CN210680744U - Servicing robot and tail end tool thereof - Google Patents

Abstract

A preparation robot and a tail end tool thereof, wherein the tail end tool comprises an adapter part and a cleaning device, the adapter part is used for being connected with a robot body of the preparation robot, the cleaning device is arranged on the adapter part, the cleaning device comprises a supporting arm, one end part of the supporting arm is hinged, and the other end part of the supporting arm is provided with a cleaning component; still include the elasticity piece that resets, the elasticity resets the piece and acts on the support arm is used for right the support arm resets. By adopting the structure, the cleaning part of the supporting arm can clean the insulator, and the supporting arm is hinged and can rotate in a self-adaptive manner according to the appearance of the insulator, so that the insulator can be conveniently cleaned; meanwhile, the elastic reset piece can generate restoring force for the supporting arm after cleaning is finished, and the supporting arm can rotate to the original position, so that the control of a tail end tool can be facilitated; compared with the prior art, the structure of the end tool can be greatly simplified.

Description

Servicing robot and tail end tool thereof

Technical Field

The utility model relates to an industrial robot technical field, concretely relates to service robot and end instrument thereof.

Background

In a locomotive servicing work shop, in order to improve the automation degree, the work efficiency, the safety factor of the servicing work, reduce the labor intensity of workers and the like, the adoption of robot work has become the current development trend.

The preparation robot for the locomotive roof comprises a robot body, a controller and a tail end tool installed on the robot body, wherein the robot body drives the preparation robot through the controller to perform displacement and posture adjustment of the tail end tool, and the tail end tool can detect a pantograph of the locomotive roof, clean an insulator and the like.

Therefore, how to provide a solution to overcome the above-mentioned drawbacks remains a technical problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a service robot and end instrument thereof, wherein, the structure of this end instrument is simple relatively.

In order to solve the technical problem, the utility model provides an end tool of a service robot, which comprises an adapter part and a cleaning device, wherein the adapter part is used for being connected with a robot body of the service robot, the cleaning device is arranged at the adapter part, the cleaning device comprises a supporting arm, one end part of the supporting arm is hinged, and the other end part of the supporting arm is provided with a cleaning part; still include the elasticity piece that resets, the elasticity resets the piece and acts on the support arm is used for right the support arm resets.

By adopting the structure, the cleaning component of the supporting arm can clean the insulator so as to eliminate dust deposit, stain and the like on the insulator, and the supporting arm is hinged, so that when in use, the supporting arm can rotate in a self-adaptive manner according to the appearance of the insulator, and the insulator can be cleaned more conveniently; simultaneously, elasticity resets and can exert an effect to the support arm again to after clean the completion, produce the restoring force to self-adaptation pivoted support arm, make the support arm can revolve to primary position, like this, under no exogenic action, the position of the relative switching portion of support arm can be unchangeable, can conveniently be to controlling of terminal instrument.

Compare in prior art through complicated structures such as motor, lead screw that open and shut to control the support arm and carry out the scheme of action, the embodiment of the utility model provides a need not the power part of forms such as motor that opens and shuts, only can realize the self-adaptation rotation of support arm and reset through the scheme of articulated + elasticity piece that resets for the structure of end instrument can be simplified by a wide margin.

Optionally, the cleaning device further comprises a fixing part, the fixing part is connected with the adapting part, and two ends of the elastic resetting piece are respectively connected with the supporting arm and the fixing part; the quantity of support arm is two, two the support arm sets up relatively, just two the support arm all with the fixed part is articulated.

Optionally, the support device further comprises a limiting part, and the limiting part abuts against two adjacent wall surfaces of the two support arms and is used for limiting the inward rotation of the support arms.

Optionally, the cleaning device further comprises a flow divider, wherein an input port of the flow divider is connected with the cleaning liquid storage tank, and an output port of the flow divider leads the cleaning liquid to the cleaning component through a conveying pipe.

Optionally, both sides all are equipped with about the support arm clean part with the conveyer pipe, just the liquid outlet of conveyer pipe is equipped with the nozzle, nozzle fixed mounting in the support arm.

Optionally, the shunt is mounted on the fixing portion, and two ends of the shunt respectively abut against two adjacent wall surfaces of the two support arms, so as to limit inward rotation of the support arms.

Optionally, the cleaning device further comprises a detection device, and the detection device and the cleaning device are respectively located on two sides of the adapter part in the extending direction of the supporting arm; the detection device comprises a damage assessment module, wherein the damage assessment module comprises a camera shooting assembly and is used for carrying out image acquisition on the pantograph carbon slide bar; and/or, the detection device further comprises a thickness detection module for detecting the thickness of the pantograph carbon slide bar.

Optionally, the detection apparatus further comprises a mounting box, and the damage assessment module and/or the thickness detection module are mounted on the mounting box; the switching portion is the column, the mounting box is fixed in switching portion, just detection device's detection direction with the axial of switching portion is less than 90 degrees contained angles, the extending direction of support arm with the axial of switching portion is mutually perpendicular.

Optionally, the adapter part comprises a square pipe section and a U-shaped pipe section which are connected, an adapter flange is arranged at one end of the square pipe section, which is far away from the U-shaped pipe section, the adapter flange is used for being connected with the robot body, and the mounting box is mounted on the pipe wall of the square pipe section; the opening direction of the U-shaped pipe section is the same as the installation direction of the adapter part relative to the detection device, the size of the U-shaped pipe section is smaller than that of the square pipe section in the extending direction of the supporting arm, the cleaning device comprises a fixing part, the supporting arm is hinged to the fixing part, and the fixing part is installed on two side pipe walls of the U-shaped pipe section.

Optionally, positioning pins are respectively arranged between the damage assessment module, the thickness detection module and the mounting box, and between the mounting box and the switching part; the cleaning device further comprises a driving motor, the cleaning component is a brush, the brush is mounted on the supporting arm through a rotating shaft, and the driving motor is in transmission connection with the rotating shaft.

Optionally, the adapter portion is provided with an adapter flange used for being connected with the robot body, and the adapter flange is provided with an alignment mark used for determining the installation angle of the adapter portion relative to the robot body.

Optionally, the installation position of the cleaning device and the detection device on the adapter part is adjustable.

The utility model also provides a service robot, including robot body and terminal instrument, terminal instrument install in robot body, terminal instrument is foretell service robot's terminal instrument.

Since the end tool of the preparation robot has the technical effects as described above, the preparation robot having the end tool also has similar technical effects, and thus the detailed description thereof is omitted here.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of an end tool of a preparation robot provided by the present invention;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a bottom view of FIG. 1;

FIG. 5 is a diagram of the connection structure between the junction and the detecting device in FIG. 1.

The reference numerals in fig. 1-5 are illustrated as follows:

1, an adapter part, 11 square pipe sections, 111 first mounting plates, 111a first mounting holes, 12U-shaped pipe sections, 13 adapter flanges, 131 flange holes, 132 alignment marks and 14 rib plates;

2 cleaning device, 21 supporting arm, 211 cleaning component, 22 elastic reset piece, 23 fixing part, 24 flow divider, 241 conveying pipe, 242 nozzle, 25 driving motor;

3 detection device, 31 damage module, 311 industrial camera, 312 laser, 32 thickness detection module, 33 mounting box, 331 second mounting plate, 331a second mounting hole and 34 positioning pin.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1-5, fig. 1 is a schematic structural view of an end tool of a service robot according to an embodiment of the present invention, fig. 2 is a side view of fig. 1, fig. 3 is a top view of fig. 1, fig. 4 is a bottom view of fig. 1, and fig. 5 is a connecting structure diagram of a junction and a detection device in fig. 1.

As shown in fig. 1-4, the present invention provides an end tool for a preparation robot, including an adapter 1 and a cleaning device 2, wherein the adapter 1 is used to connect with a robot body (not shown in the figure) of the preparation robot, the structure, function, etc. of the robot body are not limited in the embodiment of the present invention, specifically referring to the prior art, the cleaning device 2 is installed in the adapter 1, the cleaning device 2 includes a supporting arm 21, one end of the supporting arm 21 is hinged, and the other end is provided with a cleaning component 211; the elastic restoring piece 22 is further included, and the elastic restoring piece 22 acts on the supporting arm 21 and is used for restoring the supporting arm 21.

By adopting the structure, the cleaning component 211 of the supporting arm 21 can clean the insulator to eliminate the dust, dirt and the like on the insulator, and the supporting arm 21 is hinged, so that when in use, the supporting arm 21 can rotate adaptively according to the appearance of the insulator, and the insulator can be cleaned more conveniently; simultaneously, elasticity resets piece 22 and can be acted on support arm 21 again to after the cleanness is accomplished, produce the restoring force to self-adaptation pivoted support arm 21, make support arm 21 can revolve to primary position, like this, under no exogenic action, the relative switching portion 1's of support arm 21 position can be unchangeable, can conveniently be to terminal instrument controlling.

Compare in prior art through complicated structures such as motor, lead screw that open and shut to control support arm 21 and carry out the scheme of action, the embodiment of the utility model provides a need not the power part of forms such as motor that opens and shuts, only can rotate and reset with the self-adaptation that realizes support arm 21 through articulated + elasticity piece 22 that resets for the structure of terminal instrument can be simplified by a wide margin.

In a specific embodiment, the cleaning device 2 may further include a fixing portion 23, the fixing portion 23 may be a plate-shaped member for being connected to the adaptor portion 1, two ends of the elastic restoring member 22 may be respectively connected to the supporting arm 21 and the fixing portion 23 (or the adaptor portion 1), and the elastic restoring member 22 may be a spring, such as a tension spring, a compression spring, a torsion spring, or other elastic elements, such as an elastic cord, which is actually related to the installation position of the elastic restoring member 22 and the stress state during use.

Taking the solution in the drawings as an example, the number of the support arms 21 may be two, the two support arms 21 may be arranged oppositely, and both the support arms 21 may be hinged to the fixing portion 23, at this time, the insulator may be cleaned between the two support arms 21, and under the thrust action given by the outer wall of the insulator, the two support arms 21 have a tendency of rotating outward, and based on this, the elastic restoring member 22 may be an elastic element for damping the outward rotation of the support arms 21.

Here, the definition of "inner" and "outer" can refer to fig. 3, in fig. 3, the space between the two support arms 21 is inner with respect to the two support arms 21, so that the outward rotation of the two support arms 21 refers to the clockwise rotation of the upper support arm 21 and the counterclockwise rotation of the lower support arm 21 in fig. 3, and the two elastic restoring members 22 can be disposed on the outer side of the corresponding support arm 21, in this case, the two elastic restoring members 22 can be compression springs, and specifically, can be gas springs.

It will be understood that in the embodiment of fig. 3, the elastic restoring member 22 may also be arranged inside the corresponding supporting arm 21, in which case the elastic restoring member 22 is capable of providing a pulling force, and the elastic restoring member 22 may be a tension spring. Of course, the torsion spring solution can be used whether the elastic restoring element 22 is arranged inside or outside the supporting arm 21.

Further, the support device may further include a limiting component, which may be a limiting baffle, a limiting block, or the like, and which can abut against two adjacent wall surfaces of the two support arms 21 (i.e., inner wall surfaces of the support arms 21) to limit inward rotation of the support arms 21, and the limiting component cooperates with the elastic restoring member 22 to better determine the position of the support arms 21.

Here, the embodiment of the present invention does not limit the number of the limiting parts, which may be one or two, when one limiting part is used, the limiting part should be able to limit the positions of the two supporting arms 21 at the same time, and when two limiting parts are used, the two limiting parts should be respectively matched with the two supporting arms 21 to limit the two supporting arms 21.

When cleaning the outer wall of the insulator, the cleaning member 211 may be used with a certain amount of cleaning liquid, and in this case, a conveying device for the cleaning liquid is also required. The embodiment of the utility model provides an in, specifically can be shunt 24, shunt 24's input port can link to each other with washing liquid storage jar (not shown in the figure), and washing liquid storage jar can be installed on the service robot, also can place subaerial, and this specifically can be confirmed according to actual conditions, and shunt 24's output port then can lead the washing liquid to cleaning element 211 through conveyer pipe 241, and under the effect of washing liquid, cleaning element 211 is better to the clean effect of insulator.

Here, the embodiment of the utility model provides a do not restrict the kind of washing liquid, it can be ordinary running water, also can be for wasing and the washing liquid of chooseing for use to the insulator, specifically can confirm according to actual need. In addition, a delivery pump may be further provided in the delivery pipe of the cleaning liquid to provide power for the delivery of the cleaning liquid, and the type and the mounting position of the delivery pump are not limited as long as the effect of the delivery of the cleaning liquid can be achieved.

During specific implementation, one conveying pipe 241 can be matched with one cleaning component 211, so that each cleaning component 211 can clean the insulator under the action of cleaning liquid, and the cleaning effect is better. Referring to fig. 2, cleaning members 211 may be provided at upper and lower sides of the supporting arm 21, so that the insulator can be cleaned more completely, and accordingly, conveying pipes 241 may be provided at upper and lower sides of the supporting arm 21 to supply cleaning liquids to the upper and lower cleaning members 211, respectively; the outlet of the delivery pipe 241 may further be provided with a nozzle 242, through the action of the nozzle 242, the spraying speed, spraying range, etc. of the cleaning liquid may be improved, and the nozzle 242 and the support arm 21 may be fixedly connected to fix the spraying direction of the cleaning liquid of the nozzle 242. The structure of the nozzle 242 is not limited herein, and reference can be made to the prior art.

The above-mentioned shunt 24 can be installed in the fixed portion 23, and both ends of the shunt 24 can be supported against two adjacent wall surfaces of two support arms 21 respectively, for limiting the inward rotation of the support arms 21, that is, the shunt 24 can also function as the above-mentioned spacing part, thus, it is not necessary to provide a special spacing part, and the above-mentioned shunt 24 is a part to spacing two support arms 21 simultaneously, can reduce the quantity of spare parts, and has a positive effect on the structure simplification of the end tool of the servicing robot.

As shown in fig. 1 and fig. 2, the cleaning device 2 may further include a driving motor 25, which may be mounted on the supporting arm 21, the cleaning component 211 may be a brush or the like, the brush may be mounted on the supporting arm 21 through a rotating shaft (not shown), the driving motor 25 may be in transmission connection with the rotating shaft, and may be in transmission connection with a transmission component (not shown) in the form of a conveyor belt or a conveyor chain or the like, and the transmission component may be hidden in the supporting arm 21; can be for dismantling between brush and the pivot to be connected, like jump ring, rand fixed etc. like this, can conveniently carry out the dismouting to the brush to can change in time when the brush damages.

Further, a detection device 3 may be further included, the detection device 3 serves as another functional component of the end tool, and may be configured to detect the pantograph, and in the extending direction of the supporting arm 21, the detection device 3 and the cleaning device 2 may be respectively located at two sides of the adapting portion 1, so that mutual interference between the two in the using process may be avoided.

In detail, the detecting device 3 may include a damage assessment module 31, the damage assessment module 31 may include a camera assembly, and with reference to fig. 4, the camera assembly may specifically include an industrial camera 311, a laser 312, a camera light source, and the like, and is configured to perform image acquisition on the pantograph carbon slide to analyze and judge the crack and defect conditions of the carbon slide, where the analyzing and judging process is performed by a controller, and the controller may be disposed on the detecting device 3 or on the robot body; in the embodiment of fig. 4, the industrial camera 311 is installed below the laser 312, and in fact, when the industrial camera 311 is installed, the installation direction of the damage determination module 31 may also be adjusted, and at this time, the industrial camera 311 may be located above the laser 312 again, so as to meet the detection requirements of the detection apparatus 3 under different conditions. And/or, the detection device 3 may further include a thickness detection module 32, and the thickness detection module 32 may specifically include a thickness detection component such as a line scan camera, which is used for detecting the thickness of the pantograph carbon slide bar.

Besides being used for determining damage and thickness, the detection device 3 can also realize accurate positioning of the pantograph at the roof position and X, Y, Z coordinates relative to the base coordinates of the robot, so as to accurately realize the planning of the robot cleaning and detection path.

The detection device 3 may further include a mounting box 33, and both the damage determination module 31 and the thickness detection module 32 may be mounted on the mounting box 33 and may be connected to the adapter 1 via the mounting box 33. With reference to fig. 2, the connection portion 1 may be a column, and the cleaning device 2 and the detection device 3 may be integrally located at the left and right sides of the connection portion 1, respectively, wherein the detection direction of the detection device 3 and the axial direction of the connection portion 1 may form an included angle smaller than 90 degrees, and the extension direction of the support arm 21 may be perpendicular to the axial direction of the connection portion 1.

So set up, mounting box 33 can be fixed for the slope, when using detection part 3 to detect the pantograph carbon draw runner, adjust the direction of detection promptly for vertical direction with the pantograph carbon draw runner just to the time, need carry out clockwise rotation to the terminal instrument in fig. 2, this moment, cleaning device 2 wholly can keep for the gesture of upwarping, like this, can prevent the interference between cleaning device 2 and the pantograph to a greater extent.

One end of the adaptor part 1 may be provided with an adaptor flange 13, and the adaptor flange 13 may be provided with a plurality of flange holes 131 for coupling with the robot body.

Further, the adaptor flange 13 may further be provided with an alignment mark 132, the alignment mark 132 may specifically be a color mark, a symbol mark, or a shape mark, wherein the color mark may adopt a relatively striking color such as red, white, or the like, the symbol mark may be a fork, a pentagon, or the like, the shape mark may be a special shape structure such as a scribe line, a countersink, or the like, and the alignment mark 132 may be disposed on the upper surface of the adaptor flange 13, or may be disposed on the side surface of the adaptor flange 13. In the embodiment of the drawings, the alignment mark 132 may be a countersink formed on the upper surface of the adaptor flange 13, and a mark may be provided on the connecting flange on the side of the robot body, so that the countersink formed on the adaptor flange 13 may be aligned with the mark of the connecting flange when the adaptor flange is installed, and thus, the installation angle of the end tool with respect to the robot body may be determined.

The adapter part 1 may include a square pipe section 11 and a U-shaped pipe section 12 connected to each other, the adapter flange 13 is installed at an end of the square pipe section 11 away from the U-shaped pipe section 12, and the mounting box 33 may be installed on a pipe wall of the square pipe section 11. Specifically, the wall of the square pipe section 11 may be provided with a first mounting plate 111 having an inclined mounting plane, the mounting box 33 may be provided with a second mounting plate 331, and the mounting box 33 may be fixed to the first mounting plate 111 by the second mounting plate 331.

The opening direction of the U-shaped pipe section 12 and the installation direction of the detection device 3 relative to the switching part 1 can be the same, the size of the U-shaped pipe section 12 in the extension direction of the supporting arm 21 is smaller than that of the square pipe section 11, the fixing part 23 of the cleaning device 2 can be installed on two side pipe walls (namely, U-shaped opening parts) of the U-shaped pipe section 12, as shown in fig. 2, by adopting the arrangement, the fixing part 23 and the installation box 33 are actually positioned on the same side of the switching part 1, but because the U-shaped pipe section 12 and the square pipe section 11 are arranged in a ladder in the extension direction of the supporting arm 21, the fixing part 23 and the installation box 33 can not interfere with each other when being installed, meanwhile, the compactness of the equipment can be improved, the size of the.

The U-shaped pipe section 12 and the square pipe section 11 can be of an integrated structure or a split structure, when the integrated structure is adopted, the U-shaped pipe section 12 is actually formed by cutting the square pipe section 11, at the moment, the strength of the cut of the square pipe section 11 is weaker, and the L-shaped rib plate 14 can be arranged to reinforce the strength of the square pipe section 11.

With reference to fig. 5, during specific installation, positioning pins 34 may be disposed between the damage module 31, the thickness detection module 32 and the mounting box 33, and between the mounting box 33 and the adapter 1, so as to be positioned by the positioning pins 34, and then connected by connecting members in the form of screws and the like. Due to the arrangement, on one hand, the problem of unreliable connection caused by the existence of thread gaps when only a screw is adopted for connection can be avoided; on the other hand, the positioning pin 34 is used for positioning, so that the threaded holes in the two mounting plates can be better centered, and the subsequent connection and fixation of the connecting piece are facilitated.

Moreover, the installation positions of the cleaning device 2 and the detection device 3 relative to the adapter part 1 can be adjusted, so that the cleaning and detection path planning can be facilitated. Referring to fig. 5, taking the installation of the detection device 3 and the adapter 1 as an example, the first mounting plate 111 may be provided with a plurality of first mounting holes 111a, and the installation position of the detection device 3 may be changed by adjusting the second mounting holes 331a of the second mounting plate 331 to be installed corresponding to different first mounting holes 111 a.

In addition, in the embodiment of the present invention, the cleaning device 2, the detecting device 3 and the switching portion 1 are all provided as independent modules, and when assembling, each component can be assembled to form each module, and then each module is assembled.

The utility model also provides a service robot, including robot body (not shown in the figure) and terminal instrument, wherein, the structure and the function of robot body can refer to prior art, do not do the detailing here, and terminal instrument is installed in robot body, and this terminal instrument is the terminal instrument of the service robot that above-mentioned each embodiment relates.

Since the end tool of the preparation robot has the technical effects as described above, the preparation robot having the end tool also has similar technical effects, and thus the detailed description thereof is omitted here.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims (13)

1. The tail end tool of the preparation robot is characterized by comprising an adapter part (1) and a cleaning device (2), wherein the adapter part (1) is used for being connected with a robot body of the preparation robot, the cleaning device (2) is installed on the adapter part (1), the cleaning device (2) comprises a supporting arm (21), one end part of the supporting arm (21) is hinged, and the other end part of the supporting arm is provided with a cleaning component (211);

the elastic reset device further comprises an elastic reset piece (22), wherein the elastic reset piece (22) acts on the supporting arm (21) and is used for resetting the supporting arm (21).

2. The end tool of the staging robot according to claim 1, characterized in that the cleaning device (2) further comprises a fixing part (23), the fixing part (23) is connected with the adaptor part (1), and both ends of the elastic restoring member (22) are respectively connected with the supporting arm (21) and the fixing part (23);

the quantity of support arm (21) is two, two support arm (21) sets up relatively, and two support arm (21) all with fixed part (23) are articulated.

3. The end tool of the staging robot according to claim 2, further comprising a limiting member that abuts two adjacent walls of the support arms (21) to limit inward rotation of the support arms (21).

4. The staging robot end-tool of claim 2, further comprising a diverter (24), the diverter (24) having an input port connected to a cleaning fluid storage tank and an output port for directing cleaning fluid to the cleaning element (211) via a delivery tube (241).

5. The end tool of the staging robot according to claim 4, wherein the cleaning element (211) and the delivery tube (241) are disposed on both the upper and lower sides of the support arm (21), and the liquid outlet of the delivery tube (241) is provided with a nozzle (242), the nozzle (242) being fixedly mounted to the support arm (21).

6. The end tool of the staging robot according to claim 4, wherein the diverter (24) is mounted to the stationary portion (23) and opposite ends of the diverter (24) abut against respective adjacent walls of the support arms (21) to limit inward rotation of the support arms (21).

7. The end tool of the staging robot according to any of claims 1-6, further comprising a detection device (3), the cleaning device (2) being located on either side of the interface (1) in the direction of extension of the support arm (21);

the detection device (3) comprises a damage assessment module (31), wherein the damage assessment module (31) comprises a camera shooting assembly and is used for carrying out image acquisition on the pantograph carbon slide bar; and/or the detection device (3) further comprises a thickness detection module (32) for detecting the thickness of the pantograph carbon slide bar.

8. End tool of the staging robot according to claim 7, characterized in that the detection device (3) further comprises a mounting box (33), the damage assessment module (31) and/or the thickness detection module (32) being mounted to the mounting box (33);

switching portion (1) is the column, mounting box (33) are fixed in switching portion (1), just the detection direction of detection device (3) with the axial of switching portion (1) is less than 90 degrees contained angles, the extending direction of support arm (21) with the axial of switching portion (1) is mutually perpendicular.

9. The end tool of the staging robot according to claim 8, characterized in that the adapter (1) comprises a square pipe section (11) and a U-shaped pipe section (12) which are connected, an adapter flange (13) is arranged at one end of the square pipe section (11) far away from the U-shaped pipe section (12), the adapter flange (13) is used for being connected with the robot body, and the mounting box (33) is mounted on the pipe wall of the square pipe section (11);

the opening direction of U-shaped pipe section (12) with detection device (3) are relative the installation direction of switching portion (1) is the same, and is in on the extending direction of support arm (21), the size of U-shaped pipe section (12) is less than square pipe section (11), cleaning device (2) include fixed part (23), support arm (21) with fixed part (23) are articulated, fixed part (23) install in two side pipe walls of U-shaped pipe section (12).

10. End tool of the staging robot according to claim 8, characterized in that positioning pins (34) are provided between the damage module (31), the thickness detection module (32) and the mounting box (33), and between the mounting box (33) and the interface section (1);

cleaning device (2) still includes driving motor (25), cleaning element (211) are the brush, the brush through the pivot install in support arm (21), driving motor (25) with the pivot transmission is connected.

11. End tool of a staging robot according to claim 7, characterized in that the adapter part (1) is provided with an adapter flange (13) for connection to the robot body, which adapter flange (13) is provided with alignment marks (132) for determining the mounting angle of the adapter part (1) relative to the robot body.

12. End tool of the staging robot according to claim 7, characterized in that the cleaning device (2) and the detection device (3) are adjustable in the mounting position of the interface section (1).

13. A staging robot comprising a robot body and an end tool mounted to the robot body, characterized in that the end tool is an end tool of the staging robot according to any of claims 1-12.

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