A preparation robot and its end tool

Abstract

A maintenance robot and its end tool, wherein the end tool includes an adapter and a cleaning device, the adapter is used to connect to the robot body of the maintenance robot, the cleaning device is installed on the adapter, the cleaning device includes a support arm, one end of the support arm is hinged, and the other end is provided with a cleaning component; and also includes an elastic reset member, the elastic reset member acts on the support arm, and is used to reset the support arm. With the above structure, the cleaning component of the support arm can clean the insulator, and the support arm is hinged, and can be adaptively rotated according to the shape of the insulator, so that the insulator can be conveniently cleaned; at the same time, the elastic reset member can generate a restoring force on the support arm after cleaning, and the support arm can be rotated to the original position, which can facilitate the control of the end tool; compared with the prior art, the structure of the end tool can be greatly simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a servicing robot and an end tool thereof. Background Art

[0002] In locomotive maintenance workshops, the use of robotic operations has become a current development trend in order to improve the degree of automation, operating efficiency, safety factor of maintenance operations and reduce manual labor intensity.

[0003] The maintenance robot for the locomotive roof includes a robot body, a controller and an end tool installed on the robot body, wherein the robot body drives the maintenance robot to move and adjust the posture of the end tool through the controller, and the end tool can detect the pantograph on the locomotive roof, clean the insulator, etc. However, the structure of the end tool of the current maintenance robot is relatively complex.

[0004] Therefore, how to provide a solution to overcome the above-mentioned defects is still a technical problem to be solved urgently by those skilled in the art. Summary of the invention

[0005] An object of the present invention is to provide a servicing robot and an end tool thereof, wherein the structure of the end tool is relatively simple.

[0006] In order to solve the above technical problems, the present invention provides an end tool of a maintenance robot, including an adapter and a cleaning device, wherein the adapter is used to be connected to the robot body of the maintenance robot, and the cleaning device is installed on the adapter. The cleaning device includes a support arm, one end of the support arm is hinged, and the other end is provided with a cleaning component; and the elastic reset member also includes a support arm, and the elastic reset member acts on the support arm to reset the support arm.

[0007] With the above structure, the cleaning component of the support arm can clean the insulator to eliminate dust, stains, etc. on the insulator. Moreover, the support arm is hinged. When in use, the support arm can adaptively rotate according to the shape of the insulator, so that the insulator can be cleaned more conveniently. At the same time, the elastic reset part can act on the support arm to generate a restoring force on the adaptively rotating support arm after cleaning is completed, so that the support arm can rotate back to its original position. In this way, in the absence of external force, the position of the support arm relative to the adapter can remain unchanged, which can facilitate the control of the end tool.

[0008] Compared with the prior art solution of controlling the movement of the support arm through complex structures such as opening and closing motors and screw rods, the embodiment of the present invention does not require power components in the form of opening and closing motors, and can achieve adaptive rotation and resetting of the support arm only through the solution of hinge + elastic reset part, so that the structure of the end tool can be greatly simplified.

[0009] Optionally, the cleaning device also includes a fixing part, which is connected to the adapter part, and both ends of the elastic return member are respectively connected to the support arm and the fixing part; there are two support arms, the two support arms are arranged opposite to each other, and both support arms are hinged to the fixing part.

[0010] Optionally, a limiting component is further included, wherein the limiting component abuts against two adjacent wall surfaces of the two support arms to limit the inward rotation of the support arms.

[0011] Optionally, a diverter is further included, wherein the input port of the diverter is connected to the cleaning liquid storage tank, and the output port guides the cleaning liquid to the cleaning component through a delivery pipe.

[0012] Optionally, the cleaning component and the delivery pipe are provided on both upper and lower sides of the support arm, and a nozzle is provided at the liquid outlet of the delivery pipe, and the nozzle is fixedly mounted on the support arm.

[0013] Optionally, the diverter is mounted on the fixing portion, and two ends of the diverter are respectively abutted against two wall surfaces adjacent to the two support arms, so as to limit the inward rotation of the support arms.

[0014] Optionally, a detection device is further included, and in the extension direction of the support arm, the detection device and the cleaning device are respectively located on both sides of the adapter; the detection device includes a damage assessment module, and the damage assessment module includes a camera assembly for capturing images of the pantograph carbon slider; and / or the detection device also includes a thickness detection module for detecting the thickness of the pantograph carbon slider.

[0015] Optionally, the detection device also includes an installation box, and the damage assessment module and / or the thickness detection module is installed on the installation box; the adapter portion is columnar, the installation box is fixed to the adapter portion, and the detection direction of the detection device is at an angle less than 90 degrees to the axial direction of the adapter portion, and the extension direction of the support arm is perpendicular to the axial direction of the adapter portion.

[0016] Optionally, the adapter portion includes a connected square tube segment and a U-shaped tube segment, an adapter flange is provided at one end of the square tube segment away from the U-shaped tube segment, the adapter flange is used to be connected to the robot body, and the mounting box is installed on the tube wall of the square tube segment; the opening direction of the U-shaped tube segment is the same as the installation direction of the detection device relative to the adapter portion, and in the extension direction of the support arm, the size of the U-shaped tube segment is smaller than the square tube segment, and the cleaning device includes a fixing portion, the support arm is hinged to the fixing portion, and the fixing portion is installed on two side tube walls of the U-shaped tube segment.

[0017] Optionally, positioning pins are provided between the damage assessment module, the thickness detection module and the installation box, and between the installation box and the adapter; the cleaning device also includes a driving motor, the cleaning component is a brush, the brush is installed on the support arm through a rotating shaft, and the driving motor is transmission-connected to the rotating shaft.

[0018] Optionally, the adapter part is provided with an adapter flange for connecting to the robot body, and the adapter flange is provided with an alignment mark for determining the installation angle of the adapter part relative to the robot body.

[0019] Optionally, the installation positions of the cleaning device and the detection device on the adapter portion are adjustable.

[0020] The present invention further provides a servicing robot, comprising a robot body and an end tool, wherein the end tool is mounted on the robot body, and the end tool is the end tool of the servicing robot described above.

[0021] Since the end tool of the above-mentioned preparation robot already has the above-mentioned technical effects, the preparation robot having the end tool should also have similar technical effects, so it will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic structural diagram of a specific implementation of the end tool of the servicing robot provided by the present invention;

[0023] Figure 2 for Figure 1 Side view of

[0024] Figure 3 for Figure 1 A top view of

[0025] Figure 4 for Figure 1 Bottom view of

[0026] Figure 5 for Figure 1 Connection structure diagram of the intermediate connection part and the detection device.

[0027] Figure 1-5 The reference numerals in the figures are described as follows:

[0028] 1 adapter, 11 square pipe section, 111 first mounting plate, 111a first mounting hole, 12 U-shaped pipe section, 13 adapter flange, 131 flange hole, 132 alignment mark, 14 rib plate;

[0029] 2 cleaning device, 21 support arm, 211 cleaning component, 22 elastic reset member, 23 fixing part, 24 diverter, 241 delivery pipe, 242 nozzle, 25 driving motor;

[0030] 3 detection device, 31 damage assessment module, 311 industrial camera, 312 laser, 32 thickness detection module, 33 mounting box, 331 second mounting plate, 331a second mounting hole, 34 positioning pin. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] Please refer to Figure 1-5 , Figure 1 This is a schematic structural diagram of a specific implementation of the end tool of the servicing robot provided by the present invention. Figure 2 for Figure 1 Side view of Figure 3 for Figure 1 A top view of Figure 4 for Figure 1 Bottom view of Figure 5 for Figure 1 Connection structure diagram of the intermediate connection part and the detection device.

[0033] like Figure 1-4 As shown, the present invention provides an end tool of a maintenance robot, including an adapter 1 and a cleaning device 2, wherein the adapter 1 is used to be connected to a robot body (not shown in the figure) of the maintenance robot, and the structure, function, etc. of the robot body are not limited in the embodiments of the present invention. Specifically, reference may be made to the prior art. The cleaning device 2 is installed on the adapter 1, and the cleaning device 2 includes a support arm 21, one end of the support arm 21 is hinged, and the other end is provided with a cleaning component 211; it also includes an elastic reset member 22, and the elastic reset member 22 acts on the support arm 21 to reset the support arm 21.

[0034] With the above structure, the cleaning component 211 of the support arm 21 can clean the insulator to remove dust, stains, etc. on the insulator. Moreover, the support arm 21 is hinged. When in use, the support arm 21 can adaptively rotate according to the shape of the insulator, so that the insulator can be cleaned more conveniently. At the same time, the elastic reset member 22 can act on the support arm 21 to generate a restoring force on the adaptively rotating support arm 21 after cleaning is completed, so that the support arm 21 can rotate back to its original position. In this way, in the absence of external force, the position of the support arm 21 relative to the adapter 1 can remain unchanged, which can facilitate the manipulation of the end tool.

[0035] Compared with the prior art solution of controlling the movement of the support arm 21 through complex structures such as opening and closing motors and screw rods, the embodiment of the present invention does not require power components in the form of opening and closing motors, and can achieve adaptive rotation and resetting of the support arm 21 only through the solution of hinge + elastic reset member 22, so that the structure of the end tool can be greatly simplified.

[0036] In a specific solution, the cleaning device 2 may further include a fixing portion 23, which may be in the shape of a plate and connected to the adapter portion 1. The two ends of the elastic return member 22 may be respectively connected to the support arm 21 and the fixing portion 23 (or the adapter portion 1). The elastic return member 22 may be a spring, such as a tension spring, a compression spring, a torsion spring, etc., or other forms of elastic elements such as elastic ropes may be used. This is actually related to the installation position of the elastic return member 22 and the stress state during use.

[0037] Taking the scheme in the accompanying drawings as an example, the number of support arms 21 can be set to two, the two support arms 21 can be arranged opposite to each other, and the two support arms 21 can be hinged to the fixing portion 23. At this time, the insulator can be cleaned between the two support arms 21. Under the thrust given by the outer wall of the insulator, the two support arms 21 have a tendency to rotate outward. Based on this situation, the above-mentioned elastic reset member 22 can be set as an elastic element that damps the outward rotation of the support arm 21.

[0038] Here, the definitions of "inside" and "outside" can be referred to Figure 3 ,exist Figure 3 In the embodiment, the space between the two support arms 21 is the inner space relative to the two support arms 21. Thus, the outer rotation of the two support arms 21 refers to Figure 3 The upper middle support arm 21 rotates clockwise and the lower support arm 21 rotates counterclockwise, and two elastic return members 22 can be arranged on the outer sides of the corresponding support arms 21. At this time, the two elastic return members 22 can be compression springs, specifically gas springs.

[0039] Understandably, Figure 3In the embodiment, the elastic reset member 22 can also be arranged on the inner side of the corresponding support arm 21. In this case, the elastic reset member 22 needs to be able to provide tension, and the elastic reset member 22 can be a tension spring. Of course, whether the elastic reset member 22 is arranged on the inner side or the outer side of the support arm 21, a torsion spring solution can be adopted.

[0040] Furthermore, a limiting component may be included, which may be a limiting baffle, a limiting block, etc., which can be offset against two adjacent wall surfaces of the two support arms 21 (i.e., the inner wall surfaces of the support arms 21) to limit the inward rotation of the support arms 21. The limiting component cooperates with the aforementioned elastic reset member 22 to better determine the position of the support arm 21.

[0041] Here, the embodiment of the present invention does not limit the number of limiting components, which can be one or two. When there is one, this limiting component should be able to limit the positions of the two support arms 21 at the same time. When there are two, the two limiting components should respectively cooperate with the two support arms 21 to limit the two support arms 21 respectively.

[0042] When the cleaning component 211 cleans the outer wall of the insulator, it can also be used with a certain cleaning liquid. In this case, a cleaning liquid delivery device is also required. In the embodiment of the present invention, it can be a diverter 24. The input port of the diverter 24 can be connected to a cleaning liquid storage tank (not shown in the figure). The cleaning liquid storage tank can be installed on the maintenance robot or placed on the ground. This can be determined according to actual conditions. The output port of the diverter 24 can lead the cleaning liquid to the cleaning component 211 through the delivery pipe 241. Under the action of the cleaning liquid, the cleaning component 211 has a better cleaning effect on the insulator.

[0043] Here, the embodiment of the present invention does not limit the type of cleaning liquid, which can be ordinary tap water or a cleaning liquid selected for insulator cleaning, and can be determined according to actual needs. In addition, a delivery pump can be provided in the delivery pipeline of the cleaning liquid to provide power for the delivery of the cleaning liquid, and the type and installation position of the delivery pump are also not limited, as long as the effect of delivering the cleaning liquid can be achieved.

[0044] In specific implementation, one cleaning component 211 can be equipped with one delivery pipe 241, so that each cleaning component 211 can clean the insulator under the action of the cleaning liquid, and the cleaning effect will be better. Figure 2In the embodiment, cleaning components 211 can be provided on both the upper and lower sides of the support arm 21, so that the insulator can be cleaned more comprehensively. Accordingly, delivery pipes 241 can be provided on both the upper and lower sides of the support arm 21 to respectively provide cleaning liquid to the cleaning components 211 on the upper and lower sides; a nozzle 242 can also be provided at the liquid outlet of the delivery pipe 241, and the spraying speed and spraying range of the cleaning liquid can be improved through the action of the nozzle 242, and the nozzle 242 can be fixedly connected to the support arm 21 to fix the spraying direction of the cleaning liquid of the nozzle 242. The structure of the nozzle 242 is not limited here, and the prior art can be referred to for details.

[0045] The above-mentioned diverter 24 can be installed on the fixed part 23, and the two ends of the diverter 24 can respectively abut against the two wall surfaces adjacent to the two support arms 21 to limit the inward rotation of the support arms 21. That is to say, the diverter 24 can also play the role of the aforementioned limiting component. In this way, there is no need to set a special limiting component. Moreover, the above-mentioned diverter 24 is a component that limits the two support arms 21 at the same time, which can reduce the number of parts and components, and has a positive effect on the structural simplification of the end tool of the maintenance robot.

[0046] Still Figure 1 , Figure 2 As shown, the cleaning device 2 can also include a driving motor 25, which can be installed on the support arm 21. The cleaning component 211 can specifically be a brush, etc. The brush can be installed on the support arm 21 through a rotating shaft (not shown in the figure). The driving motor 25 and the rotating shaft can be connected in transmission, specifically through a transmission component in the form of a conveyor belt or a conveyor chain (not shown in the figure), and the transmission component can be hidden in the support arm 21; the brush and the rotating shaft can be detachably connected, such as with a retaining spring or a retaining ring, so that the brush can be easily disassembled and assembled so that it can be replaced in time when the brush is damaged.

[0047] Furthermore, a detection device 3 may be included. The detection device 3, as another functional component of the end tool, may be used to detect the pantograph. In the extension direction of the support arm 21, the detection device 3 and the cleaning device 2 may be respectively located on both sides of the adapter 1. In this way, mutual interference between the two during use may be avoided.

[0048] Specifically, the detection device 3 may include a damage assessment module 31, which may include a camera assembly. Figure 4 The camera assembly may specifically include an industrial camera 311, a laser 312, and a camera light source, etc., which are used to collect images of the pantograph carbon slider to analyze and determine the cracks and defects of the carbon slider. The above analysis and judgment process is performed by a controller, which can be set on the detection device 3 or on the robot body; Figure 4In the embodiment, the industrial camera 311 is installed below the laser 312. In fact, during installation, the installation direction of the damage assessment module 31 can also be adjusted. At this time, the industrial camera 311 can be located above the laser 312 to meet the detection requirements of the detection device 3 in different situations. And / or, the detection device 3 can also include a thickness detection module 32, which can specifically include a thickness detection component such as a line scan camera, which is used to detect the thickness of the pantograph carbon slider.

[0049] In addition to damage assessment and thickness measurement, the above-mentioned detection device 3 can also realize the accurate positioning of the pantograph on the roof and the X, Y, and Z coordinates relative to the robot base coordinates, so as to accurately realize the planning of the robot cleaning and detection path.

[0050] The detection device 3 may further include an installation box 33. The damage assessment module 31 and the thickness detection module 32 may be installed in the installation box 33 and connected to the adapter 1 through the installation box 33. Figure 2 The adapter 1 can be specifically columnar, and the cleaning device 2 and the detection device 3 can be located on the left and right sides of the adapter 1 respectively, wherein the detection direction of the detection device 3 can be at an angle less than 90 degrees with the axial direction of the adapter 1, and the extension direction of the support arm 21 can be perpendicular to the axial direction of the adapter 1.

[0051] In this way, the mounting box 33 can be fixed at an angle. When the detection component 3 is used to detect the carbon slide bar of the pantograph, that is, when the detection direction is adjusted to the vertical direction to face the carbon slide bar of the pantograph, it is necessary to Figure 2 The end tool in the cleaning device is rotated clockwise. At this time, the cleaning device 2 as a whole can be kept in an upward tilted posture, so that interference between the cleaning device 2 and the pantograph can be prevented to a greater extent.

[0052] An adapter flange 13 may be provided at one end of the adapter part 1. The adapter flange 13 may be provided with a plurality of flange holes 131 for connecting with the robot body.

[0053] Furthermore, the adapter flange 13 may also be provided with an alignment mark 132, which may specifically be a color mark, a symbol mark or a shape mark, among which the color mark may be a more eye-catching color such as red or white, the symbol mark may be a symbol such as a fork or a five-pointed star, and the shape mark may be a special shape structure such as a line or a countersink, and the alignment mark 132 may be provided on the upper surface of the adapter flange 13 or on the side of the adapter flange 13. In the embodiment of the accompanying drawings, the alignment mark 132 may be a countersink provided on the upper surface of the adapter flange 13, and a mark may also be provided on the connecting flange on the robot body side. During installation, the countersink on the adapter flange 13 may be aligned with the mark of the connecting flange, so that the installation angle of the end tool provided by the present invention relative to the robot body may be determined.

[0054] The adapter 1 may include a connected square tube section 11 and a U-shaped tube section 12, the adapter flange 13 is installed at one end of the square tube section 11 away from the U-shaped tube section 12, and the mounting box 33 may be installed on the tube wall of the square tube section 11. Specifically, the tube wall of the square tube 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 through the second mounting plate 331.

[0055] The opening direction of the U-shaped pipe section 12 and the installation direction of the detection device 3 relative to the adapter 1 can be the same, and the size of the U-shaped pipe section 12 in the extension direction of the support arm 21 is smaller than the square pipe section 11. The fixing part 23 of the cleaning device 2 can be installed on the two side walls of the U-shaped pipe section 12 (i.e., the U-shaped opening), such as Figure 2 As shown, with this arrangement, the fixing portion 23 and the installation box 33 are actually located on the same side of the adapter portion 1, but due to the stepped arrangement of the U-shaped tube segment 12 and the square tube segment 11 in the extension direction of the support arm 21, the fixing portion 23 and the installation box 33 do not interfere with each other during installation. At the same time, the compactness of the equipment can be improved, and the size of the entire end tool in the extension direction of the support arm 21 can be reduced for easy manipulation.

[0056] The above-mentioned U-shaped pipe section 12 and square pipe section 11 can be an integral structure or a split structure. When it is an integral structure, the U-shaped pipe section 12 is actually equivalent to being cut from the square pipe section 11. At this time, the strength of the cut of the square pipe section 11 is relatively weak, and an L-shaped rib plate 14 can be provided to reinforce its strength.

[0057] Combination Figure 5During the specific installation, positioning pins 34 can be provided between the damage assessment module 31, the thickness detection module 32 and the installation box 33, and between the installation box 33 and the adapter 1, so as to first position them by the positioning pins 34, and then connect them by connecting parts in the form of screws. Such a setting, on the one hand, can avoid the problem of unreliable connection caused by the existence of thread gap when only screw connection is used; on the other hand, positioning by the positioning pins 34 first can also make the threaded holes on the two mounting plates better aligned, so as to facilitate the subsequent connection and fixation of the connecting parts.

[0058] Moreover, the installation positions of the cleaning device 2 and the detection device 3 relative to the adapter 1 can be adjusted, so that the planning of the cleaning and detection paths can be facilitated. Figure 5 Taking the installation of the detection device 3 and the adapter 1 as an example, the first mounting plate 111 can be provided with a plurality of first mounting holes 111a. By adjusting the second mounting holes 331a of the second mounting plate 331 to correspond to different first mounting holes 111a, the installation position of the detection device 3 can be changed.

[0059] In addition, in the embodiment of the present invention, the cleaning device 2, the detection device 3 and the adapter 1 all exist as independent modules. During assembly, the components can be assembled separately to form the above-mentioned modules, and then the modules can be assembled. This modular design simplifies the disassembly, assembly and debugging of the end tool.

[0060] The present invention also provides a maintenance robot, including a robot body (not shown in the figure) and an end tool, wherein the structure and function of the robot body can refer to the existing technology and will not be described in detail here. The end tool is installed on the robot body, and the end tool is the end tool of the maintenance robot involved in the above-mentioned embodiments.

[0061] Since the end tool of the above-mentioned preparation robot already has the above-mentioned technical effects, the preparation robot having the end tool should also have similar technical effects, so it will not be elaborated here.

[0062] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An end tool of a maintenance robot, characterized in that: The invention comprises a transfer part (1) and a cleaning device (2), wherein the transfer part (1) is used to be connected to a robot body of the servicing robot, and the cleaning device (2) is installed on the transfer part (1). The cleaning device (2) comprises a support arm (21), one end of the support arm (21) is hingedly arranged, and the other end is provided with a cleaning component (211), and the support arm (21) is configured to be able to rotate adaptively according to the shape of the insulator; It also includes an elastic reset member (22), wherein the elastic reset member (22) acts on the support arm (21) to reset the support arm (21); The cleaning device (2) further comprises a fixing portion (23), the fixing portion (23) being connected to the adapter portion (1), and the two ends of the elastic reset member (22) being respectively connected to the support arm (21) and the fixing portion (23); the number of the support arms (21) is two, the two support arms (21) are arranged opposite to each other, and the two support arms (21) are both hinged to the fixing portion (23); It also comprises a flow divider (24), the input port of the flow divider (24) is connected to the cleaning liquid storage tank, and the output port leads the cleaning liquid to the cleaning component (211) through a delivery pipe (241), the flow divider (24) is installed on the fixing part (23), and the two ends of the flow divider (24) are respectively against the two adjacent wall surfaces of the two support arms (21), so as to limit the inward rotation of the support arms (21); The invention also comprises a detection device (3), wherein in the extension direction of the support arm (21), the detection device (3) and the cleaning device (2) are respectively located on both sides of the adapter part (1); the detection device (3) also comprises a mounting box (33), the adapter part (1) comprises a square tube section (11) and a U-shaped tube section (12) connected to each other, the mounting box (33) is mounted on the tube wall of the square tube section (11), the opening direction of the U-shaped tube section (12) is the same as the mounting direction of the detection device (3) relative to the adapter part (1), and in the extension direction of the support arm (21), the size of the U-shaped tube section (12) is smaller than that of the square tube section (11), and the cleaning device (2) comprises a fixing part (23), the support arm (21) is hinged to the fixing part (23), and the fixing part (23) is mounted on two side tube walls of the U-shaped tube section (12).

2. The end tool of the maintenance robot according to claim 1, characterized in that: The cleaning component (211) and the delivery pipe (241) are provided on both upper and lower sides of the support arm (21), and a nozzle (242) is provided at the liquid outlet of the delivery pipe (241), and the nozzle (242) is fixedly mounted on the support arm (21).

3. The end tool of the servicing robot according to claim 1 or 2, characterized in that: The detection device (3) comprises a damage assessment module (31), wherein the damage assessment module (31) comprises a camera assembly for capturing images of the pantograph carbon slider; and / or the detection device (3) further comprises a thickness detection module (32) for detecting the thickness of the pantograph carbon slider.

4. The end tool of the maintenance robot according to claim 3, characterized in that: The damage assessment module (31) and / or the thickness detection module (32) are installed in the installation box (33); The adapter part (1) is columnar, the mounting box (33) is fixed to the adapter part (1), the detection direction of the detection device (3) forms an angle less than 90 degrees with the axial direction of the adapter part (1), and the extension direction of the support arm (21) is perpendicular to the axial direction of the adapter part (1).

5. The end tool of the maintenance robot according to claim 4, characterized in that: An adapter flange (13) is provided at one end of the square tube section (11) away from the U-shaped tube section (12), and the adapter flange (13) is used to be connected to the robot body.

6. The end tool of the maintenance robot according to claim 4, characterized in that: Positioning pins (34) are provided between the damage assessment module (31), the thickness detection module (32) and the installation box (33), and between the installation box (33) and the adapter (1); The cleaning device (2) further comprises a driving motor (25); the cleaning component (211) is a brush; the brush is mounted on the support arm (21) via a rotating shaft; and the driving motor (25) is in driving connection with the rotating shaft.

7. The end tool of the maintenance robot according to claim 3, characterized in that: The adapter part (1) is provided with an adapter flange (13) for connecting to the robot body, and the adapter flange (13) is provided with an alignment mark (132) for determining the installation angle of the adapter part (1) relative to the robot body.

8. The end tool of the maintenance robot according to claim 3, characterized in that: The installation positions of the cleaning device (2) and the detection device (3) on the adapter (1) are adjustable.

9. A servicing robot, comprising a robot body and an end tool, wherein the end tool is mounted on the robot body, wherein: The end tool is the end tool of the servicing robot according to any one of claims 1 to 8.

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