CN215967234U - Sleeve auxiliary replacement box and maintenance robot applying same - Google Patents

Abstract

The utility model belongs to the technical field of electric power operation climbing robots, and particularly relates to a sleeve auxiliary replacement box and an overhaul robot applying the auxiliary replacement box. The cartridge comprises a cartridge body, wherein the cartridge body is provided with a containing hole for placing a single sleeve; the utility model also comprises an unlocking pull rod, when the unlocking pull rod generates reciprocating movement, only one group of limiting bulges and corresponding positioning notches can be separated from each other at the same time, so that the sleeve corresponding to the positioning notches is unlocked. The sleeve replacing device can be installed on the existing climbing robot, so that the function of online sleeve replacement during high-altitude operation is realized on the premise of ensuring safe construction. The utility model also provides an overhauling robot applying the auxiliary replacing box, which has a light and reliable structure and safe and reliable operation, and can synchronously ensure the action stability of climbing operation, thereby greatly saving manpower and inspection cost, improving overhauling efficiency and ensuring safe and reliable operation of a power transmission system.

Description

Sleeve auxiliary replacement box and maintenance robot applying same

Technical Field

The utility model belongs to the technical field of electric power operation climbing robots, and particularly relates to a sleeve auxiliary replacement box and an overhaul robot applying the auxiliary replacement box.

Background

The stability and the safety of the electric power are basic guarantees for promoting the development of various industries, and in China, the electric angle steel towers are large in number and wide in distribution and are exposed in a field environment or even a dusty strong wind and high humidity severe environment for a long time. Under traditional mode, need bear maintenance equipment by the maintainer and climb the angle-steel tower along the foot nail side, gradually articulate the safety rope and prevent weighing down, lead to patrolling and examining the cycle length, the climbing is dangerous big, and work efficiency is low. Therefore, the climbing robot suitable for the angle steel tower is produced, and climbing types with various morphological structures are gradually derived, such as snake-shaped robots, wheel-type robots, inchworm-type robots and the like. As shown in fig. 7, the power angle steel tower is a truss structure formed by welding or bolting angle steel, and is mainly constructed by four main angle steel main materials and some auxiliary materials for diagonal bracing; the angle steel main material is certain inclination with the ground and arranges, adopts outsourcing angle steel and adds bolt fixed connection between the angle steel main material, adopts the bolt directly to link or plus the gusset plate between angle steel main material to one side, thereby can also arrange the epitaxial foot nail of a large amount of levels along angle steel tower direction of height simultaneously and supply the manual check to use. Therefore, the electric angle steel tower has the characteristics of a plurality of obstacles, including but not limited to foot nails, cladding bolts, gusset plates and the like; no matter what kind of robot, how to guarantee climbing efficiency while avoiding obstacles is a big difficulty. Meanwhile, in the climbing process, a main machine of the robot must be always parallel to a main material of the angle steel, so that stable clamping and stable climbing of the robot can be guaranteed; however, because of the huge mass of the existing robot, the host of the robot is often inclined at an angle, so that the reliability is questioned. In addition, when the traditional robot carries out maintenance on the electric angle steel tower, bolt tightening is a routine process; in consideration of the use safety, the sleeve with the specified specification is required to be installed on the maintenance mechanical arm of the robot in advance, and then the robot is conveyed to the tightening height to be tightened. Due to the fact that the number of the bolts on the electric angle steel tower is large and the models are different, obviously, the reciprocating operation mode of replacing the sleeve on the ground and then working aloft is extremely time-consuming and labor-consuming, and a solution is needed urgently.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provide an auxiliary sleeve replacement box which can be arranged on the existing climbing robot, so that the function of online sleeve replacement during high-altitude operation is realized on the premise of ensuring safe construction. Another object of the present invention is to provide an inspection robot using the auxiliary replacement box, which is light and reliable in structure, safe and reliable in operation, and capable of simultaneously ensuring the stability of climbing operation, thereby greatly saving labor and inspection costs, improving inspection efficiency, and ensuring safe and reliable operation of a power transmission system.

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

a cartridge assisted replacement cartridge, comprising: the box body is provided with more than two groups of accommodating holes for accommodating a single sleeve, and the accommodating holes are sequentially arranged along a set direction; the auxiliary replacing box also comprises an unlocking pull rod parallel to the radial direction of the accommodating hole in the rod length direction, a guide cavity or a guide rail communicated with the accommodating hole is arranged at the side of the box body at the accommodating hole, the unlocking pull rod is positioned in the guide cavity or on the guide rail so as to generate reciprocating motion along the arrangement direction of the accommodating hole, and the auxiliary replacing box also comprises a power source for driving the unlocking pull rod to generate the motion; a limiting bulge is convexly arranged on one side of the unlocking pull rod, which faces the hole cavity of the accommodating hole; the limiting bulge extends into the hole cavity of the accommodating hole and forms a spigot fit for limiting the sleeve to generate an upward motion with a preset positioning notch at the sleeve; when the unlocking pull rod generates reciprocating motion, only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time, so that the sleeve corresponding to the positioning notches is unlocked.

Preferably, the box body is in a rectangular block shape, and the accommodating holes are uniformly distributed along the length direction of the box body in sequence; the unlocking pull rod is in a rectangular rod body shape, an intersection is arranged between the rod body of the unlocking pull rod and the hole cavity of the accommodating hole, and an avoidance arc groove for avoiding an ascending path of the sleeve is arranged on the unlocking pull rod corresponding to each sleeve; along the long direction of the pole of unblock pull rod, the region between each adjacent arc groove of dodging forms spacing arch, and the width of each spacing arch increases in proper order or reduces in proper order to ensure that at the same time only a set of spacing arch and corresponding location notch can throw off each other.

Preferably, the cartridge body comprises a rectangular cartridge-shaped outer housing and a mounting substrate arranged in the outer housing, and the mounting substrate is horizontally arranged to divide the cartridge cavity of the outer housing into an upper cartridge cavity and a lower cartridge cavity; the box cover of the outer shell is provided with a mounting hole in a penetrating manner, the hole wall of the mounting hole forms a hole wall of the accommodating hole, the upper plate surface of the mounting substrate forms a hole bottom of the accommodating hole, and a sunk accommodating hole is formed finally; the unlocking pull rod extends along the upper box cavity and forms spigot fit with the corresponding sleeve in each accommodating hole.

Preferably, the power source is an electric push rod, the power source is fixed to the lower plate surface of the mounting substrate, and a telescopic shaft of the power source is fixedly connected with the power end of the unlocking pull rod through a connecting block.

Preferably, the box body is cylindrical, and the accommodating holes are uniformly distributed along the circumferential direction of the box body in sequence; the unlocking pull rod is in a C-shaped rod shape or a circular rod shape, an intersection is arranged between the rod body of the unlocking pull rod and the hole cavity of the accommodating hole, and an avoidance arc groove for avoiding an ascending path of the sleeve is arranged at the position of the inner rod surface of the unlocking pull rod corresponding to each sleeve; the limiting protrusions are formed in the area between every two adjacent avoidance arc grooves along the circumferential direction of the unlocking pull rod, and the width of each limiting protrusion is sequentially increased or decreased so as to ensure that only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time.

Preferably, the power source is a rotary motor or a swing arm motor; or the unlocking pull rod is provided with a rack so as to form meshing fit with the driving gear at the rotary motor, or the output shaft of the rotary motor is integrally and coaxially fixed on the unlocking pull rod, or the swing rod of the swing arm motor forms hinged fit with the power end of the unlocking pull rod.

Preferably, the unlocking pull rod is provided with induction points, the number of the induction points corresponds to that of the sleeves, and the distance between the induction points is equal to the distance between the adjacent sleeves; the photoelectric switch for monitoring the position of the sensing point is arranged at the box body, and the sensing surface of the photoelectric switch is positioned on the action path of the sensing point.

Preferably, the overhauling robot applying the sleeve auxiliary replacement box comprises a host and a bolt re-tightening device arranged on the host, wherein the bolt re-tightening device comprises a mechanical arm with a working head and a sleeve auxiliary replacement box, the mechanical arm is fixed on the host and the sleeve auxiliary replacement box is convenient for the working head at the mechanical arm to realize sleeve replacement operation; the working head comprises a striking seat fixed on the mechanical arm and a striking anchor rod which is arranged at the head end of the striking seat and used for inserting and fixing a sleeve, the shape outline of the head end of the striking anchor rod is matched with the shape outline of a preset dismounting hole at the sleeve, the head end of the striking anchor rod is in a square prism shape matched with the shape of the dismounting hole, a positioning pin hole is concavely arranged at the side wall of the head end, an elastic pin capable of generating elastic telescopic action along the radial direction of the striking anchor rod is arranged in the positioning pin hole, so that elastic clamping fit is formed between the elastic pin and a notch at the hole wall of the dismounting hole, and a striking motor is arranged in the striking seat so as to drive the striking anchor rod to generate rotary action around the axis of the sleeve; the main machine also comprises two sets of walking parts which can move along the length direction of the angle steel main materials and are respectively matched on two adjacent angle steel main materials; horizontal sliding tables are arranged on the two sets of walking parts, the mechanical arm is arranged on the front surface of the base between the two sets of walking parts, horizontal guide rods extend from the base to the horizontal sliding tables on the two sides, and sliding guide fit with the horizontal direction as the guiding direction is formed between the horizontal guide rods and the horizontal sliding tables; the maintenance robot also comprises a centering assembly for centering the position of the base, wherein the centering assembly comprises a vertical guide rail arranged on the back surface of the base, and a vertical sliding block is matched with the upper slide rail of the vertical guide rail; two ends of the centering connecting rod are respectively hinged on the plumb slide block and the walking part, and the axis of the hinged part is vertical to the advancing direction of the plumb slide block; an included angle is formed between the two groups of centering connecting rods positioned on the two sides of the base, and the angle end of the included angle points to the advancing direction of the plumb slide block.

Preferably, one set of walking part on each angle steel main material consists of two groups of walking modules which are sequentially arranged along the length direction of the angle steel main material; the walking modules on the upper layer on the two sets of walking parts are arranged at the same height, and the walking modules on the lower layer on the two sets of walking parts are arranged at the same height; the two horizontal guide rods are respectively matched at the horizontal sliding tables on the two groups of upper-layer walking modules and the horizontal sliding tables on the two groups of lower-layer walking modules; the base is fixed at the middle rod body of the horizontal guide rod and is bridged with the two horizontal guide rods; the arrangement position of the vertical guide rail and the arrangement position of the horizontal guide rod are spatially avoided; two groups of centering connecting rods are arranged on two sides of the vertical guide rail in a plane symmetry manner.

Preferably, I-shaped rails are arranged on the angle steel main material along the length direction of the angle steel main material, the walking module comprises a walking plate and walking wheels in rotary fit on the walking plate, and the walking wheels and the I-shaped rails form rolling fit; the walking wheels are driven by the driving wheels or the walking modules through an external driving source, so that walking action along the I-shaped rail is generated.

The utility model has the beneficial effects that:

1) the special high-altitude remote control using environment based on the electric angle steel tower has extremely dangerous high-altitude accidental falling, so the safety of operation is the first time. The utility model adopts a unique high-altitude assembly structure, and utilizes the locking characteristic of the unlocking pull rod to the inner sleeve of the accommodating hole to ensure that only one group of sleeves can be unlocked at the same time, and the group of sleeves is just the type of the sleeves required by the working head. Therefore, during actual work, the climbing robot can be completely suitable for the existing climbing robot, and the magnetic suction type or clamping pin type working head is matched, so that the function of online sleeve replacement during high-altitude operation is synchronously realized on the premise of ensuring safe construction, and the working efficiency can be maximized.

2) During actual assembly, the unlocking pull rod can be regarded as a lock tongue, and therefore the purpose of storing and taking the inner sleeve in the appointed accommodating hole is achieved through locking and unlocking actions between the lock tongue and the positioning notch at the sleeve. On the basis of the above concept, the present invention provides the following two specific embodiments:

firstly, the box body is rectangular and matched with a rectangular rod-shaped unlocking pull rod; when the unlocking device works, the unlocking pull rod is pulled to move along the straight line of the rod length direction, so that the locking and unlocking actions of the limiting bulge at the unlocking pull rod and the avoidance arc groove relative to the positioning notch are realized. When the unlocking pull rod moves linearly, the power source can adopt linear motion power components such as a linear motor or an electric push rod and the like so as to realize the online driving function of the unlocking pull rod.

Secondly, the box body is cylindrical and matched with a C-shaped rod-shaped or circular rod-shaped unlocking pull rod; when the locking device works, the unlocking pull rod rotates along the circumferential direction of the box body, so that the locking and unlocking actions of the limiting protrusion at the unlocking pull rod and the avoiding arc groove relative positioning notch are realized. When the unlocking pull rod is in a rotary action, a rotary motor which is coaxial with the unlocking pull rod can be adopted to directly drive the unlocking pull rod to act; the rack may also be arranged on the lever side of the unlocking lever so as to form a meshing fit with a pinion gear at the rotary motor. When the swing arm motor is adopted, if a steering engine and the like are adopted, the purpose of power transmission can be directly completed in a hinged mode, and the details are omitted here.

3) During actual work, due to high-altitude remote control operation, the induction component needs to be additionally arranged on the unlocking pull rod, so that the on-line induction effect of the position of the unlocking pull rod is realized, and which sleeve is in the unlocking state at present is determined. The utility model adopts the mode that the induction point is matched with the photoelectric switch, has simple and clear structure and more compact and reasonable structure, and is beneficial to the use in the high-altitude operation environment.

4) In the foregoing, the auxiliary sleeve replacement box can be directly used on the existing climbing robot, and is matched with the magnetic-type or bayonet-type working head, so as to achieve the online sleeve replacement function in an overhead state, thereby greatly improving the actual operation efficiency. Meanwhile, through the scheme, on one hand, the host machine moves up and down along the power angle steel tower by arranging the walking parts such as the walking wheels, the walking rollers, even the air rails or the walking clamping jaws; and the preset online maintenance function of parts such as bolts on the electric angle steel tower can be realized by matching with the mechanical arm. On the other hand, when the walking parts gradually go upwards, the distance between the walking parts is gradually shortened under the influence of the gradual distance between the main materials of the adjacent angle steels, so that the horizontal guide unit is formed by the horizontal guide rod and the horizontal sliding table, and the normal function of the walking parts is not influenced. In addition, for the maintenance robot, while the structural stability is satisfied, the operational reliability is also the key, that is, how to take into account the perfect balance between the "action of the walking part and the horizontal guide rail" and the "no action of the base". By adopting the matching structure of the vertical slide block, the vertical guide rail and the centering connecting rod, the utility model can ensure that the base is always positioned at a constant position such as the middle area of two angle steel main materials under the displacement action of the horizontal guide unit, thereby ensuring the constancy of the working reference of the mechanical arm positioned on the base and providing basic guarantee for the fixed-point maintenance of the final mechanical arm.

5) As a further preferred scheme of the scheme, each set of walking part comprises two sets of walking modules, and the walking modules at the same height bear one horizontal guide rod together, so that the stable supporting function of the base is realized. At the moment, the outer ends of the centering connecting rods can be respectively arranged on the two groups of walking modules with the same height, the inner ends of the centering connecting rods are simultaneously hinged on the base, and included angles exist, so that the centering function is realized, the dead point effect generated when the two groups of centering connecting rods are positioned on the same straight line can be avoided, and the working reliability of the centering connecting rods is further improved.

6) For the angle steel main material, the walking module preferably adopts walking wheels, so that the walking wheels are matched with I-shaped rails welded on the angle steel main material in advance, and the functions of obstacle avoidance and directional maintenance are realized. Of course, in practice, walking jaws may be used. When the travelling wheels travel along the I-shaped rails, the travelling wheels can be driven to rotate by a power source such as a power motor, and can also be driven by an external drive source such as a traction system to generate the ascending and descending actions along the electric angle steel tower, so that the details are not repeated.

Drawings

FIG. 1 is a diagram illustrating the operation of the cartridge assisted replacement cartridge;

FIG. 2 is a front view of the structure of FIG. 1 with the outer housing removed;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a right side view of FIG. 2;

FIGS. 5 and 6 are flowcharts of the operation of the unlocking lever;

FIG. 7 is a schematic structural view of an electric angle steel tower;

FIG. 8 is a diagram of one of the operating states of the service robot;

FIG. 9 is a top view of FIG. 8;

fig. 10 is a schematic perspective view of the inspection robot;

fig. 11 is a bottom view of the service robot;

fig. 12 is a front view of the service robot;

FIG. 13 is a schematic structural view of the working head;

fig. 14 is an exploded assembly view of the structure shown in fig. 13.

The actual correspondence between each label and the part name of the utility model is as follows:

a-angle steel main material b-sleeve b 1-positioning notch b 2-dismounting hole

c-striking base d-striking motor e-striking anchor rod f-elastic pin

11-mechanical arm 11 a-working head 12-walking part

12 a-horizontal sliding table 12 b-traveling wheel 12 c-backing plate 12 d-cornice 12 e-traveling plate

13-horizontal guide rod 14-base

15 a-vertical guide rail 15 b-vertical slide block 15 c-centering connecting rod

16-I-shaped rail

21-body 211-receiving hole 21 a-outer housing 21 b-mounting substrate

22-unlocking pull rod 22 a-avoiding arc groove 22 b-sensing point

23-power source 24-connecting block 25-photoelectric switch

Detailed Description

For ease of understanding, the specific construction and operation of the present invention is further described herein with reference to FIGS. 1-14:

the specific structure of the present invention is shown in fig. 1-6 and fig. 8-12, and the main structure thereof includes a main machine and a bolt tightening device located on the main machine. The main machine serves as a bearing body for realizing climbing and descending functions relative to the electric angle steel tower shown in figure 7. The bolt re-tightening device comprises a sleeve auxiliary replacement box fixed on the main machine and a mechanical arm 11 with a working head. The sleeve auxiliary replacement box is auxiliary equipment based on a bolt re-tightening device, and because more than one type of bolt and nut is used for fixing on the electric angle steel tower, when the bolt is re-tightened, the sleeve can be replaced at different moments to continue the operation, so that the sleeve auxiliary replacement box is designed. The working head is of a structure similar to a screwdriver with a replaceable head and is designed conventionally; of course, in actual operation, the magnetic type or the bayonet type can be designed correspondingly. The purpose of the robotic arm 11 is to facilitate bolt re-tightening and sleeve replacement at the proper angle of the working head 11 a. Wherein:

sleeve auxiliary replacing box

Fig. 1-6 are schematic diagrams illustrating one embodiment of a cartridge replacement-assisting box, that is, an embodiment of a box 21 having a rectangular parallelepiped shape. In fig. 1 to 6, the cartridge 21 includes an outer case 21a having a hollow cartridge chamber, and a horizontal plate-like mounting base plate 21b is disposed in the cartridge chamber of the outer case 21a so as to divide the cartridge chamber of the outer case 21a into two parts, an upper cartridge chamber and a lower cartridge chamber. In fig. 1, three sets of receiving holes 211 are disposed through the lid of the outer housing 21a, and the three sets of receiving holes 211 correspond to the M16 sleeve, the M18 sleeve, and the M20 sleeve, respectively. Each sleeve is coaxially recessed at the outer wall with a groove, thereby forming a positioning notch b 1. An elongated guide chamber is formed in the outer case 21a and communicates with the accommodation hole 211 at the upper cartridge chamber. The unlocking rod 22 moves in the guide cavity, and the part of the unlocking rod 22 extending into the accommodating hole 211 is in a shape of a right-angled sawtooth protruding from one side as shown in fig. 3 and 5-6, namely, a limit bump is formed. In other words, the portion of the unlocking lever 22 extending into the receiving hole 211 is formed as an isosceles trapezoid-shaped avoiding arc groove 22a recessed on one side as shown in fig. 3 and 5 to 6, and the limiting protrusion is formed between the adjacent avoiding arc grooves 22 a. The tail end of the extending part of the unlocking pull rod 22, namely the power end, is fixed with a telescopic shaft of a power source 23 through a connecting block 24, and the power source 23 is an electric push rod. The electric push rod is fixed on the back of the mounting base plate 21b, and the horizontal movement of the telescopic shaft drives the unlocking pull rod 22 to generate horizontal movement along with the output of the electric push rod.

As shown in fig. 3, three convex right-angle serrations equally spaced apart are further disposed on the outer side of the unlocking lever 22, thereby forming a sensing point 22 b; the three convex sensing points 22b are in contact with the photoelectric switches 25, respectively. When the electric push rod stops outputting, the unlocking pull rod 22 stops, and the position of the current unlocking pull rod 22 can be known through matching the photoelectric switch 25 and the sensing point 22 b.

When the push rod of the electric push rod contracts to the minimum position, the side edge of the unlocking pull rod 22 is completely clamped in the positioning notch b1 of the sleeve to limit the movement of all the sleeves;

as shown in fig. 2-4; when the unlocking pull rod 22 is stopped for the first time, the M20 sleeve corresponds to the most right avoiding arc groove 22a of the unlocking pull rod 22, the unlocking pull rod 22 does not limit the M20 sleeve, the M20 sleeve can be taken out, and the rest two sleeves correspond to the unlocking pull rod 22 and are straight edges or limiting protrusions. Similarly, as shown in fig. 5-6, the M16 sleeve and the M18 sleeve can be unlocked in sequence, so that only one sleeve can be unlocked and taken out at the same time.

When the bolt needs to be tightened again, the required sleeve b is unlocked according to the use condition, then the working head 11a of the mechanical arm 11 is aligned to the dismounting hole b2 behind the sleeve b, and the bolt is pushed into the dismounting hole b2 while slowly rotating. The side surface of the working head 11a is provided with an elastic pin, the inner side surface of the dismounting hole b2 is provided with a notch, after the elastic pin is matched with the notch, the rotation of the working head 11a is stopped, and the mechanical arm 11 drives the working head 11a to carry the current sleeve b to be separated from the accommodating hole 211 at the box body 21 for operation.

When the sleeve is used back, the mechanical arm 11 drives the working head to align the sleeve a thereon with the corresponding receiving hole 211 on the box body 21. The unlocking pull rod 22 moves until the corresponding avoiding arc groove 22a is unlocked, and a storage path is left. After the sleeves have been pushed along the storage path into the respective receiving openings 211, the unlocking levers 22 are moved until the respective receiving openings 211 are locked again.

Of course, in actual assembly, the mechanical arm 11 may be a power arm directly available in the market, and then the striking base c may be installed at the head end. As shown in fig. 13-14, the mechanical arm 11 is used for positioning the position of the working head, the striking motor d at the working head is used for rotating and screwing the sleeve b, and the elastic pin f at the striking anchor rod e at the head end of the working head is matched with the notch to realize high-altitude dismounting operation relative to the sleeve b, so that the aim of high-altitude bolt tightening can be finally ensured.

Second, the host computer

The shape of the main machine is shown in figures 8-11, which is similar to a four-foot trolley, namely, a vehicle body is formed by two horizontal guide rods 13 and a square plate-shaped base 14, and four groups of walking modules are used for forming four groups of wheels. During operation, four groups of walking modules all include walking wheel 12b, walking board 12e, have the backing plate 12c and the horizontal slip table 12a of eaves mouth 12 d. The traveling wheels 12b are in rolling fit with the i-shaped rails 16 welded on the angle steel main material a in advance, and the matching mode and the assembling mode are common, and are not described herein again. The base plate 12c functions to transitionally engage the traveling plate 12e and the horizontal sliding table 12a, and avoids a series of adverse conditions caused by obstacles such as nails and even bird nests on the traveling path scratching the horizontal sliding table 12a by means of the cornice 12 d.

On the basis of the above structure, the present invention also provides a centering assembly as a core structure. The design purpose of the centering assembly is that when two sets of walking parts 12 generate ascending motion or descending motion along the I-shaped rail 16, the walking parts 12 generate synchronous advancing or separating motion due to the splayed structure of the angle steel main material a shown in fig. 7; obviously, if a rigid member is used at all, the running part 12 will only be directly stuck to the i-rail 16 as shown in fig. 8. Therefore, the utility model designs the normal horizontal sliding table 12a and the horizontal guide rod 13 on one hand, thereby ensuring that the walking part 12 can realize the approaching and separating actions and can realize the ascending and descending actions. On the other hand, the centering means is arranged so that the traveling unit 12 performs the XY-axis synchronous motion described above, and the centering performance of the base 14 on the horizontal guide bar 13 is always ensured, that is, always on the symmetry axis of the two angle steel main members a as shown in fig. 7.

In actual design, as shown in fig. 10 to 12, the centering assembly includes two centering connecting rods 15c arranged in a shape like a Chinese character 'ba', the outer ends of the centering connecting rods 15c are hinged on the two sets of walking modules at the upper layer, and the inner ends of the centering connecting rods 15c are hinged on the vertical sliding blocks 15b at the base 14; at the same time, the vertical slider 15b is rail-fitted at the vertical rail 15a at the back surface of the base 14. At this time, each time the traveling unit 12 performs the above-described XY-axis operation, the centering link 15c is pressed or pulled, and the centering link 15c is further coupled with the sliding movement of the vertical slider 15b with respect to the vertical guide rail 15a, and finally, the base 14 integrated with the vertical guide rail 15a is always kept at the center position of the horizontal guide bar 13. Since the position of the base 14 is constant, the working reference of the robot arm 11 on the base 14 is also clear, and the working reliability and stability of the robot arm 11 are significantly guaranteed.

Of course, it will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof; for example, the outer end of the centering link 15c may be hinged to two sets of walking modules at the lower layer, or the robot 11 may be an inspection robot 11 or a robot 11 having other functions. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.

Claims (10)

1. A cartridge assisted replacement cartridge, comprising: the sleeve barrel comprises a barrel body (21), wherein the barrel body (21) is provided with accommodating holes (211) for accommodating a single sleeve, and the accommodating holes (211) are more than two groups and are sequentially arranged along a given direction; the auxiliary replacing box also comprises an unlocking pull rod (22) parallel to the accommodating hole (211) in the rod length direction and in the radial direction, a guide cavity or a guide rail communicated with the accommodating hole (211) is arranged at the side of the accommodating hole (211) of the box body (21), the unlocking pull rod (22) is positioned in the guide cavity or on the guide rail so as to generate reciprocating motion along the arrangement direction of the accommodating hole (211), and the auxiliary replacing box also comprises a power source (23) used for driving the unlocking pull rod (22) to generate the motion; one side of the unlocking pull rod (22) facing the hole cavity of the accommodating hole (211) is convexly provided with a limiting bulge; the limiting bulge extends into a hole cavity of the accommodating hole (211) and is matched with a spigot which is formed between the preset positioning notches at the sleeve and used for limiting the sleeve to generate an upward motion; when the unlocking pull rod (22) generates reciprocating motion, only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time, so that the sleeve corresponding to the positioning notches is unlocked.

2. A sleeve replacement aid cartridge as defined in claim 1, wherein: the box body (21) is in a rectangular block shape, and the accommodating holes (211) are uniformly distributed along the length direction of the box body (21) in sequence; the unlocking pull rod (22) is in a rectangular rod shape, an intersection is arranged between the rod body of the unlocking pull rod (22) and the hole cavity of the accommodating hole (211), and an avoiding arc groove (22a) for avoiding an ascending path of the sleeve is arranged on the unlocking pull rod (22) corresponding to each sleeve; the limiting protrusions are formed in the area between every two adjacent avoidance arc grooves (22a) along the rod length direction of the unlocking pull rod (22), and the width of each limiting protrusion is sequentially increased or sequentially reduced, so that only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time.

3. A sleeve replacement aid cartridge as defined in claim 2, wherein: the box body (21) comprises a rectangular box-shaped outer shell (21a) and a mounting base plate (21b) arranged in the outer shell (21a), wherein the mounting base plate (21b) is horizontally arranged so as to divide a box cavity of the outer shell (21a) into an upper box cavity and a lower box cavity; a mounting hole penetrates through the box cover of the outer shell (21a), the hole wall of the mounting hole forms a hole wall of the accommodating hole (211), the upper plate surface of the mounting substrate (21b) forms the hole bottom of the accommodating hole (211), and finally, a sunk accommodating hole (211) is formed; an unlocking pull rod (22) extends along the upper box cavity and forms a spigot fit with the corresponding sleeve in each accommodating hole (211).

4. A sleeve replacement aid cartridge as defined in claim 3, wherein: the power source (23) is an electric push rod, the power source (23) is fixed on the lower plate surface of the mounting base plate (21b), and a telescopic shaft of the power source (23) is fixedly connected with the power end of the unlocking pull rod (22) through a connecting block (24).

5. A sleeve replacement aid cartridge as defined in claim 1, wherein: the box body (21) is cylindrical, and the accommodating holes (211) are uniformly distributed along the circumferential direction of the box body (21) in sequence; the unlocking pull rod (22) is in a C-shaped rod shape or a circular rod shape, an intersection is reserved between the rod body of the unlocking pull rod (22) and the hole cavity of the accommodating hole (211), and an avoidance arc groove (22a) for avoiding an ascending path of the sleeve is arranged at the inner rod surface of the unlocking pull rod (22) corresponding to each sleeve; the limiting protrusions are formed in the area between every two adjacent avoidance arc grooves (22a) along the circumferential direction of the unlocking pull rod (22), and the width of each limiting protrusion is sequentially increased or sequentially reduced, so that only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time.

6. A cartridge replacement aid cartridge as recited in claim 5, wherein: the power source (23) is a rotary motor or a swing arm motor; or the unlocking pull rod (22) is provided with a rack so as to form meshing fit with a driving gear at the position of the rotary motor, or an output shaft of the rotary motor is integrally and coaxially fixed on the unlocking pull rod (22), or a swing rod of the swing arm motor forms hinged fit with a power end of the unlocking pull rod (22).

7. A cartridge assisted replacement cartridge according to claim 1 or 2 or 3 or 4 or 5 or 6, wherein: the unlocking pull rod (22) is provided with sensing points (22b), the number of the sensing points (22b) corresponds to that of the sleeves, and the distance between the sensing points (22b) is equal to the distance between adjacent sleeves; a photoelectric switch (25) for monitoring the position of the sensing point (22b) is arranged at the box body (21), and the sensing surface of the photoelectric switch (25) is positioned on the action path of the sensing point (22 b).

8. An inspection robot using the cartridge-assisted replacement cartridge of claim 2, 3, 4, 5 or 6, wherein: the bolt re-tightening device comprises a host and a bolt re-tightening device arranged on the host, wherein the bolt re-tightening device comprises a mechanical arm (11) which is fixed on the host and is provided with a working head (11a) and a sleeve auxiliary replacement box which is convenient for the working head (11a) at the mechanical arm (11) to realize sleeve replacement operation; the working head (11a) comprises a striking seat fixed on the mechanical arm (11) and a striking anchor rod which is arranged at the head end of the striking seat and used for inserting and fixing a sleeve, the shape outline of the head end of the striking anchor rod is matched with the shape outline of a mounting and dismounting hole preset at the sleeve, the head end of the striking anchor rod is in a square prism shape matched with the shape of the mounting and dismounting hole, a positioning pin hole is concavely arranged at the side wall of the head end, an elastic pin capable of generating elastic telescopic action along the radial direction of the striking anchor rod is arranged in the positioning pin hole, so that elastic clamping fit is formed between the elastic pin hole and a notch at the hole wall of the mounting and dismounting hole, and a striking motor is arranged in the striking seat so as to drive the striking anchor rod to generate rotary action around the axis of the sleeve; the main machine also comprises two sets of walking parts (12) which can move along the length direction of the angle steel main materials, and the walking parts (12) are respectively matched on two adjacent angle steel main materials; horizontal sliding tables (12a) are arranged on the two sets of walking parts (12), mechanical arms (11) are arranged on the front face of a base (14) positioned between the two sets of walking parts (12), the base (14) extends to the horizontal sliding tables (12a) on the two sides to extend out of horizontal guide rods (13), and sliding guide fit with the horizontal direction as the guide direction is formed between the horizontal guide rods (13) and the horizontal sliding tables (12 a); the maintenance robot also comprises a centering assembly for centering the position of the base (14), wherein the centering assembly comprises a vertical guide rail (15a) arranged on the back surface of the base (14), and a vertical sliding block (15b) is matched on the upper rail of the vertical guide rail (15 a); two ends of the centering connecting rod (15c) are respectively hinged on the vertical sliding block (15b) and the walking part (12), and the axis of the hinged part is vertical to the advancing direction of the vertical sliding block (15 b); an included angle is formed between the two groups of centering connecting rods (15c) positioned at two sides of the base (14), and the angle end of the included angle points to the advancing direction of the vertical sliding block (15 b).

9. A service robot as recited in claim 8, wherein: a set of walking part (12) on each angle steel main material consists of two groups of walking modules which are sequentially arranged along the length direction of the angle steel main material; the walking modules positioned on the upper layer on the two sets of walking parts (12) are arranged at the same height, and the walking modules positioned on the lower layer on the two sets of walking parts (12) are arranged at the same height; the two horizontal guide rods (13) are respectively matched at the horizontal sliding tables (12a) on the two groups of upper-layer walking modules and the horizontal sliding tables (12a) on the two groups of lower-layer walking modules; the base (14) is fixed at the middle rod body of the horizontal guide rod (13) and bridges the two horizontal guide rods (13); the arrangement position of the vertical guide rail (15a) and the arrangement position of the horizontal guide rod (13) are mutually spatially avoided; two sets of centering links (15c) are arranged at both sides of the vertical guide rail (15a) in plane symmetry.

10. A service robot as recited in claim 9, wherein: an I-shaped rail (16) is arranged on the angle steel main material along the length direction of the angle steel main material, the walking module comprises a walking plate (12e) and a walking wheel (12b) which is in rotary fit with the walking plate (12e), and the walking wheel (12b) and the I-shaped rail (16) form rolling fit; the traveling wheels (12b) are driven by an external driving source for driving wheels or traveling modules, so that traveling actions along the I-shaped rails (16) are generated.

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