CN113858100A - Robot for connection inspection and replacement of steel structure - Google Patents

Abstract

The invention relates to the field of steel structure maintenance, in particular to a steel structure connection inspection and replacement robot, which comprises a casing, wherein hydraulic supporting plates are respectively arranged on the two sides of the upper end and the lower end of the casing, a rotating shaft sleeve is arranged on the front side of the casing, a rotating shaft is fixedly arranged below the rotating shaft sleeve, a vertical telescopic rod is arranged in the lower end of the rotating shaft, a horizontal connecting piece is fixedly arranged at the lower end of the vertical telescopic rod, a horizontal supporting rod sleeve is respectively fixedly arranged on the two sides of the horizontal connecting piece, a horizontal supporting rod is respectively sleeved in the horizontal supporting rod sleeve in a sliding manner, one end of the horizontal supporting rod, which is far away from the horizontal connecting piece, is respectively and fixedly connected with a supporting plate, the rear end of the casing is provided with a groove, a plurality of movable rollers are respectively arranged in each groove for sliding, so that the daily steel structure connection strength inspection can be simplified without excessive human intervention, and can support the steel construction when needing to carry out the screw and change and prevent its production deformation when conveniently changing the screw.

Description

Robot for connection inspection and replacement of steel structure

Technical Field

The invention belongs to the field of steel structure maintenance, and particularly relates to a robot for connection inspection and replacement of a steel structure.

Background

The steel construction is big as an intensity, and economic benefits is high and be suitable for wide structure and is adopted widely in various building fields, but steel construction itself corrosion resistance is poor and need often inspect corrosion degree and reinforcement, and we often meet in the daily maintenance:

firstly, steel structure buildings are often very high, and time and labor are wasted if the connection strength of the connection part needs to be checked manually at a point;

secondly, the screws at the joints of the steel structures are difficult to replace manually, and especially, parts for replacing heavy objects are easy to cause uneven deformation of other parts under stress;

therefore, the scheme designs the steel structure connection inspection and the replacement robot which can move back and forth in the I-shaped steel to reinforce the screw at the joint and send the reinforced screw to the data terminal so as to provide necessary supporting force to conveniently replace the screw in the screw replacing process and prevent other parts from deforming so as to solve the problems.

Disclosure of Invention

The invention aims to solve the problems in the prior art, and provides a steel structure connection inspection and replacement robot which can move back and forth in an I-shaped steel to reinforce screws at the connection part and send the reinforced screws to a data terminal, can provide necessary supporting force in the screw replacement process to facilitate screw replacement and prevent other parts from deforming.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a steel construction connection inspection and change robot, includes the casing, both ends face both sides are provided with a hydraulic pressure fagging respectively about the casing, the casing front side is provided with the pivot cover, the fixed axis of rotation that is provided with of vertical direction in pivot cover below, sliding sleeve is equipped with vertical telescopic link in the axis of rotation lower extreme, the fixed horizontal connecting piece that is provided with of vertical telescopic link lower extreme, horizontal connecting piece both sides horizontal direction is fixed respectively and is provided with a horizontal support rod cover, every respectively the sliding sleeve is equipped with horizontal support rod in the horizontal support rod cover respectively, every horizontal support rod keeps away from horizontal connecting piece one end fixedly connected with backup pad respectively, the casing rear end is provided with, a recess has been seted up respectively to casing lower extreme both sides, every be provided with a plurality of removal gyro wheels respectively in the recess and be used for sliding.

Preferably, the pivot cover endotheca is equipped with the fixed axle, with casing fixed connection and the cover be equipped with the wind spring between fixed axle and the pivot cover, wind spring and pivot cover internal surface fixed connection, upper end fixed mounting has vertical flexible motor in the axis of rotation, vertical flexible motor lower extreme be provided with telescopic pull rod and with vertical telescopic link fixed connection, telescopic pull rod overcoat is equipped with the auxiliary spring that resets, the backup pad both sides are provided with the grip block respectively, every the grip block is close to in backup pad one side stretches into the backup pad respectively and terminal fixedly connected with spring is used for restoring to the throne, every the grip block is concave type respectively and keeps away from horizontal connecting piece one side and is provided with the back-off slope respectively.

Preferably, the upper end and the lower end are respectively provided with a sliding column near one side of the casing, each sliding column extends into the casing, a through groove is formed in the upper end of each sliding column, five slidable positioning blocks are arranged at one side, far away from the casing, of the middle part, a rear groove is formed in each positioning block near one side of the casing, each rear groove is communicated with each other and connected with the through groove of the sliding column, and each positioning block is fixedly connected with a tension line in each rear groove.

Preferably, the inside cavity of having seted up of casing, it is provided with the locator pivot to rotate near the vertical direction in pivot cover one side in the cavity, locator pivot overcoat is equipped with five locating plates, every the locating plate lower extreme is provided with the short slab respectively towards pivot cover one side, every locating plate upper end is fixed respectively towards one side and is provided with the limiting plate, every the locating plate twines respectively outward has a pulling force line, the cavity is close to pivot cover one side inner wall and has seted up five wire grooves respectively, five wire grooves communicate respectively and gather into the trough, the trough other end is connected with the interior logical groove of sliding column, the inside upper branch of trough is close to pivot cover one side and is provided with the reel, the pulling force line passes through reel conversion direction and is connected with five locating plates.

Preferably, the upper end of the casing is provided with a containing cavity below the wiring groove, five inspectors are arranged in the containing cavity, a falling port is arranged on the lower bottom surface of one side of the containing cavity close to the center of the casing, each inspector respectively comprises an independent reverse motor, a linkage column is fixedly arranged on one side of the reverse motor close to a rotating shaft sleeve, linkage belts are coated outside the five linkage columns to prevent loosening, a telescopic shaft is respectively arranged on an output shaft of one side of the reverse motor close to the output shaft, an electric control shaft sleeve is respectively sleeved outside each telescopic shaft, a linkage gear is respectively sleeved outside each electric control shaft sleeve, the five linkage gears are mutually meshed and connected, a rotator is fixedly connected to the end surface of each telescopic shaft close to one end, an expanding cavity is respectively arranged on the outer ring of each rotator, and an expanding reset spring is respectively and fixedly arranged in each expanding cavity, each extension reset spring is fixedly connected with an extension sliding bulge respectively towards one side far away from the center of the rotator, each extension sliding bulge extends out of the extension cavity and is fixedly connected with an extension sleeve, and an inclined surface is respectively arranged on one side of each extension sleeve towards the center of the rotator.

Preferably, a forward rotation motor is installed in the casing on one side of the containing cavity, an output shaft is arranged on one side of the forward rotation motor, which faces the rotating shaft sleeve, a forward rotation output shaft is installed on the output shaft in the horizontal direction, a gear is sleeved outside the forward rotation output shaft, and the gear is meshed with the linkage gear.

Preferably, every hydraulic pressure fagging is towards the vertical direction of the inside terminal surface of casing fixedly connected with hydraulic pressure respectively and moves back the pole, and a set of hydraulic pressure moves back the pole overcoat and is equipped with hydraulic pressure chamber about the homonymy, hydraulic pressure intracavity is equipped with hydraulic oil, two set up the hydraulic pressure link between the hydraulic pressure chamber and communicate.

Preferably, a moving motor is installed in the lower bottom surface of the machine shell, a walking output shaft is arranged on one side of the moving motor, a motor output shaft is installed on the walking output shaft, a turbine is arranged at one end of the motor output shaft, roller shafts are respectively arranged on two sides of the gear, the roller shafts are meshed with the turbine to realize power transmission, and moving rollers are respectively sleeved outside the roller shafts in grooves on two sides.

Advantageous effects

1. The transverse structure of the I-shaped steel can move back and forth and can be adjusted according to the actual number and size of screws so as to adapt to different task environments and conditions;

2. when the screws are replaced, the output pressure pushes the hydraulic mechanisms on the two sides to be unfolded, and the steel structure is supported, so that labor saving of screw replacement is guaranteed, and deformation of other parts is prevented;

drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic top view of the present invention;

FIG. 3 is a cross-sectional view taken at A-A of FIG. 2;

FIG. 4 is a cross-sectional view taken at C-C of FIG. 2;

FIG. 5 is an enlarged view of FIG. 4 at D;

in the figure: the device comprises a machine shell 10, a hydraulic supporting plate 11, a rotating shaft sleeve 12, a rotating shaft 13, a supporting plate 14, a clamping plate 15, a horizontal supporting rod 16, a horizontal supporting rod sleeve 17, a horizontal connecting piece 18, a vertical telescopic rod 19, a reversed slope 20, a telescopic pull rod 22, a reset auxiliary spring 23, a vertical telescopic motor 24, a fixed shaft 25, a coil spring 26, a hydraulic connecting channel 27, a wiring channel 28, a reel 29, a tension wire 30, a positioning block 31, a block rear channel 32, a sliding column 33, an expansion sleeve 34, a rotator 35, a signal sensor 36, an electric control shaft sleeve 37, a telescopic shaft 38, a linkage gear 39, a reverse rotation motor 40, a linkage column 41, a linkage belt 42, a moving roller 43, a roller shaft 44, a moving motor 46, a motor output shaft 47, a positioner rotating shaft 48, a limiting plate 49, a positioning block 50, a hydraulic withdrawing rod 51, a hydraulic cavity 52, a forward rotation motor 53, an output shaft 54, a falling port 55 and a storage cavity 56, An expansion sliding projection 57, an expansion return spring 58 and an expansion cavity 59.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

In the description of the present invention, it should be noted that the terms "inside", "below", and the like refer to orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention conventionally place when used, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Combine figure 1, a steel construction connection inspection and change robot, including casing 10, both ends face both sides are provided with a hydraulic pressure fagging 11 respectively about casing 10, casing 10 front side is provided with pivot cover 12, the fixed axis of rotation 13 that is provided with in the vertical direction in pivot cover 12 below, sliding sleeve is equipped with vertical telescopic link 19 in the axis of rotation 13 lower extreme, the fixed horizontal connecting piece 18 that is provided with of vertical telescopic link 19 lower extreme, horizontal connecting piece 18 both sides horizontal direction is fixed respectively and is provided with a horizontal support rod cover 17, the slip cover is equipped with horizontal support bar 16 respectively in every horizontal support rod cover 17, horizontal connecting piece 18 one end fixedly connected with backup pad 14 respectively is kept away from to every horizontal support bar 16, casing 10 rear end is provided with 21, a recess has been seted up respectively to casing 10 lower extreme both sides, be provided with a plurality of removal gyro wheels 43 respectively in every recess and be used for sliding.

Further combine figure 4, the fixed axle 25 is equipped with to the pivot cover 12 endotheca, with casing 10 fixed connection and the cover be equipped with coil spring 26 between fixed axle 25 and the pivot cover 12, coil spring 26 and the interior fixed surface connection of pivot cover 12, upper end fixed mounting has vertical flexible motor 24 in the axis of rotation 13, vertical flexible motor 24 lower extreme is provided with telescopic pull rod 22 and with vertical telescopic link 19 fixed connection, telescopic pull rod 22 overcoat is equipped with supplementary spring 23 that resets, backup pad 14 both sides are provided with grip block 15 respectively, every grip block 15 is close to backup pad 14 one side and stretches into respectively in the backup pad 14 and terminal fixedly connected with spring is used for reseing, every grip block 15 is the concave type respectively and keeps away from horizontal connecting piece 18 one side and is provided with back-off slope 20 respectively.

Further referring to fig. 4, sliding columns 33 are respectively disposed at upper and lower ends of the positioning block 21 near one side of the casing 10, each sliding column 33 extends into the casing 10, a through groove is formed in the sliding column 33 at the upper end, five slidable positioning blocks 31 are disposed at a side of the positioning block 31 near the casing 10 and are connected to the through groove of the sliding column 33, a rear groove 32 is formed in the positioning block 21 near one side of the casing 10, each rear groove 32 is communicated with the through groove of the sliding column 33, and each positioning block 31 is fixedly connected to a tension wire 30 in each rear groove 32.

Further, with reference to fig. 4, a cavity is formed inside the housing 10, a positioner rotating shaft 48 is rotatably disposed in the cavity close to the vertical direction of one side of the rotating shaft sleeve 12, five positioning plates 50 are sleeved outside the positioner rotating shaft 48, a short plate is respectively disposed at the lower end of each positioning plate 50 towards one side of the rotating shaft sleeve 12, a limiting plate 49 is fixedly disposed at the upper end of each positioning plate 50 towards one side 21, a tension line 30 is respectively wound outside each positioning plate 50, five line grooves are respectively formed in the cavity close to the inner wall of one side of the rotating shaft sleeve 12, the five line grooves are respectively communicated and gathered to form a line groove 28, the other end of the line groove 28 is connected with an inner through groove of the sliding column 33, a reel 29 is disposed at the upper portion inside of the line groove 28 close to one side of the rotating shaft sleeve 12, and the tension line 30 is connected with the five positioning plates 50 through the reel 29 for direction change.

Further, with reference to fig. 4 and 5, a containing cavity 56 is formed in the upper end of the casing 10 below the wiring groove 28, five inspection devices are arranged in the containing cavity 56, a drop opening 55 is formed in the lower bottom surface of the containing cavity 56 near the center of the casing 10, each inspection device comprises an independent reverse motor 40, a linkage column 41 is fixedly arranged on one side of the reverse motor 40 near the rotating shaft sleeve 12, linkage belts 42 are wrapped outside the five linkage columns 41 to prevent the release of the linkage column, an extension shaft 38 is respectively mounted on an output shaft of one side of each reverse motor 40 near 21, an electric control shaft sleeve 37 is respectively sleeved outside each extension shaft 38, a linkage gear 39 is respectively sleeved outside each electric control shaft sleeve 37, the five linkage gears 39 are mutually meshed and connected, a rotator 35 is fixedly connected to the end surface of one end of each extension shaft 38 near 21, an extension cavity 59 is formed in the outer ring of each rotator 35, an extension return spring 58 is respectively fixedly arranged in each extension cavity 59, each extension return spring 58 is fixedly connected with an extension sliding protrusion 57 towards one side far away from the center of the rotator 35, each extension sliding protrusion 57 extends out of the extension cavity 59 and is fixedly connected with an extension sleeve 34, and an inclined surface is formed on one side, towards the center of the rotator 35, of each extension sleeve 34.

Further referring to fig. 3 and 4, a forward rotation motor 53 is installed in the casing 10 on one side of the storage cavity 56, an output shaft is installed on one side of the forward rotation motor 53 facing the rotating shaft sleeve 12, a forward rotation output shaft 54 is installed on the output shaft along the horizontal direction, a gear is sleeved outside the forward rotation output shaft 54, and the gear is meshed with the linkage gear 39.

Further combine fig. 3, fig. 4, every hydraulic pressure fagging 11 moves back pole 51 towards the inside terminal surface vertical direction of casing 10 fixedly connected with hydraulic pressure respectively, and a set of hydraulic pressure moves back pole 51 overcoat on the homonymy and is equipped with hydraulic pressure chamber 52, is equipped with hydraulic oil in the hydraulic pressure chamber 52, has seted up hydraulic pressure between two hydraulic pressure chambers 52 and has linked 27 and communicate.

Further referring to fig. 4, a moving motor 46 is installed in the bottom surface of the casing 10, a traveling output shaft is installed at one side of the moving motor 46, a motor output shaft 47 is installed on the traveling output shaft, a turbine is installed at one end of the motor output shaft 47, a roller shaft 44 is respectively installed at two sides of the gear, the roller shaft 44 is meshed with the turbine to realize power transmission, and a moving roller 43 is respectively sleeved in grooves at two sides of the outside of the roller shaft 44

Principle of operation

Firstly, a worker puts the robot on the surface of an I-shaped steel to be overhauled, and the 21 faces to the surface of the I-shaped steel to be detected, at the moment, a vertical telescopic motor 24 arranged at the front end of the robot can be started and pushes a telescopic pull rod 22 downwards to enable a vertical telescopic rod 19 to sink, so that two horizontal support rod sleeves 17 are positioned below the lower bottom surface of the I-shaped steel at the moment;

starting a moving motor 46 at the lower bottom surface of the casing 10, wherein the robot moves towards one direction, and in the moving process, the 21 faces to the inner surface of the I-steel, so that the 21 is blocked by a screw at the surface of the I-steel joint, and the 21 is pushed to slide towards the other side;

after the robot moves to a certain position, the robot cannot move continuously as the support plate 21 slides to the limit position under the stop of the screw, and the support plate 14 is arranged below the I-beam on one side of the robot in the moving direction, so the support plate 14 is in contact with the I-beam in the vertical direction, and the clamping plates 15 on the two sides of the support plate 14 are provided with the inverted slope 20 towards one side in the middle, so the clamping plates 15 are firstly propped by the I-beam and then reset under the action of the spring and clamp the I-beam in the vertical direction to provide supporting force and stability for the action execution of the robot;

since the positioning block 21 is moved to the limit position and cannot move continuously, the positioning blocks 31 arranged in the positioning block 21 move continuously, the wiring grooves 28 fixed behind the positioning blocks 31 are respectively elongated, the wiring grooves 28 are elongated to cause the positioning plates 50 arranged in the inner cavity of the housing 10 to rotate respectively, when the inverted slope 20 rotates for a certain angle, the limiting plate 49 deviates from the original position and is replaced by the protrusion of the positioning plate 50, and the inspectors in the accommodating cavity 56 fall out due to the gravity effect in the rotating process of the limiting plate 49, and when the positioning plates 50 rotate for a certain angle, the former inspector falls down and is pulled down under the effect of the linkage belt 42, and the five inspectors are connected by the transmission belt, so that the linkage gears 39 can still transmit mutually;

when the inspector in the accommodating cavity 56 falls down, the inspector moves forwards under the action of the electric control shaft sleeve 37 to be meshed with the nut, if the inspector deviates in the process, an inclined tangent plane is arranged at one side of the expansion sleeve 34 of the outer ring of the rotator 35 towards the middle, and the expansion sleeve 34 can be expanded in a small range through the expansion sliding protrusion 57, so that the correct meshing rate of the nut is improved, and the inspector can also adapt to different sizes of nuts;

when the expansion sleeve 34 is engaged, the forward rotation motor 53 is started to rotate the forward rotation output shaft 54, and the forward rotation output shaft 54 rotates to drive the gear fixedly sleeved to rotate, and simultaneously, the gear is meshed with the nearest tension line 30, so that the whole checker rotates clockwise, and the signal sensor 36 arranged at the rear end of the rotator 35 detects and reports which nuts are loosened;

if the nut and the screw need to be replaced at this time, the signal sensor 36 receives a signal and separately activates the reverse motor 40 at the rear to drive the telescopic shaft 38 to rotate counterclockwise, and the reverse motor 40 sends a signal in the process of rotating the telescopic shaft 38 counterclockwise so as to inject hydraulic oil into the hydraulic cavity 52 at one side to enable the hydraulic support plate 11 to extend out of the machine shell 10 to support the i-steel, so that the screw can be replaced conveniently.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (8)

1. The robot for steel structure connection inspection and replacement comprises a machine shell (10) and is characterized in that hydraulic supporting plates (11) are respectively arranged on two sides of the upper end face and the lower end face of the machine shell (10), a rotating shaft sleeve (12) is arranged on the front side of the machine shell (10), a rotating shaft (13) is fixedly arranged in the vertical direction below the rotating shaft sleeve (12), a vertical telescopic rod (19) is sleeved in the lower end of the rotating shaft (13) in a sliding manner, a horizontal connecting piece (18) is fixedly arranged at the lower end of the vertical telescopic rod (19), horizontal supporting rod sleeves (17) are respectively and fixedly arranged in the horizontal directions of two sides of the horizontal connecting piece (18), a horizontal supporting rod (16) is respectively sleeved in the horizontal supporting rod sleeves (17) in a sliding manner, one end, far away from the horizontal connecting piece (18), of each horizontal supporting rod (16) is respectively and fixedly connected with a supporting plate (14), the rear end of the machine shell (10) is provided with a groove (21), two sides of the lower end of the machine shell (10) are respectively provided with a groove, and each groove is internally provided with a plurality of movable rollers (43) for sliding.

2. The robot for steel structure connection inspection and replacement according to claim 1, wherein a fixed shaft (25) is sleeved in the rotating shaft sleeve (12), a coil spring (26) is sleeved between the fixed shaft (25) fixedly connected with the casing (10) and the rotating shaft sleeve (12), the coil spring (26) is fixedly connected with the inner surface of the rotating shaft sleeve (12), a vertical telescopic motor (24) is fixedly installed at the inner upper end of the rotating shaft (13), a telescopic pull rod (22) is arranged at the lower end of the vertical telescopic motor (24) and is fixedly connected with a vertical telescopic rod (19), a reset auxiliary spring (23) is sleeved outside the telescopic pull rod (22), clamping plates (15) are respectively arranged at two sides of the supporting plate (14), one side of each clamping plate (15) close to the supporting plate (14) respectively extends into the supporting plate (14), and the tail end of each clamping plate (15) is fixedly connected with a spring for resetting, each clamping plate (15) is concave and is provided with a back-off slope (20) on one side far away from the horizontal connecting piece (18).

3. The steel structure connection inspection and replacement robot as claimed in claim 1, wherein sliding columns (33) are respectively arranged at upper and lower ends of the sliding column (21) near one side of the casing (10), each sliding column (33) extends into the casing (10), a through groove is formed in the sliding column (33) at the upper end, five slidable positioning blocks (31) are arranged at one side of the middle part of the sliding column (21) far away from the casing (10), a rear groove (32) is respectively formed in the sliding column (21) at one side of each positioning block (31) near the casing (10), each rear groove (32) is communicated with each other and connected with the through groove of the sliding column (33), and a tension line (30) is fixedly connected in each rear groove (32) of each positioning block (31).

4. The steel structure connection inspection and replacement robot as claimed in claim 1, wherein a cavity is formed in the housing (10), a positioner rotating shaft (48) is rotatably arranged in the cavity in a vertical direction near one side of the rotating shaft sleeve (12), five positioning plates (50) are sleeved outside the positioner rotating shaft (48), a short plate is respectively arranged at the lower end of each positioning plate (50) and faces one side of the rotating shaft sleeve (12), a limiting plate (49) is respectively and fixedly arranged at the upper end of each positioning plate (50) and faces one side (21), a tension wire (30) is respectively wound outside each positioning plate (50), five wire grooves are respectively formed in the inner wall of the cavity near one side of the rotating shaft sleeve (12), the five wire grooves are respectively communicated and gathered to form a wire running groove (28), and the other end of the wire running groove (28) is connected with a through groove in the sliding column (33), and a winding wheel (29) is arranged on one side, close to the rotating shaft sleeve (12), of the upper part of the inside of the wiring groove (28), and the tension line (30) is connected with the five positioning plates (50) by changing the direction through the winding wheel (29).

5. The robot for steel structure connection inspection and replacement according to claim 1, wherein a containing cavity (56) is formed in the upper end of the casing (10) below the wiring groove (28), five inspectors are arranged in the containing cavity (56), a falling port (55) is formed in the lower bottom surface of the containing cavity (56) close to one side of the center of the casing (10), each inspector comprises an independent reverse motor (40), a linkage column (41) is fixedly arranged on one side, close to the rotating shaft sleeve (12), of the reverse motor (40), a linkage belt (42) is coated on the five linkage columns (41) to prevent loosening, a telescopic shaft (38) is mounted on an output shaft of one side, close to the rotating shaft sleeve (21), of each reverse motor (40), an electric control shaft sleeve (37) is sleeved outside each telescopic shaft (38), and a linkage gear (39) is sleeved outside each electric control shaft sleeve (37), five linkage gear (39) intermeshing connects, every telescopic shaft (38) are close to (21) one end terminal surface fixedly connected with and rotate ware (35), and every expansion chamber (59) have been seted up respectively to rotate ware (35) outer lane, every expand fixedly provided with extension reset spring (58) in chamber (59) respectively, every extension reset spring (58) are kept away from rotation ware (35) center one side fixedly connected with extension slip raised (57) respectively towards, every extension slip raised (57) stretch out respectively and expand chamber (59) outer and fixedly connected with expansion cover (34), every expansion cover (34) are seted up inclined plane respectively towards rotation ware (35) center one side.

6. The robot for connection inspection and replacement of steel structures as claimed in claim 5, wherein a forward rotation motor (53) is installed in the housing (10) on one side of the receiving cavity (56), an output shaft is arranged on one side of the forward rotation motor (53) facing the rotating shaft sleeve (12), a forward rotation output shaft (54) is installed on the output shaft along the horizontal direction, a gear is sleeved outside the forward rotation output shaft (54), and the gear is meshed with the linkage gear (39).

7. The robot for connection inspection and replacement of the steel structure according to claim 1, wherein each hydraulic supporting plate (11) is fixedly connected with a hydraulic withdrawing rod (51) towards the vertical direction of the inner end surface of the casing (10), a group of hydraulic withdrawing rods (51) on the same side are sleeved with hydraulic cavities (52), hydraulic oil is filled in the hydraulic cavities (52), and a hydraulic connecting channel (27) is formed between the two hydraulic cavities (52) for communication.

8. The robot for connection inspection and replacement of steel structures as claimed in claim 7, wherein a moving motor (46) is installed in a lower bottom surface of the housing (10), a walking output shaft is installed at one side of the moving motor (46), a motor output shaft (47) is installed on the walking output shaft, a turbine is installed at one end of the motor output shaft (47), a roller shaft (44) is respectively installed at two sides of the gear, the roller shaft (44) is engaged with the turbine to realize power transmission, and moving rollers (43) are respectively sleeved outside the roller shaft (44) in grooves at two sides.

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