AGV carrier vehicle for tool and use method thereof

Abstract

The present invention is an AGV carrier vehicle for tools and its use method, which relates to the technical field of transportation equipment. The technical solution is that an AGV carrier vehicle for tools includes a vehicle body, and storage mechanisms are arranged on both sides of the vehicle body, and the storage mechanisms can store tools; a suspension frame is fixed to the bottom surface of the vehicle body, and the suspension frame can also store tools; a guide rail is also fixed to the bottom surface of the vehicle body, and a mechanical arm is installed on the guide rail, and the mechanical arm can grab tools and slide along the guide rail; a switching mechanism is arranged at the rear end of the vehicle body, and the switching mechanism can store tools to be used and can store used tools. The beneficial effect of the present invention is that the carrier vehicle undertakes the task of transporting tools and significantly reduces the burden on workers, and the mechanical arm equipped with it can automatically select the required tools and further save the workers' selection time. At the same time, the homing function of the mechanical arm also ensures the proper management of tools and avoids the risk of loss.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation equipment, and in particular to an AGV carrier vehicle for tools and a method of using the same. Background Art

[0002] Tools and accessories play a vital role in port operations. For different types of cargo, such as bulk cargo, containers, large equipment, etc., the use of appropriate tools and accessories is the cornerstone to ensure safe and efficient loading and unloading of cargo. These tools and accessories not only take into account the physical characteristics, size and weight of the cargo, but also take into account the operating efficiency and personnel safety. By using professional tools such as slings, hooks and wire rope buckles, port operations can greatly improve loading and unloading efficiency, reduce manual operations, reduce labor intensity, and thus save costs. At the same time, suitable tools and accessories can also effectively protect the cargo from damage during loading and unloading, reduce the cargo damage rate, and ensure the integrity of the cargo.

[0003] In the current operation process, in order to ensure the smooth loading and unloading of goods, workers need to carry corresponding tools to the designated area to complete the loading and unloading of goods according to different operation requirements and types of goods.

[0004] However, in actual work, workers usually need to complete multiple different types of tasks in succession. This means that they have to carry a variety of tools to meet the needs of various tasks, which not only brings a heavy burden to the workers, but also increases their time cost of selecting and preparing tools before the work. What's more serious is that frequent replacement and carrying of tools may also lead to the loss of tools, further affecting work efficiency and work safety. Summary of the invention

[0005] In order to solve the problem that workers have to carry a variety of tools, which is a heavy burden, time-consuming to select and easy to lose, the present invention provides an AGV carrier vehicle for tools and a method of using the same, which can eliminate the need for workers to carry a variety of tools, reduce the burden on workers, save selection time and make tools less likely to be lost.

[0006] In order to solve the above problems, the technical solution adopted by the present invention is an AGV carrier vehicle for tools, including a vehicle body, a positioning system is arranged on the vehicle body, storage mechanisms are arranged on both sides of the vehicle body, and the storage mechanisms can store tools; a suspension frame is fixed to the bottom surface of the vehicle body, and the suspension frame can also store tools; a guide rail is also fixed to the bottom surface of the vehicle body, and a mechanical arm is installed on the guide rail, and the mechanical arm can grab tools and slide along the guide rail; a switching mechanism is arranged at the rear end of the vehicle body, and the switching mechanism can store tools to be used and can store used tools. When work is required, the vehicle body is moved to the designated position, and the mechanical arm is controlled to take out the required tools from the storage mechanism or the suspension frame and place them in the switching mechanism, without the need for workers to select, which is convenient for workers to use. At the same time, the workers place the used tools in the switching mechanism, and the mechanical arm returns the used tools to their original positions, which can avoid the loss of tools. Therefore, the carrier can undertake the task of transporting tools, reducing the burden on workers, and the robot arm can automatically select the required tools, saving workers' selection time. In addition, the robot arm can also return the used tools to their original positions, avoiding the risk of losing the tools.

[0007] Preferably, the storage mechanism includes a sling storage cabinet, which is fixed on one side wall of the vehicle body, and a ladder storage rack and a hook storage cylinder are respectively provided on both sides of the sling storage cabinet, and a shovel storage rack is provided above the hook storage cylinder; the storage mechanism also includes a hook storage cabinet, which is fixed on the other side wall of the vehicle body, and a recovery box and a wire rope storage rack are respectively provided on both sides of the hook storage cabinet. The sling storage cabinet is used to store slings, the ladder storage rack is used to store ladders, the hook storage cylinder is used to store hooks, the shovel storage rack is used to store shovels, the hook storage cabinet can store safety hooks and anti-unhooking hooks, the recovery box is used to store damaged tools, and the wire rope storage rack can store wire ropes.

[0008] Preferably, the hook storage cabinet is provided with three layers, and the middle layer and the uppermost layer of the hook storage cabinet are both provided with a connecting rod 1, one end of the connecting rod 1 is fixedly connected to the rear wall of the hook storage cabinet, and the other end of the connecting rod 1 is fixed with a limiting block 1. The safety hook or the anti-drop hook can be hung on the connecting rod 1, and the limiting block 1 effectively prevents it from accidentally sliding off.

[0009] Preferably, the suspension frame includes a support rod, the bottom of which is fixedly connected to the bottom surface of the vehicle body, a second connecting rod is provided on the support rod, the middle of the second connecting rod is fixedly connected to the top of the support rod, and two limiting blocks are fixed to both ends of the second connecting rod. Various hanging systems and chains can be hung on both ends of the second connecting rod, and the limiting blocks can effectively prevent them from accidentally sliding off.

[0010] Preferably, the guide rail is set to be U-shaped, a rail car is installed on the guide rail, the rail car can slide along the guide rail, and the mechanical arm is fixed on the rail car. The rail car can move along the guide rail with the mechanical arm, thereby ensuring that the mechanical arm can conveniently pick up and place tools at any position.

[0011] Preferably, a camera is installed on the robotic arm. The camera captures the scene in front of the robotic arm in real time and transmits high-definition images to the controller, which accurately guides the robotic arm to perform accurate pick-up and placement operations of tools through intelligent image analysis.

[0012] Preferably, a broom storage cabinet is fixed to the front end of the vehicle body. The broom storage cabinet can store brooms.

[0013] Preferably, the exchange mechanism includes a pick-up box and a receiving box, both of which are fixed at the rear end of the vehicle body. The mechanical arm grabs the required tools from the storage mechanism or the hanging rack and puts them accurately into the pick-up box, so that the workers can quickly use them. The workers put the used tools into the receiving box, and the mechanical arm then automatically returns the tools to the corresponding storage positions.

[0014] Preferably, a ladder is provided at the rear end of the vehicle body, and the upper end of the ladder is hinged to the rear end of the vehicle body. The ladder provides a convenient passage for workers, allowing them to easily board the vehicle body.

[0015] A method for using an AGV carrier vehicle for tool attachments comprises the following steps: Step 1: According to the type of operation, the robot arm is controlled to slide on the guide rail, and the required tools are taken from the storage mechanism or the hanging rack and placed in the exchange mechanism; Step 2: The worker takes out the tools in the exchange mechanism and places the tools used in the previous operation in the exchange mechanism; Step 3, controlling the robot arm to slide on the guide rail and placing the used tools on the corresponding position of the storage mechanism or the hanging rack; Step 4: Control the robotic arm to slide on the guide rail and place the damaged tools for easy repair later.

[0016] It can be seen from the above technical solutions that the advantages of the present invention are: when work is required, the vehicle body is moved to the designated position, and the robotic arm is controlled to take out the required tools from the storage mechanism or the hanging rack, and accurately placed in the pickup box. This process does not require workers to select, which greatly facilitates the workers' access. At the same time, the workers put the tools used in the last operation into the receiving box, and the robotic arm will automatically return the used tools to their original positions, effectively avoiding the loss of the tools. In summary, this carrier not only successfully undertakes the task of transporting tools and significantly reduces the burden on workers, but also the robotic arm it is equipped with can automatically select the required tools and further saves the workers' selection time. At the same time, the homing function of the robotic arm also ensures the proper management of tools and avoids the risk of loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of a specific implementation mode of the present invention.

[0019] Figure 2 The internal structure of the specific embodiment of the present invention is shown in FIG. Figure 1 .

[0020] Figure 3 for Figure 2 A partial enlarged view of point A in the middle.

[0021] Figure 4 for Figure 2 A partial enlarged view of point B in the middle.

[0022] Figure 5 The internal structure of the specific embodiment of the present invention is shown in FIG. Figure 2 .

[0023] Figure 6 for Figure 5 A partial enlarged view of point C in the middle.

[0024] Figure 7 The internal structure of the specific embodiment of the present invention is shown in FIG. Figure 3 .

[0025] Description of main reference numerals In the figure: 1. Car body, 11. Solar panel, 12. Car ladder, 13. Broom storage cabinet, 14. Controller, 15. Guide rail, 16. Pickup box, 17. Inbox, 2. Hanging rack, 21. Support rod, 22. Connecting rod 2, 23. Limit block 2, 3. Sling storage cabinet, 31. Ladder storage rack, 32. Hook storage cylinder, 33. Shovel storage rack, 34. Recycling box, 35. Wire rope storage rack, 4. Hook storage cabinet, 41. Connecting rod 1, 42. Limit block 1, 5. Robotic arm, 51. Rail car, 52. Camera. DETAILED DESCRIPTION

[0026] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0027] Embodiment 1: An AGV carrier vehicle for tool attachments, such as Figure 1 As shown, the vehicle body 1 includes a vehicle body 1, a positioning system is arranged on the vehicle body 1, tires are arranged at the bottom of the vehicle body 1, and a solar panel 11 is arranged at the top of the vehicle body 1, and the solar panel 11 can provide energy for the movement of the vehicle. A storage mechanism is arranged inside the vehicle body 1, and the storage mechanism can store tools. A suspension rack 2 is also arranged inside the vehicle body 1, and the suspension rack 2 can also store tools.

[0028] In this specific embodiment, the positioning system includes a GPS module, a communication module and a control module. The GPS module is built into the vehicle body 1 and can capture satellite signals to provide real-time feedback on the geographic location information of the AGV carrier. The communication module acts as an information bridge, seamlessly transmitting the geographic location information of the AGV carrier to the control module, while ensuring that the instructions of the control module are immediately issued to the AGV carrier, achieving two-way efficient communication. The control module intelligently plans the optimal path based on the real-time location of the AGV carrier, and accurately controls the AGV carrier to move to the predetermined location.

[0029] like Figure 2 As shown, in this specific embodiment, the storage mechanism specifically adopts the following structure: the storage mechanism includes a sling storage cabinet 3, and the sling storage cabinet 3 is provided with three layers, and the three layers can store slings. The rear wall of the sling storage cabinet 3 is in close contact with one side wall of the interior of the vehicle body 1. In this embodiment, the sling storage cabinet 3 is fixedly connected to the vehicle body 1 by bolts. In other embodiments, the sling storage cabinet 3 is connected to the vehicle body 1 by welding.

[0030] A hook storage cylinder 32 is provided on one side of the sling storage cabinet 3 near the front end of the vehicle body 1, and the hook storage cylinder 32 can store hooks. The hook storage cylinder 32 is a cylindrical cylinder with an opening at the top, and the bottom of the hook storage cylinder 32 is connected to the bottom surface inside the vehicle body 1 by welding. In the present embodiment, there are four hook storage cylinders 32, and the outer walls of the four hook storage cylinders 32 are close to each other. A shovel storage rack 33 is provided above the hook storage cylinder 32, and the shovel storage rack 33 is a metal rod, one end of the metal rod is welded to the side wall inside the vehicle body 1, and the handle of the shovel can be hung on the metal rod from the other end of the metal rod, thereby realizing the storage of the shovel. In the present embodiment, there are two metal rods, and the heights of the two metal rods are the same.

[0031] A ladder storage rack 31 is provided on the side of the sling storage cabinet 3 away from the front end of the vehicle body 1. The ladder storage rack 31 includes two columns and a crossbeam. The two ends of the crossbeam are respectively connected to the tops of the two columns by welding. The ladder can be stored by hanging the head of the ladder on the crossbeam. A controller 14 is provided on the side of the ladder storage rack 31 close to the rear end of the vehicle body 1. The controller 14 is fixed to the side wall inside the vehicle body 1 by bolts.

[0032] like Figure 5 As shown, the storage mechanism also includes a hook storage cabinet 4, and the hook storage cabinet 4 is closely attached to the other side wall of the vehicle body 1. In this embodiment, the hook storage cabinet 4 is fixedly connected to the vehicle body 1 by bolts. In other embodiments, the hook storage cabinet 4 is connected to the vehicle body 1 by welding. The hook storage cabinet 4 is also provided with three layers, such as Figure 6 As shown, the middle layer and the uppermost layer of the hook storage cabinet 4 are both provided with a connecting rod 41, one end of the connecting rod 41 is connected to the rear wall of the hook storage cabinet 4 by welding, and the other end of the connecting rod 41 is welded with a limiting block 42. When the safety hook or the anti-detachment hook is hung on the connecting rod 41, the limiting block 42 can prevent the safety hook or the anti-detachment hook from sliding off the connecting rod 41.

[0033] A recycling box 34 is provided on one side of the hook storage cabinet 4 close to the rear end of the vehicle body 1. The top of the recycling box 34 is set to be open, the rear wall of the recycling box 34 is in close contact with the side wall inside the vehicle body 1, the side wall of the recycling box 34 is in close contact with the hook storage cabinet 4, and the bottom of the recycling box 34 is connected to the bottom surface inside the vehicle body 1 by welding.

[0034] A wire rope storage rack 35 is provided on one side of the hook storage cabinet 4 near the front end of the car body 1. The wire rope storage rack 35 includes a connecting rod 3, one end of the connecting rod 3 is welded to the side wall inside the car body 1, and the other end of the connecting rod 3 is welded to a limiting block 3. When the wire rope is hung on the connecting rod 3, the limiting block 3 can prevent the wire rope from sliding off the connecting rod 3. In this embodiment, the connecting rod 3 on the same side as the hook storage cabinet 4 is provided with two rows, four in each row, and the connecting rods 3 at both ends of each row are used to fix the two ends of the wire rope, and the two connecting rods 3 in the middle of each row are used to support the wire rope. Two rows of connecting rods 3 are provided on the side wall inside the car body 1 on the same side as the hook storage cabinet 4, and four connecting rods 3 are provided in each row. The connecting rods 3 at both ends of each row are used to fix the two ends of the wire rope, and the two connecting rods 3 in the middle of each row are responsible for supporting the wire rope. Three connecting rods 3 are provided on the side wall inside the car body 1 on the different side from the hook storage cabinet 4, and these three connecting rods 3 are used to store shorter wire ropes.

[0035] like Figure 3 As shown, in this specific embodiment, the suspension frame 2 specifically adopts the following structure: the suspension frame 2 includes a support rod 21, and the support rod 21 includes three columns and a cross beam. The two ends of the cross beam are welded to the tops of the columns on both sides, and the middle of the cross beam is welded to the top of the middle column, and the length direction of the cross beam is parallel to the length direction of the vehicle body 1. The bottom of the support rod 21 is welded to the bottom surface inside the vehicle body 1, and a connecting rod 22 is provided on the support rod 21. The middle position of the connecting rod 22 is welded to the top of the support rod 21, and the two ends of the connecting rod 22 are welded with a limiting block 23. When various hanging systems and chains are hung on the connecting rod 22, the limiting block 23 can prevent the various hanging systems and chains from sliding off the connecting rod 22. In this embodiment, there are twelve connecting rods 22, and the twelve connecting rods 22 are evenly distributed along the length direction of the vehicle body 1.

[0036] like Figure 4 As shown, a guide rail 15 is also installed on the bottom surface of the vehicle body 1, and the guide rail 15 is fixed to the bottom surface of the vehicle body 1 by bolts. The guide rail 15 is set to be U-shaped, and a rail car 51 is installed on the guide rail 15. The rail car 51 can slide along the guide rail 15, and the rail car 51 and the guide rail 15 are both existing equipment.

[0037] A robotic arm 5 is installed on the rail car 51, and the robotic arm 5 includes a base, a connecting rod assembly and an end effector. The base of the robotic arm 5 is tightly fixed to the rail car 51 by bolts to ensure stability without shaking. The connecting rod assembly includes a multi-stage connecting rod, and the multi-stage connecting rod adopts bearings to achieve smooth rotation connection. The lower end of the connecting rod assembly is connected to the base, and the upper end of the connecting rod assembly is fixedly connected to the end effector, and the end effector is a mechanical claw. The mechanical claw not only has a rotation function, but also can accurately grasp various types of tools. In addition, a camera 52 is integrated on the mechanical claw, and the robotic arm 5 and the camera 52 are both existing equipment. The camera 52 can capture the high-definition scene images in front of the robotic claw in real time, and transmit these images to the controller 14 in real time. The controller 14 uses intelligent image processing technology to accurately analyze the received images, thereby accurately guiding the robotic arm 5 to complete the accurate grasping and placement operations of tools.

[0038] A support platform is welded to the front end of the vehicle body 1, and a broom storage cabinet 13 is provided on the support platform. The bottom of the broom storage cabinet 13 is welded to the support platform. The broom storage cabinet 13 is provided with a U-shaped groove with an opening narrowing inward. In this embodiment, a total of six broom storage cabinets 13 are provided, and the six broom storage cabinets 13 are evenly distributed on both sides of the support platform.

[0039] like Figure 7 As shown, the rear end of the vehicle body 1 is provided with an exchange mechanism, which includes a pick-up box 16 and a receiving box 17. The tops of the pick-up box 16 and the receiving box 17 are both set to be open, and the bottoms of the pick-up box 16 and the receiving box 17 are both welded to the bottom surface inside the vehicle body 1. The rear end of the vehicle body 1 is also provided with a vehicle ladder 12, and the upper end of the vehicle ladder 12 is rotatably connected to the rear end of the vehicle body 1 through a hinge shaft.

[0040] Embodiment 2: A method for using the AGV carrier vehicle for tools in Embodiment 1. First, the staff uses the controller 14 to accurately control the carrier vehicle to move it to the specified position. Then, according to the work requirements, the rail vehicle 51 is controlled to slide smoothly on the guide rail 15, and the position of the required tools is accurately located through the camera 52. Then, under the instruction of the staff, the robot arm 5 accurately grabs the required tools from the storage mechanism or the hanging rack 2, and controls the rail vehicle 51 again to move the robot arm 5 to the top of the pickup box 16, and safely put the tools into the pickup box 16. The worker then takes away the tools and performs the work.

[0041] When the work is completed and the next work is ready, the robot arm 5 will put the tools needed for the next work into the pick-up box 16 in advance to save time. At this time, the worker will put the used tools into the receiving box 17 and take out new tools from the picking box 16. Then, by controlling the movement of the track car 51 on the guide rail 15, the robot arm 5 will accurately put the tools in the receiving box 17 back to the corresponding position of the storage mechanism or the hanging rack 2 to ensure that each tool can be returned in order.

[0042] In addition, if the tool is damaged during the operation, the worker will put a specific label on it. Once the camera 52 recognizes the label, the controller 14 will immediately start the response mechanism, control the track car 51 to slide, and guide the robot arm 5 to put the damaged tool into the recycling box 34 for subsequent repair and replacement.

[0043] It can be seen from the above embodiments that the beneficial effect of the present invention is that when work is required, the vehicle body is moved to the designated position, and the mechanical arm is controlled to take out the required tools from the storage mechanism or the hanging rack, and accurately placed in the pickup box. This process does not require workers to select, which greatly facilitates the workers' use. At the same time, the workers put the tools used in the last operation into the receiving box, and the mechanical arm will automatically return the used tools to their original positions, effectively avoiding the loss of the tools. In summary, this transport vehicle not only successfully undertakes the task of transporting tools and significantly reduces the burden on workers, but also the mechanical arm it is equipped with can automatically select the required tools and further saves the workers' selection time. At the same time, the homing function of the mechanical arm also ensures the proper management of tools and avoids the risk of loss.

[0044] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An AGV carrier vehicle for tools, characterized in that: The vehicle body (1) comprises a vehicle body (1), a positioning system is arranged on the vehicle body (1), storage mechanisms are arranged on both sides of the vehicle body (1), and the storage mechanisms are capable of storing tools; a suspension frame (2) is fixed to the bottom surface of the vehicle body (1), and the suspension frame (2) is also capable of storing tools; a guide rail (15) is also fixed to the bottom surface of the vehicle body (1), and a mechanical arm (5) is installed on the guide rail (15), and the mechanical arm (5) is capable of grabbing tools and can slide along the guide rail (15); a switching mechanism is arranged at the rear end of the vehicle body (1), and the switching mechanism is capable of storing tools to be used and can store used tools.

2. The AGV carrier vehicle for tools according to claim 1, characterized in that: The storage mechanism comprises a sling storage cabinet (3), the sling storage cabinet (3) is fixed on one side wall inside the vehicle body (1), a ladder storage rack (31) and a hook storage cylinder (32) are respectively arranged on both sides of the sling storage cabinet (3), and a shovel storage rack (33) is arranged above the hook storage cylinder (32); the storage mechanism also comprises a hook storage cabinet (4), the hook storage cabinet (4) is fixed on the other side wall inside the vehicle body (1), and a recovery box (34) and a wire rope storage rack (35) are respectively arranged on both sides of the hook storage cabinet (4).

3. The AGV carrier vehicle for tool and attachment according to claim 2, characterized in that: The hook storage cabinet (4) is provided with three layers, and the middle layer and the uppermost layer of the hook storage cabinet (4) are both provided with a connecting rod 1 (41), one end of the connecting rod 1 (41) is fixedly connected to the rear wall of the hook storage cabinet (4), and the other end of the connecting rod 1 (41) is fixed to a limiting block 1 (42).

4. The AGV carrier vehicle for tools according to claim 1, characterized in that: The suspension frame (2) comprises a support rod (21), the bottom of the support rod (21) is fixedly connected to the bottom surface inside the vehicle body (1), a second connecting rod (22) is arranged on the support rod (21), the middle position of the second connecting rod (22) is fixedly connected to the top of the support rod (21), and two limiting blocks (23) are fixed to both ends of the second connecting rod (22).

5. The AGV carrier vehicle for tool and attachment according to claim 1, characterized in that: The guide rail (15) is arranged in a U shape, a rail car (51) is installed on the guide rail (15), the rail car (51) can slide along the guide rail (15), and the mechanical arm (5) is fixed on the rail car (51).

6. The AGV carrier vehicle for tools according to claim 5, characterized in that: A camera (52) is installed on the mechanical arm (5).

7. The AGV carrier vehicle for tools according to claim 1, characterized in that: A broom storage cabinet (13) is fixed to the front end of the vehicle body (1).

8. The AGV carrier vehicle for tools according to claim 1, characterized in that: The exchange mechanism comprises a pick-up box (16) and a receiving box (17), and both the pick-up box (16) and the receiving box (17) are fixed at the rear end of the vehicle body (1).

9. The AGV carrier vehicle for tools according to claim 1, characterized in that: A vehicle ladder (12) is provided at the rear end of the vehicle body (1), and the upper end of the vehicle ladder (12) is hinged to the rear end of the vehicle body (1).

10. A method for using the AGV carrier vehicle for tool attachments according to any one of claims 1 to 9, characterized in that: The following steps are included: Step 1: According to the type of operation, the robot arm (5) is controlled to slide on the guide rail (15), and the required tools are taken from the storage mechanism or the hanging frame (2) and placed in the exchange mechanism; Step 2: The worker takes out the tools in the exchange mechanism and places the tools used in the previous operation in the exchange mechanism; Step 3, controlling the robot arm (5) to slide on the guide rail (15) and placing the used tools on the corresponding position of the storage mechanism or the hanging frame (2); Step 4: Control the robot arm (5) to slide on the guide rail (15) and place the damaged tool to facilitate later repair.

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