frame 11, allowing the adjustment frame 11 to slide relative to the rotating head 12. The lead screw 13 is located inside the adjustment frame 11 along its length, and both ends of the lead screw 13 are rotatably connected to both ends of the adjustment frame 11. The end of the lead screw 13 away from the adjustment platform 10 protrudes from the adjustment frame 11 and is connected to the handle 15. The handle 15 can drive the lead screw 13 to rotate.

[0043] The slider 14 is located inside the adjustment frame 11. The slider 14 has a hole through which the lead screw 13 passes and a connecting nut is provided in the hole. The connecting nut is threadedly connected to the lead screw 13. When the handle 15 drives the lead screw 13 to rotate, the connecting nut and the lead screw 13 rotate, which drives the slider 14 to slide against the adjustment frame 11.

[0044] The side of the adjusting frame 11 is provided with a clearance hole along the length of the adjusting frame 11. A connector, which is a bolt, is connected to the rotating head 12. The bolt passes through the clearance hole and is connected to the slider 14. When the handle 15 is rotated, the lead screw 13 and the connecting nut rotate relative to each other. Since the slider 14 is connected to the rotating head 12, the adjusting frame 11 and the rotating head 12 slide relative to each other. The adjusting frame 11 rotates relative to the second rod 9 along with the rotating head 12. During the movement of the adjusting frame 11, the adjusting platform 10 will rotate, thereby adjusting the angle of the adjusting platform 10.

[0045] The lead screw 13, slider 14, and handle 15 constitute the driving component. In other embodiments, they can be replaced with a servo motor, stepper motor, or electric actuator. The motor is equipped with a corresponding reducer to increase torque and meet the load requirements of the tilting mechanism. A control unit can also be added, including an electrical control box with built-in relays, contactors, and other components to control the motor's start / stop, forward / reverse rotation, and speed adjustment. An operation panel is provided for convenient operation. An angle sensor is added to detect the tilting angle for precise positioning.

[0046] like Figure 1 and Figure 2 As shown, the buffer protection mechanism includes a buffer pad 16, a spring 17, a mounting plate 18, a buffer block 19, a support rod 20, and a trigger plate 21. The buffer pad 16 is located on the side of the adjustment platform 10 facing the ship. The buffer pad 16 is made of polyurethane material, which can effectively avoid hard contact, protect the paint surface, and polyurethane has good magnetic shielding effect, which can isolate the magnetic path between the hull and the magnetic adsorption unit of the ship washing robot, significantly reducing the peeling force during recovery, so that the robot can return to the platform smoothly.

[0047] Multiple springs 17 are connected to a connecting rod 1 between two crossbars 4. The other ends of the springs 17 are connected to a horizontally mounted mounting plate 18. Two buffer blocks 19 are provided on the side of the mounting plate 18 opposite to the springs 17. Two support rods 20 are connected to two first rods 7 respectively. One end of each support rod 20 is connected to a first rod 7, and the other end is connected to a trigger plate 21. When the rotating rod is in a folded state, the trigger plate 21 abuts against the corresponding buffer block 19 on the mounting plate 18. With this arrangement, when a large impact occurs, the impact force is transmitted to the springs 17 through the hinge shaft 5. The deformation of the springs 17 absorbs the main energy, achieving overall buffering.

[0048] The implementation process of this embodiment is as follows: First stage: Ground preparation and loading:

[0049] The aerial work platform descends to the ground, with the boat washing robot standing by. The operator manually operates the tilting mechanism: first, release the fixing pin 6, then push the tilting handle to rotate the adjustment platform 10 around the hinge axis 5 to "ground posture-1" (e.g., Figure 2 (As shown); then rotate handle 15, and through the lead screw drive, further adjust the adjustment platform 10 to a near-horizontal "ground attitude-2" (as shown). Figure 4 (As shown). The ship washing robot uses its own walking mechanism to travel from the ground to the adjustment platform 10. The operator reverses the operation of the flipping mechanism to restore the adjustment platform 10 to a vertical "ship loading posture" and inserts the fixing pin 6 to ensure that the robot is stably stored during the transfer.

[0050] Phase Two: Aerial Transfer and Positioning: The aerial work platform lifts the ship-washing robot to the predetermined working height on the ship's outer hull using this device. The operator manipulates the aerial work platform to slowly approach the device towards the hull, ensuring that the polyurethane buffer pads 16 on the adjustment platform 10 make initial contact with the hull for cushioning and positioning. In the event of an accidental impact, the spring 17 cushioning mechanism on the base frame will absorb the majority of the energy, protecting the paint surface.

[0051] Phase Three: Final Adjustment and Onboard Operation: If the ship planks being cleaned are vertical, no adjustment is required. If the ship planks being cleaned are sloping, the operator rotates the handle 15 of the platform adjustment mechanism to finely adjust the pitch angle of the adjustment platform 10 via the lead screw, making it nearly parallel to the sloping surface of the ship. Figure 3 As shown, the operator guides the ship-washing robot directly from the platform to the ship's outer deck, where it is magnetically attached to the deck to begin the cleaning operation.

[0052] Phase Four: Work Completion and Safe Recovery: After completing the cleaning task, the robot returns to the vicinity of the device. The operator manipulates the aerial work platform to gently bring the device close to the hull again. At this point, the magnetic shielding effect of the polyurethane cushioning pad 16 effectively weakens the magnetic attraction of the hull to the robot. The robot can then easily detach from the hull and walk back onto the adjustment platform 10. The aerial work platform carries the device and robot safely down to the ground. The operator flips the adjustment platform 10 back to "ground attitude-2," releases the anchors, and the robot walks off the platform, completing the entire loading and unloading process.

[0053] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A robotic ship boarding device, characterized in that, The device comprises: a base frame; a turnover mechanism rotatably connected to the base frame, the turnover mechanism having a folded state and an unfolded state; a posture adjusting mechanism comprising an adjusting platform and a platform adjusting assembly, one end of the adjusting platform being rotatably connected to the turnover mechanism, the adjusting platform being vertically arranged when the turnover mechanism is in the folded state, the platform adjusting assembly being movably connected to the turnover mechanism and rotatably connected to the other end of the adjusting platform, the platform adjusting assembly being used to adjust the rotation of the adjusting platform when the turnover mechanism is in the unfolded state so that the adjusting platform is in a horizontal state, or being used to adjust the rotation of the adjusting platform when the turnover mechanism is in the folded state so that the adjusting platform is in an inclined state.

2. The robotic boat boarding device of claim 1, wherein: The turnover mechanism comprises rotating rods, a hinge shaft and a fixing pin, the rotating rods are L-shaped and oppositely arranged, the hinge shaft passes through the end corners of the rotating rods, the rotating rods are rotatably connected to the base frame through the hinge shaft, the fixing pin is arranged on the base frame, a limiting groove for limiting the insertion of the fixing pin is arranged on one side arm of the rotating rod, and the other side arm of the rotating rod is rotatably connected to one end of the adjusting platform.

3. The robotic boat boarding device of claim 1, wherein: The platform adjusting assembly comprises an adjusting frame, a rotating head and a driving member, the rotating head is rotatably connected to the turnover mechanism, the rotating head is slidably sleeved on the outside of the adjusting frame, one end of the adjusting frame is rotatably connected to the adjusting platform, and the driving member is connected to the adjusting frame to drive the rotation of the adjusting platform.

4. The robotic boat boarding device of claim 3, wherein: The driving member comprises a lead screw and a sliding block, the lead screw is arranged along the adjusting frame and rotatably arranged on the adjusting frame, the sliding block is arranged on the adjusting frame, the lead screw penetrates through the sliding block and is threadedly connected with the sliding block, the adjusting frame is provided with an avoiding hole arranged along the adjusting frame, a connecting member is arranged in the avoiding hole, and the connecting member is used to connect the rotating head and the sliding block.

5. The robotic boat boarding device of claim 1, wherein: A limiting plate is arranged on the adjusting platform, and the limiting plate is used to stop the robot.

6. The robotic boat boarding device of claim 1, wherein: The device further comprises a buffer protection mechanism, the buffer protection mechanism comprises a buffer pad, and the buffer pad is arranged on the side of the adjusting platform away from the platform adjusting assembly.

7. The robotic boat boarding device of claim 6, wherein: The buffer pad is a polyurethane pad.

8. The robotic boat boarding device of claim 6, wherein: The buffer protection mechanism further comprises a spring, a mounting plate and a trigger plate, one end of the spring is connected to the base frame, the other end of the spring is connected to the mounting plate, the trigger plate is connected to the turnover mechanism, and the trigger plate abuts against the mounting plate when the turnover mechanism is in the folded state.

9. The robotic boat boarding device of claim 8, wherein: A buffer block is arranged between the mounting plate and the trigger plate.

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