Screw cap pulling tool for hot-line work robot and using method

Abstract

The invention discloses a screw cap pulling tool for a hot-line work robot and a using method, and belongs to the technical field of dismounting tools. The screw cap pulling tool comprises a main rod, a lower circular chuck, an upper circular chuck, a plurality of upper connecting rods and a plurality of lower connecting rods; the upper circular chuck is fixedly mounted at the top end of the main rod; the lower circular chuck sleeves the main rod in a sliding manner and is positioned below the upper circular chuck; a through hole is formed in the middle of the upper connecting rod; one end of the lower connecting rod is rotationally connected with the middle through hole of the upper connecting rod, and the other end is rotationally connected with the lower circular chuck; the ratio of the length of the upper connecting rod to the length of the main rod is 1: (3-8); the main rod, the upper connecting rod and the lower connecting rod are all straight rods. Six groups of upper connecting rods and lower connecting rods are arranged, so that six force application points can apply force to the torque screw cap clamped in the hexagonal sleeve at the same time, and the torque screw cap is easier to separate.

Description

Technical Field

[0001] The invention belongs to the technical field of disassembly tools, and in particular relates to a nut extraction tool for a live working robot and a use method thereof. Background Art

[0002] The screws on the wire clamps that connect the running wires and the lead wires during the current live-line connection operation of the live-line robot are torque screws. After the connection of one phase is completed, the torque screw breaks, and the hexagonal torque nut of the torque screw is stuck in the hexagonal sleeve and cannot fall off automatically. The prerequisite for live connection of each phase is that there is no hexagonal torque nut in the hexagonal sleeve. The live-line robot cannot clear the hexagonal torque nut in the hexagonal sleeve to connect the next phase, and the next phase of live connection is hindered. Therefore, designing and making a nut extraction tool for the live-line robot has become an indispensable part of the robot's live-line operation.

[0003] In the existing technology, when faced with a hexagonal torque nut stuck in a hexagonal socket, the general measure taken is to suspend the operation process, remove the hexagonal socket, replace it with a new hexagonal socket, install the new hexagonal socket, and then reposition the next phase of live sparking operation, which makes the entire live sparking operation process cumbersome and inefficient. Summary of the invention

[0004] In view of the above problems, the present invention discloses a nut extraction tool for a live working robot, comprising: a main rod, a lower circular chuck, an upper circular chuck, a plurality of upper connecting rods and a plurality of lower connecting rods;

[0005] The upper circular chuck is fixedly mounted on the top of the main rod;

[0006] The lower circular chuck is slidably sleeved on the main rod and is located below the upper circular chuck;

[0007] One end of the upper connecting rod is rotatably connected to the upper circular chuck, and a through hole is provided in the middle;

[0008] One end of the lower connecting rod is rotatably connected to the through hole in the middle of the upper connecting rod, and the other end is rotatably connected to the lower circular chuck;

[0009] The ratio of the length of the upper connecting rod to the length of the main rod is 1:3-8;

[0010] The main rod, the upper connecting rod and the lower connecting rod are all straight rods.

[0011] Furthermore, it also includes: a positioning ring;

[0012] The positioning ring is sleeved on the main rod and is located below the lower circular chuck;

[0013] The positioning ring is used to limit the position of the lower circular chuck.

[0014] Furthermore, it also includes: a screw;

[0015] The upper circular chuck is rotatably connected to the upper connecting rod via a screw;

[0016] The upper connecting rod is rotatably connected to the lower connecting rod via a screw rod;

[0017] The lower connecting rod is rotatably connected to the lower circular chuck via a screw rod.

[0018] Furthermore, a plurality of positioning holes are formed on the main rod, and the positioning holes are located below the upper circular chuck.

[0019] Furthermore, it also includes: a positioning rod;

[0020] The positioning rod is arranged in any positioning hole to limit the position of the lower circular chuck;

[0021] The positioning rod is cylindrical.

[0022] Furthermore, the main rod is also provided with anti-slip threads;

[0023] The material of the anti-slip thread is epoxy resin, rubber or nylon;

[0024] A circular ring is fixedly mounted on the bottom of the main rod;

[0025] The length of the main rod ranges from 20 to 30 cm.

[0026] Furthermore, the upper circular chuck comprises a cylinder, a tube and a mounting member;

[0027] The diameter of the cylinder is larger than the outer diameter of the tube; the diameter of the cylinder is smaller than the inner diameter of the screw cap;

[0028] The cylinder is fixedly installed above the tube, and a plurality of mounting grooves are provided on the side wall of the cylinder along the circumferential direction. Mounting pieces are respectively provided on both sides of the top of the mounting grooves, and through holes are provided on the mounting pieces.

[0029] The tube of the upper circular chuck is fixedly mounted on the main rod;

[0030] One end of the plurality of upper connecting rods is rotatably connected to the mounting pieces on both sides of the mounting groove.

[0031] Furthermore, the lower circular chuck includes a first circular tube, a second circular tube and a mounting member;

[0032] The inner diameters of the first round tube and the second round tube are equal, the outer diameter of the first round tube is larger than the outer diameter of the second round tube; the outer diameter of the first round tube is smaller than the inner diameter of the screw cap;

[0033] The bottom of the first circular tube is fixedly connected to the second circular tube, a plurality of mounting grooves are provided on the side wall of the first circular tube along the circumferential direction, mounting pieces are provided on both sides of the top of the mounting grooves, and through holes are provided on the mounting pieces;

[0034] One end of the plurality of lower connecting rods is rotatably connected to the lower circular chuck through mounting pieces on both sides of the mounting groove;

[0035] The diameter of the upper circular chuck cylinder is equal to the outer diameter of the first circular tube of the lower circular chuck.

[0036] Furthermore, the number of the mounting grooves of the upper circular chuck and the mounting grooves of the lower circular chuck are the same and correspond one to one.

[0037] Furthermore, the angle between the upper connecting rod and the lower connecting rod is less than 180°.

[0038] Furthermore, the angle between the upper connecting rod and the lower connecting rod is a;

[0039] Among them, 150°≤a≤175°.

[0040] Furthermore, one end of the lower connecting rod is provided with a U-shaped groove, and the end of the U-shaped groove is provided with a through hole;

[0041] The U-shaped groove of the lower connecting rod is rotatably connected to the upper connecting rod;

[0042] When the nut extraction tool is in a retracted state, the U-shaped groove is used to receive the upper connecting rod.

[0043] Furthermore, the main rod, the upper connecting rod and the lower connecting rod are made of epoxy resin or nylon.

[0044] Furthermore, the positioning ring has a plurality of adjustment gears.

[0045] Furthermore, the main rod is a hollow tube, and a long strip through slot is opened on the side wall, and the long strip through slot is located between the positioning hole and the positioning ring; a motor is arranged at the bottom of the main rod, and a rack is arranged inside;

[0046] The lower circular chuck is fixedly connected to one end of the rack, and the other end of the rack is connected to the gear on the motor.

[0047] The present invention also discloses a method for using the above-mentioned nut extraction tool for a live working robot, comprising the following steps:

[0048] Adjust the nut extraction tool for the live working robot to the retracted state, and insert it into the sleeve along the circular entrance of the stuck torque nut;

[0049] Push the lower circular chuck along the main rod toward the positioning rod until the lower connecting rod is in an open position, so that the ends of the multiple upper connecting rods are in contact with the hexagonal torque nuts;

[0050] Hold the main rod and pull the nut extraction tool for the live working robot outward along the axis direction to remove the torque nut from the sleeve;

[0051] Adjust the nut extraction tool for the live working robot to the retracted state, so that the torque nut is separated from the nut extraction tool for the live working robot, complete the live sparking operation of one phase, and proceed to the live sparking operation of the next phase.

[0052] Compared with the prior art, the embodiments of the present invention have at least the following advantages:

[0053] 1) The present invention is provided with six groups of upper connecting rods and lower connecting rods, so that six force application points can simultaneously apply force to the torque nut stuck in the hexagonal sleeve, making it easier for the torque nut to be disengaged. Compared with applying force to the torque nut at a single point, it is more conducive to the separation between the torque nut and the sleeve, and the efficiency of extracting the nut is improved;

[0054] 2) The positioning ring on the main rod limits the moving distance range of the lower circular chuck on the main rod, avoiding the upper connecting rod and the lower connecting rod from forming the same straight line when the thrust is applied to the lower circular chuck, resulting in the appearance of a dead point of force;

[0055] 3) There is an anti-slip thread in the middle of the main rod. The safety regulations for live working stipulate that live workers cannot remove their gloves while working in the bucket with insulating gloves. The anti-slip thread will prevent the main rod and the insulating gloves from separating under the force of the insulating gloves, ensuring the smooth removal of the torque nut.

[0056] 4) When the inner diameter of the torque nut changes, the lengths of the upper connecting rod and the lower connecting rod are changed, the position of the positioning ring is adjusted, and the position of the positioning rod in the positioning hole of the main rod is adjusted, so that the ends of the six upper connecting rods of the nut extraction tool of the live working robot can form a hexagon with different side lengths, so that the ends of the six upper connecting rods are in contact with the torque nut;

[0057] 5) The nut extraction tool for live working robots takes up less space in the retracted state than in the unfolded state, which is beneficial for limited space operations under special conditions.

[0058] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0060] Figure 1 A schematic diagram of a nut extraction tool for a live working robot according to an embodiment of the present invention is shown;

[0061] Figure 2 A schematic diagram of folding a nut extraction tool for a live working robot according to an embodiment of the present invention is shown;

[0062] Figure 3 A schematic structural diagram of a main rod according to an embodiment of the present invention is shown;

[0063] Figure 4 A schematic structural diagram of a positioning ring according to an embodiment of the present invention is shown;

[0064] Figure 5 A schematic structural diagram of a lower circular chuck according to an embodiment of the present invention is shown;

[0065] Figure 6 A schematic structural diagram of an upper circular chuck according to an embodiment of the present invention is shown;

[0066] Figure 7 A schematic structural diagram of an upper connecting rod according to an embodiment of the present invention is shown;

[0067] Figure 8 A schematic structural diagram of a lower connecting rod according to an embodiment of the present invention is shown;

[0068] Fig. 9 A schematic structural diagram of a screw rod according to an embodiment of the present invention is shown;

[0069] Fig.10 A schematic structural diagram of a positioning rod according to an embodiment of the present invention is shown.

[0070] Figure numerals: 1, main rod; 2, positioning ring; 3, lower circular chuck; 4, upper circular chuck; 5, upper connecting rod; 6, lower connecting rod; 7, screw rod; 8, positioning rod. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0072] Figure 1 The figure shows a schematic diagram of a nut extraction tool for a live working robot according to an embodiment of the present invention. Figure 1 As shown, a nut extraction tool for a live working robot proposed by the present invention comprises: a main rod 1, a lower circular chuck 3, an upper circular chuck 4, a plurality of upper connecting rods 5 and a plurality of lower connecting rods 6;

[0073] The upper circular chuck 4 is fixedly mounted on the top of the main rod 1;

[0074] The lower circular chuck 3 is slidably sleeved on the main rod 1 and is located below the upper circular chuck 4;

[0075] One end of the upper connecting rod 5 is rotatably connected to the upper circular chuck 4, and a through hole (such as Figure 7 shown);

[0076] One end of the lower connecting rod 6 is rotatably connected to the middle through hole of the upper connecting rod 5, and the other end is rotatably connected to the lower circular chuck 3;

[0077] The ratio of the length of the upper connecting rod 5 to the length of the main rod 1 is 1:3-8; illustratively, the ratio of the length of the upper connecting rod 5 to the length of the main rod 1 is 1:5;

[0078] The main rod 1, the upper connecting rod 5 and the lower connecting rod 6 are all straight rods and cannot be bent.

[0079] The main rod 1 is the main body of the nut extraction tool and is used to connect other components;

[0080] The lower circular chuck 3 is used to control the opening and closing of the nut extraction tool;

[0081] An upper circular chuck 4, used to connect a plurality of upper connecting rods 5;

[0082] The upper connecting rod 5 is used to extract the nut stuck in the sleeve;

[0083] The lower connecting rod 6 is used to control the opening and closing angle of the upper connecting rod 5 .

[0084] In some embodiments, the angle between the upper connecting rod 5 and the lower connecting rod 6 is less than 180°, ensuring that the upper connecting rod 5 and the lower connecting rod 6 are not in the same straight line, and preventing the lower connecting rod 6 from being unable to push the upper connecting rod 5 when the two are in the same straight line; the upper connecting rod 5 and the lower connecting rod 6 are installed in a one-to-one correspondence; illustratively, six upper connecting rods 5 and six lower connecting rods 6 are respectively provided;

[0085] The angle between the upper connecting rod 5 and the lower connecting rod 6 is a;

[0086] Among them, 150°≤a≤175°, according to the above conditions, the angle between the upper connecting rod 5 and the lower connecting rod 6 is set, so that the nut stuck in the hexagonal sleeve can be quickly removed, and the situation where the two are located in the same straight line can be avoided. Preferably, 165°≤a≤175°.

[0087] The present invention is provided with six groups of upper connecting rods 5 and lower connecting rods 6, so that six force application points can simultaneously apply force to the torque nut stuck in the hexagonal sleeve, making it easier for the torque nut to be disengaged. Compared with applying force to the torque nut at a single point, it is more conducive to the separation between the torque nut and the sleeve. The nut extraction tool for the live working robot occupies less space in the retracted state than in the unfolded state, which is conducive to limited space operations under special conditions.

[0088] The present invention carries out research and development of key components such as the operating execution mechanism of the live working robot based on the distribution network, improves the robot's environmental adaptability, enhances the user-friendly operability of the live working robot, develops an intelligent insulation recovery tool for live working, and applies this achievement to the live working site, enriching the working scenarios of the live robot, ensuring working safety, improving working efficiency, and thus further improving power supply reliability.

[0089] like Figure 4 As shown, in some embodiments, a nut extraction tool for a live working robot further includes: a positioning ring 2;

[0090] The positioning ring 2 is sleeved on the main rod 1 to fix the relative position between the two, and the positioning ring 2 is located below the lower circular chuck 3; the positioning ring 2 is made of epoxy resin and nylon. Exemplarily, the cross section of the positioning ring 2 is rectangular.

[0091] In some embodiments, the positioning ring 2 has multiple adjustment positions.

[0092] The function of the positioning ring 2 is to limit the position of the lower circular chuck 3 during the movement of the lower circular chuck 3 along the main rod 1, so as to prevent the lower circular chuck 3 from moving too far on the main rod 1 toward the end of the main rod 1 and reaching a dead point. When reaching the dead point, the upper connecting rod 5 and the lower connecting rod 6 are subjected to force through the connecting axis of the upper connecting rod 5 and the lower connecting rod 6, and the end of the upper connecting rod 5, the end of the lower connecting rod 6 and the connection point of the upper connecting rod 5 and the lower connecting rod 6 are in the same straight line. At this time, no matter how great the thrust on the lower circular chuck 3 is, the lower circular chuck 3 cannot slide upward along the main rod 1.

[0093] like Fig. 9 As shown, in some embodiments, a nut extraction tool for a live working robot further includes: a screw rod 7;

[0094] The upper circular chuck 4 is rotatably connected to the upper connecting rod 5 via a screw 7;

[0095] The upper connecting rod 5 is rotatably connected to the lower connecting rod 6 via a screw rod 7;

[0096] The lower connecting rod 6 is rotatably connected to the lower circular chuck 3 via a screw rod 7 .

[0097] like Figure 3 As shown, in some embodiments, the main rod 1 is provided with a plurality of positioning holes, which are located below the upper circular chuck 4 and above the positioning ring 2 and close to the upper circular chuck 4. Exemplarily, the top of the main rod 1 is provided with five positioning holes.

[0098] The positioning holes can control the distance between the ends of the six upper connecting rods 5 when the upper connecting rods 5 and the lower connecting rods 6 are unfolded.

[0099] like Fig.10 As shown, in some embodiments, a nut extraction tool for a live working robot further includes: a positioning rod 8;

[0100] The positioning rod 8 is arranged in any positioning hole to limit the position of the lower circular chuck 3;

[0101] The positioning rod 8 is cylindrical.

[0102] In some embodiments, the main rod 1 is also provided with anti-skid threads; workers working with electricity in the bucket can prevent slipping by holding the middle part while wearing insulating gloves.

[0103] The material of the anti-slip thread is epoxy resin, rubber or nylon;

[0104] A circular ring is fixedly mounted at the bottom of the main rod 1;

[0105] The length of the main rod 1 ranges from 20 to 30 cm. Exemplarily, the length of the main rod 1 is 20 cm.

[0106] There is an anti-slip thread in the middle of the main rod 1. The safety regulations for live working stipulate that live workers cannot remove their gloves while using insulating gloves in the bucket. The anti-slip thread will prevent the main rod 1 from being separated from the insulating gloves under the force of the insulating gloves, ensuring the smooth removal of the torque nut.

[0107] like Figure 6 As shown, in some embodiments, a nut extraction tool for a live working robot, the upper circular chuck 4 includes a cylinder, a tube and a mounting member;

[0108] The diameter of the cylinder is larger than the outer diameter of the tube; the diameter of the cylinder is smaller than the inner diameter of the screw cap;

[0109] The cylinder is fixedly installed above the tube, and a plurality of mounting grooves are provided on the side wall of the cylinder along the circumferential direction. Mounting pieces are respectively provided on both sides of the top of the mounting grooves, and through holes are provided on the mounting pieces.

[0110] The tube of the upper circular chuck 4 is fixedly mounted to the main rod 1; illustratively, the two can be connected by threaded connection, welding or key connection.

[0111] One end of the plurality of upper connecting rods 5 is rotatably connected to the mounting pieces on both sides of the mounting groove.

[0112] like Figure 5 As shown, in some embodiments, the lower circular chuck 3 includes a first circular tube, a second circular tube and a mounting member;

[0113] The inner diameters of the first round tube and the second round tube are equal, the outer diameter of the first round tube is larger than the outer diameter of the second round tube; the outer diameter of the first round tube is smaller than the inner diameter of the screw cap;

[0114] The bottom of the first circular tube is fixedly connected to the second circular tube, a plurality of mounting grooves are provided on the side wall of the first circular tube along the circumferential direction, mounting pieces are provided on both sides of the top of the mounting grooves, and through holes are provided on the mounting pieces;

[0115] One end of the plurality of lower connecting rods 6 is rotatably connected to the lower circular chuck 3 through mounting pieces on both sides of the mounting groove.

[0116] In some embodiments, the diameter of the cylinder of the upper circular chuck 4 is equal to the outer diameter of the first circular tube of the lower circular chuck 3 .

[0117] In some embodiments, the number of mounting slots of the upper circular chuck 4 and the number of mounting slots of the lower circular chuck 3 are the same and correspond one to one. For example, the number of mounting slots of the upper circular chuck 4 and the number of mounting slots of the lower circular chuck 3 are both six.

[0118] like Figure 8 As shown, in some embodiments, a U-shaped groove is provided at one end of the lower connecting rod 6, and a through hole is provided at the end of the U-shaped groove;

[0119] The U-shaped groove of the lower connecting rod 6 is rotatably connected to the upper connecting rod 5;

[0120] like Figure 2 As shown, when the nut extraction tool is in the retracted state, the U-shaped groove is used to receive the bottom end of the upper connecting rod 5 .

[0121] In some embodiments, the main rod 1, the upper connecting rod 5 and the lower connecting rod 6 are made of epoxy resin or nylon.

[0122] The material of the lower circular chuck 3 and the upper circular chuck 4 is epoxy resin or nylon.

[0123] The nut extraction tool of the present invention is made of insulating material as a whole. On the one hand, it can be insulated to ensure the safety of operation, and on the other hand, it has the characteristics of light weight and high strength.

[0124] In some embodiments, the main rod 1 is a hollow tube, and a long strip through slot is opened on the side wall, and the long strip through slot is located between the positioning hole and the positioning ring 2; a motor is arranged at the bottom of the main rod 1;

[0125] The lower circular chuck 3 is fixedly connected to one end of the rack, and the other end of the rack is connected to the gear on the motor. The rack is arranged in the inner cavity of the main rod 1.

[0126] When the motor rotates forward, the rack drives the lower circular chuck 3 to move upward, thereby unfolding the nut extraction tool; when the motor rotates reversely, the rack drives the lower circular chuck 3 to move downward, thereby retracting the nut extraction tool. By setting the motor and the rack, the electric control of the nut extraction tool is realized, the user-friendly operability of the device is improved, and the working efficiency is improved.

[0127] In some embodiments, the relative distances between the six ends of the upper connecting rod 5 when the upper connecting rod 5 and the lower connecting rod 6 are in the expanded state are determined according to the diameter of the hexagonal torque nut, and the positioning rod 8 is inserted into the positioning hole on the main rod 1 to limit the movement trajectory of the lower circular chuck 3.

[0128] In some embodiments, when the inner diameter of the torque nut changes, the length of the upper connecting rod 5 and the lower connecting rod 6 is replaced, the position of the positioning ring 2 is adjusted, and the position of the positioning rod 8 in the positioning hole of the main rod 1 is adjusted. The ends of the six upper connecting rods 5 of the nut extraction tool of the live working robot can form a hexagon with different side lengths, so that the ends of the six upper connecting rods 5 are in contact with the torque nut.

[0129] The present invention also discloses the steps of making a nut extraction tool for a live working robot:

[0130] Step 1: Put the positioning ring 2 on the main rod 1.

[0131] Step 2: Put the lower circular chuck 3 on the main rod 1.

[0132] Step 3: Fix the upper circular chuck 4 to the top of the main rod 1.

[0133] Step 4: Connect the upper connecting rod 5 and the lower connecting rod 6 via the screw rod 7.

[0134] Step 5: Connect the connected upper connecting rod 5 and lower connecting rod 6 to the upper circular chuck 4 through the screw 7.

[0135] Step six: Connect the lower connecting rod 6 to the lower circular chuck 3 via the screw rod 7.

[0136] Step 7: Adjust the nut extraction tool of the live working robot to the retracted state and fix the position of the positioning rod 8.

[0137] Based on the above-mentioned nut extraction tool for a live working robot, this embodiment provides a method for using the nut extraction tool for a live working robot, including the following steps:

[0138] Step 1: Adjust the live working robot to the stowed position using the nut extraction tool (such as Figure 2 As shown), at this time, the torque nut is stuck in the sleeve, and extends into the sleeve along the circular entrance that clamps the torque nut; wherein, when the nut extraction tool is in the retracted state, when the nut extraction tool penetrates into the sleeve, the upper connecting rod 5 and the lower connecting rod 6 will not be stuck by the inner wall of the nut during the insertion process;

[0139] Step 2: Push the lower circular chuck 3 along the main rod 1 toward the positioning rod 8 until the lower connecting rod 6 is in the open position, so that the ends of the multiple upper connecting rods 5 are in contact with the hexagonal torque nuts;

[0140] Step 3: Hold the anti-slip threaded portion of the main rod 1 with a hand wearing an insulating glove, pull the nut extraction tool for the live working robot outward along the axial direction, and remove the torque nut from the sleeve;

[0141] Step 4: Adjust the nut extraction tool for live working robots to the retracted state, so that the torque nut is separated from the nut extraction tool for live working robots, complete the live sparking operation of one phase, and proceed to the live sparking operation of the next phase.

[0142] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A nut extraction tool for a live working robot, characterized in that: include: A main rod (1), a lower circular chuck (3), an upper circular chuck (4), a plurality of upper connecting rods (5) and a plurality of lower connecting rods (6); The upper circular chuck (4) is fixedly mounted on the top of the main rod (1); The lower circular chuck (3) is slidably sleeved on the main rod (1) and is located below the upper circular chuck (4); One end of the upper connecting rod (5) is rotatably connected to the upper circular chuck (4), and a through hole is provided in the middle; One end of the lower connecting rod (6) is rotatably connected to the middle through hole of the upper connecting rod (5), and the other end is rotatably connected to the lower circular chuck (3); The ratio of the length of the upper connecting rod (5) to the length of the main rod (1) is 1:3-8; The main rod (1), the upper connecting rod (5) and the lower connecting rod (6) are all straight rods.

2. A nut extraction tool for a live working robot according to claim 1, characterized in that: Also includes: Positioning ring (2); The positioning ring (2) is sleeved on the main rod (1) and is located below the lower circular chuck (3); The positioning ring (2) is used to limit the position of the lower circular chuck (3).

3. A nut extraction tool for a live working robot according to claim 1, characterized in that: Also includes: Screw (7); The upper circular chuck (4) is rotatably connected to the upper connecting rod (5) via a screw rod (7); The upper connecting rod (5) and the lower connecting rod (6) are rotatably connected via a screw rod (7); The lower connecting rod (6) is rotationally connected to the lower circular chuck (3) via a screw rod (7).

4. A nut extraction tool for a live working robot according to claim 2, characterized in that: The main rod (1) is provided with a plurality of positioning holes, and the positioning holes are located below the upper circular chuck (4).

5. A nut extraction tool for a live working robot according to claim 4, characterized in that: Also includes: Positioning rod (8); The positioning rod (8) is arranged in any positioning hole and is used to limit the position of the lower circular chuck (3); The positioning rod (8) is cylindrical.

6. A nut extraction tool for a live working robot according to claim 1, characterized in that: The main rod (1) is also provided with anti-slip threads; The material of the anti-slip thread is epoxy resin, rubber or nylon; A circular ring is fixedly mounted on the bottom of the main rod (1); The length of the main rod (1) ranges from 20 to 30 cm.

7. A nut extraction tool for a live working robot according to claim 1, characterized in that: The upper circular chuck (4) comprises a cylinder, a tube and a mounting member; The diameter of the cylinder is larger than the outer diameter of the tube; the diameter of the cylinder is smaller than the inner diameter of the screw cap; The cylinder is fixedly installed above the tube, and a plurality of mounting grooves are provided on the side wall of the cylinder along the circumferential direction. Mounting pieces are respectively provided on both sides of the top of the mounting grooves, and through holes are provided on the mounting pieces. The tube of the upper circular chuck (4) is fixedly mounted on the main rod (1); One end of the plurality of upper connecting rods (5) is rotatably connected to the mounting pieces on both sides of the mounting groove.

8. A nut extraction tool for a live working robot according to claim 7, characterized in that: The lower circular chuck (3) comprises a first circular tube, a second circular tube and a mounting member; The inner diameters of the first round tube and the second round tube are equal, the outer diameter of the first round tube is larger than the outer diameter of the second round tube; the outer diameter of the first round tube is smaller than the inner diameter of the screw cap; The bottom of the first circular tube is fixedly connected to the second circular tube, a plurality of mounting grooves are provided on the side wall of the first circular tube along the circumferential direction, mounting pieces are provided on both sides of the top of the mounting grooves, and through holes are provided on the mounting pieces; One end of the plurality of lower connecting rods (6) is rotatably connected to the lower circular chuck (3) through mounting pieces on both sides of the mounting groove; The diameter of the cylinder of the upper circular chuck (4) is equal to the outer diameter of the first circular tube of the lower circular chuck (3).

9. A nut extraction tool for a live working robot according to claim 8, characterized in that: The number of the mounting grooves of the upper circular chuck (4) and the number of the mounting grooves of the lower circular chuck (3) are the same and correspond one to one.

10. A nut extraction tool for a live working robot according to claim 1, characterized in that: The angle between the upper connecting rod (5) and the lower connecting rod (6) is less than 180°.

11. A nut extraction tool for a live working robot according to claim 1 or 10, characterized in that: The angle between the upper connecting rod (5) and the lower connecting rod (6) is a; Among them, 150°≤a≤175°.

12. A nut extraction tool for a live working robot according to claim 1, characterized in that: A U-shaped groove is provided at one end of the lower connecting rod (6), and a through hole is provided at the end of the U-shaped groove; The U-shaped groove of the lower connecting rod (6) is rotatably connected to the upper connecting rod (5); When the nut extraction tool is in a retracted state, the U-shaped groove is used to receive the upper connecting rod (5).

13. A nut extraction tool for a live working robot according to claim 1, characterized in that: The main rod (1), the upper connecting rod (5) and the lower connecting rod (6) are made of epoxy resin or nylon.

14. A nut extraction tool for a live working robot according to claim 2, characterized in that: The positioning ring (2) has a plurality of adjustment gears.

15. A nut extraction tool for a live working robot according to claim 4, characterized in that: The main rod (1) is a hollow tube, and a long strip through slot is provided on the side wall, and the long strip through slot is located between the positioning hole and the positioning ring (2); a motor is provided at the bottom of the main rod (1), and a rack is provided inside; The lower circular chuck (3) is fixedly connected to one end of the rack, and the other end of the rack is connected to the gear on the motor.

16. A method for using the nut extraction tool for a live working robot according to any one of claims 1 to 15, characterized in that: The following steps are involved: Adjust the nut extraction tool for the live working robot to the retracted state, and insert it into the sleeve along the circular entrance of the stuck torque nut; Pushing the lower circular chuck (3) along the main rod (1) in the direction of the positioning rod (8) until the lower connecting rod (6) is in an open position, so that the ends of the plurality of upper connecting rods (5) are in contact with the hexagonal torque nuts; Holding the main rod (1), pull the nut extraction tool for the live working robot outward along the axial direction to remove the torque nut from the sleeve; Adjust the nut extraction tool for the live working robot to the retracted state, so that the torque nut is separated from the nut extraction tool for the live working robot, complete the live sparking operation of one phase, and proceed to the live sparking operation of the next phase.

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