Positioning anchor fluke for four-foot tube plate detecting and positioning robot

Abstract

The invention discloses a positioning anchor fluke for a four-foot tube plate detecting and positioning robot, which comprises a clamp holder and a linkage telescopic self-locking mechanism, and the clamp holder realizes tube hole grabbing through three chutes on an inclined surface and a clamp holder fixing small sliding shoe; and the clamper center push rod, the push rod return spring, the clamper center return pin and the clamper center return spring are matched with one another to realize resetting. The linkage telescopic self-locking mechanism is matched with a self-locking pin shaft / sliding pin shaft through an L-shaped / C-shaped groove of a self-locking sleeve to achieve mechanical self-locking, and a cylinder body is provided with double air inlet holes to drive a first-stage extending piston / counter-pulling piston to complete extending / retracting actions. The vertical load of the anchor fluke can reach 60 kg, the upsetting moment can bear 3 N.m, the anchor fluke is suitable for robot positioning requirements in complex environments, and the problems that a traditional anchor fluke is large in weight and insufficient in grabbing force are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and relates to a positioning anchor claw for a quadruped tube sheet detection and positioning robot. Background Art

[0002] A steam generator is a nuclear safety class-I component that connects the primary loop system and the secondary loop system in a nuclear power plant. Its tube sheet and inverted U-shaped tubes are particularly vulnerable to erosion by high temperature, high pressure, nuclear radiation, hydrogen adsorption, and strong boric acid. Therefore, it needs to be regularly maintained and inspected. The steam generator tube sheet detection and positioning robot is mainly applied to the tube sheet of the heat transfer tubes of the steam generator for the inspection and positioning of various types of tool racks. However, due to the special environment of the steam generator, there are problems of nuclear radiation influence and limited operation space. Under non-extremely special circumstances, operators are not allowed to enter the interior of the steam generator chamber. Therefore, the steam generator tube sheet detection and positioning robot can replace humans to complete operations in a radiation environment. For the quadruped tube sheet detection and positioning robot of the steam generator, in order to ensure that the robot can stably hold and move on the tube sheet, the part where it interacts with the tube sheet is named a positioning anchor claw. The function of the positioning anchor claw is to enable the quadruped tube sheet detection robot to be stably fixed on the lower surface of the tube sheet, realizing the positioning and stable movement of the robot in the inverted hoisting condition. Therefore, the anchor claw is a crucial and important component that determines whether the robot can work.

[0003] In existing tube sheet detection robots, most of the detection robots are from ten years ago. With the continuous development of robot technology, the requirements for the detection efficiency, intelligence, adaptability, etc. of robots are constantly increasing. Therefore, a tube sheet detection robot based on a quadruped configuration is proposed. As a result, the degrees of freedom of the robot increase, and the weight required by the robot itself continuously increases. Consequently, the requirements for the positioning anchor claw continuously increase. Due to the limitations of the positioning dimensions of each tube hole on the steam generator tube sheet and the dimensions of the manholes for inserting the robot, we cannot blindly increase the size of the positioning anchor claw to solve the problem of the increasing requirements for the positioning anchor claw. Therefore, it is crucial to solve the problem of how to increase the grasping ability of the positioning anchor claw while reducing its weight and size.

[0004] In existing nuclear power systems, electric drive and pneumatic drive robots are commonly used means. However, due to the complexity of the working site and personnel in the working environment, during the operation of the tube sheet detection robot, the circuit may suddenly lose power or the air circuit may suddenly lose air. Therefore, in such an emergency situation, the positioning anchor claw should be able to satisfy the function of maintaining the fixation of the quadruped tube sheet detection robot on the lower surface of the tube sheet to prevent it from falling. Therefore, it is an urgent problem for those skilled in the art to design a lightweight, intelligent, high-load-capacity positioning anchor claw with power-off and air-loss self-locking capabilities. Summary of the Invention

[0005] To achieve the above object, the present invention provides a positioning anchor claw for a quadruped tube sheet detection and positioning robot, which solves the problems of large weight and insufficient gripping ability of the positioning anchor claw of the quadruped tube sheet detection and positioning robot.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is a positioning anchor claw for a quadruped tube sheet detection and positioning robot, including a gripper. The gripper includes a gripper head base, the outside of the gripper head base is designed with an inclined surface, and three chutes are arranged on the inclined surface. Gripper fixing small sliders are arranged in the chutes. There is a hole penetrating up and down in the center of the gripper head base. A gripper center push rod is arranged in the lower half of the hole, and a gripper center return pin is arranged in the upper half. A push rod return spring is sleeved on the gripper center push rod, and a gripper center return spring is arranged above the gripper center return pin. Further, a linkage telescopic self-locking mechanism is arranged below the gripper. The linkage telescopic self-locking mechanism includes a cylinder body. At the uppermost part inside the cylinder body, a primary telescopic mechanism is arranged. A contact nut is arranged above the primary telescopic mechanism. A secondary telescopic mechanism is arranged inside the primary telescopic mechanism. The secondary telescopic mechanism includes a secondary telescopic cylinder body, and a secondary piston is arranged inside the secondary telescopic cylinder body.

[0007] Further, an inner limit circlip is arranged below the gripper center push rod, and the lower end of the gripper center push rod is fixed inside the gripper head base through the inner limit circlip. An outer limit circlip and a non-lubricated linear bearing I are arranged in sequence below the inner limit circlip, and the non-lubricated linear bearing I is installed in the gripper head base through the outer limit circlip. A sealing O-ring is also arranged below the non-lubricated linear bearing I.

[0008] Further, the top of the gripper center push rod contacts the gripper fixing small slider, and the bottom of the gripper center return pin is also pushed to contact the gripper fixing small slider.

[0009] Further, a bearing mounting cover is arranged above the cylinder body, and the bearing mounting cover is threadedly connected to the cylinder body.

[0010] Further, a secondary piston partition board is arranged above the secondary piston, and a return spring is sleeved on the secondary piston.

[0011] Further, threads are arranged below the gripper head base, and threads are also arranged above the secondary telescopic cylinder body. The gripper head base and the secondary telescopic cylinder body are threadedly connected.

[0012] Further, an oil-free linear bearing II is arranged below the first-stage telescopic mechanism, a self-locking sleeve is arranged below the oil-free linear bearing II, and two symmetric L-shaped grooves and two symmetrically penetrating C-shaped grooves are arranged on the surface of the self-locking sleeve; Further, a self-locking pin shaft is arranged in the L-shaped groove of the self-locking sleeve. Threads are arranged at both ends of the self-locking pin shaft. Both ends of the self-locking pin shaft penetrate out of the L-shaped groove and are fixed on the cylinder block through the threads; Further, a sliding pin shaft is arranged in the C-shaped groove of the self-locking sleeve. Two symmetric vertical grooves are arranged on the upper half of the cylinder block. The sliding pin shaft penetrates out of the C-shaped groove of the self-locking sleeve and the vertical groove of the cylinder block and is fixed in the concave hole below the second-stage telescopic cylinder block through the threads.

[0013] Further, a first-stage piston rod is arranged below the self-locking sleeve, a first-stage extending partition plate is arranged below the first-stage piston rod, threads are designed inside the head of the first-stage piston rod and below the second-stage telescopic cylinder block, and the two are connected through the threads.

[0014] Further, a partition plate positioning pin is arranged on the first-stage extending partition plate, and the first-stage extending partition plate is fixed on the cylinder block through the partition plate positioning pin. A first-stage extending piston is arranged below the first-stage extending partition plate, a reverse pulling rod is arranged below the first-stage extending piston, a reverse pulling partition plate is arranged below the reverse pulling rod, and a reverse pulling piston is arranged below the reverse pulling partition plate.

[0015] Further, two air inlet holes are arranged in the lower half of the cylinder block, one air inlet hole is at the reverse pulling rod, and the other air inlet hole is between the reverse pulling partition plate and the reverse pulling piston, and air inlet valves are arranged at the air inlet holes.

[0016] The beneficial effects of the present invention are as follows: 1. The four-legged configuration tube sheet of the present invention is a special positioning anchor claw designed for the inspection and positioning robot. Compared with the existing positioning anchor claw, it can bear a greater load force, the positioning performance is improved by 50%, and it can bear a larger overturning moment.

[0017] 2. Based on the positioning anchor claw of the present invention, the four-legged tube sheet inspection and positioning robot can freely crawl on the tube sheet and can make various obstacle avoidance actions.

[0018] 3. The positioning anchor claw of the present invention can be adapted to all types of tube sheets, greatly reducing the cost of the four-legged configuration tube sheet inspection and positioning robot. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 is a schematic external view of the positioning anchor claw of the present invention.

[0021] Figure 2 is a schematic internal structure view of the positioning anchor claw of the present invention.

[0022] Figure 3 is a schematic working view of the linkage telescopic mechanism of the positioning anchor claw of the present invention.

[0023] Figure 4 is a schematic working view of the secondary extension mechanism of the positioning anchor claw of the present invention.

[0024] Figure 5 is a schematic structure view of the gripper of the positioning anchor claw of the present invention.

[0025] Figure 6 is a schematic working view of the gripper mechanism of the positioning anchor claw of the present invention.

[0026] Figure 7 is a schematic external structure view of the positioning anchor claw of the present invention.

[0027] In the figure, 1. Gripper, 1-1. Base of the gripper head, 1-2. Fixed small slider of the gripper, 1-3. Central push rod of the gripper, 1-4. Return spring of the push rod, 1-5. Inner limit circlip, 1-6 Outer limit circlip, 1-7. Oil-free linear bearing 1, 1-8. Sealing O-ring, 1-9. Central return pin of the gripper, 1-10. Central return spring of the gripper, 2. Linkage telescopic self-locking mechanism, 2-1. Contact nut, 2-2. First-stage telescopic mechanism, 2-3. Oil-free linear bearing 2, 2-4. Sliding pin shaft, 2-5. Self-locking sleeve, 2-6. Self-locking pin shaft, 2-7. First-stage piston rod, 2-8. First-stage extension partition plate, 2-9. Partition plate positioning pin, 2-10. First-stage extension piston, 2-11. Anti-pull pull rod, 2-12. Anti-pull partition plate, 2-13 Anti-pull piston, 2-14. Cylinder block, 2-15. Bearing mounting cover, 3. Second-stage telescopic mechanism, 3-1. Second-stage telescopic cylinder block, 3-2. Second-stage piston partition plate, 3-3. Second-stage piston, 3-4. Return spring. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0029] Embodiment As Figures 1 to 7 shown, an embodiment of the present invention provides a positioning anchor claw for a quadruped tube sheet detection and positioning robot, including a gripper 1. The gripper 1 includes a gripper head base 1-1. The outer part of the gripper head base 1-1 is designed with an inclined surface, and three chutes are arranged on the inclined surface. Gripper fixed small sliders 1-2 are arranged in the chutes. The gripper fixed small sliders 1-2 slide along the inclined surface chutes of the gripper head base 1-1. When sliding upward, the envelope outer diameter increases, and the envelope size outside the three gripper fixed small sliders 1-2 can be increased to achieve the purpose of clamping the tube hole. When sliding downward, the envelope outer diameter decreases, and the inner wall of the grabbed tube hole is released.

[0030] There is a hole that runs through up and down in the center of the gripper head base 1-1. A gripper center push rod 1-3 is arranged in the lower half of the hole. An inner limit circlip 1-5 is arranged below the gripper center push rod 1-3, and the lower end of the gripper center push rod 1-3 is fixed inside the gripper head base 1-1 through the inner limit circlip 1-5 to prevent the gripper center push rod 1-3 from falling out of the gripper head base 1-1.

[0031] An outer limit circlip 1-6 and a non-lubricated linear bearing 1-7 are successively arranged below the inner limit circlip 1-5. The non-lubricated linear bearing 1-7 is installed in the gripper head base 1-1 through the outer limit circlip 1-6. The non-lubricated linear bearing 1-7 can provide support for the linear movement of the gripper 1. A sealing O-ring 1-8 is also arranged below the non-lubricated linear bearing 1-7, and the sealing O-ring 1-8 is used for dustproof sealing.

[0032] A push rod return spring 1-4 is sleeved on the gripper center push rod 1-3. The push rod return spring 1-4 compresses and stores energy when the gripper center push rod 1-3 moves upward, providing a thrust for the reset of the gripper center push rod 1-3.

[0033] In the upper half of the through hole inside the gripper head base 1-1, a gripper center return pin 1-9 is provided. Above the gripper center return pin 1-9, a gripper center return spring 1-10 is provided. When the gripper center push rod 1-3 pushes the gripper center return pin 1-9 upward, the gripper center return spring 1-10 stores energy. When resetting, the gripper center return spring 1-10 can push the gripper center return pin 1-9 downward, and then push the gripper center push rod 1-3 downward.

[0034] The top of the gripper center push rod 1-3 contacts the gripper fixed small slider 1-2, and the bottom of the push rod that pushes the gripper center return pin 1-9 also contacts the gripper fixed small slider 1-2. The cooperation between the gripper center push rod 1-3 and the gripper center return pin 1-9 enables the upward and downward movement of the gripper fixed small slider 1-2.

[0035] The gripper center push rod 1-3, the push rod return spring 1-4, the inner limit circlip 1-5, the outer limit circlip 1-6, the oil-free linear bearing one 1-7, and the sealing O-ring 1-8 are all arranged inside the gripper head base 1-1.

[0036] Below the gripper 1, a linkage telescopic self-locking mechanism 2 is provided. The linkage telescopic self-locking mechanism 2 includes a cylinder block 2-14. Above the cylinder block 2-14, a bearing mounting cover 2-15 is provided. The bearing mounting cover 2-15 is threadedly connected to the cylinder block 2-14.

[0037] At the uppermost part inside the cylinder block 2-14, a primary telescopic mechanism 2-2 is provided. Above the primary telescopic mechanism 2-2, a contact nut 2-1 is provided. The contact nut 2-1 is the part where the linkage telescopic self-locking mechanism 2 contacts the external environment and has the function of preventing wear.

[0038] Inside the primary telescopic mechanism 2-2, a secondary telescopic mechanism 3 is provided. The secondary telescopic mechanism 3 includes a secondary telescopic cylinder block 3-1. Inside the secondary telescopic cylinder block 3-1, a secondary piston 3-3 is provided. The secondary piston 3-3 is used to push the gripper center push rod 1-3 to rise.

[0039] Above the secondary piston 3-3, a secondary piston partition 3-2 is provided to isolate the gas and ensure sealing.

[0040] A return spring 3-4 is sleeved on the secondary piston 3-3. When the secondary piston 3-3 moves upward, the return spring 3-4 is compressed and stores energy, providing a thrust for the reset of the secondary piston 3-3.

[0041] A thread is provided below the gripper head base 1-1, and a thread is also provided above the secondary telescopic cylinder body 3-1. The gripper head base 1-1 and the secondary telescopic cylinder body 3-1 are connected by threads.

[0042] An oil-free linear bearing two 2-3 is provided below the primary telescopic mechanism 2-2 to provide support for the linear movement of the primary telescopic mechanism 2-2. A self-locking sleeve 2-5 is provided below the oil-free linear bearing two 2-3. Two symmetric L-shaped grooves and two symmetrically penetrating C-shaped grooves are provided on the surface of the self-locking sleeve 2-5. A self-locking pin 2-6 is provided in the L-shaped groove of the self-locking sleeve 2-5. Threads are provided at both ends of the self-locking pin 2-6. Both ends of the self-locking pin 2-6 pass through the L-shaped groove and are fixed to the cylinder body 2-14 by threads. The self-locking sleeve 2-5 can slide relative to the self-locking pin 2-6 through the L-shaped groove.

[0043] A sliding pin 2-4 is provided in the C-shaped groove of the self-locking sleeve 2-5. Two symmetric vertical grooves are provided in the upper half of the cylinder body 2-14. The sliding pin 2-4 passes through the C-shaped groove of the self-locking sleeve 2-5 and the vertical groove of the cylinder body 2-14 and is fixed in the concave hole below the secondary telescopic cylinder body 3-1 by threads.

[0044] A primary piston rod 2-7 is provided below the self-locking sleeve 2-5. While the primary piston rod 2-7 can push the secondary telescopic mechanism 3 to extend, it can also drive the sliding pin 2-4 connected to the secondary telescopic mechanism 3 to move together. At this time, the sliding pin 2-4 is located at the bottom of the C-shaped groove of the self-locking sleeve 2-5, and the self-locking pin 2-6 is located at the top of the vertical part of the L-shaped groove of the self-locking sleeve 2-5. During this process, the sliding pin 2-4 drives the secondary telescopic mechanism 3 to rise, the sliding pin 2-4 drives the self-locking sleeve 2-5 to rise, and at the same time, the self-locking sleeve 2-5 will rotate due to the rise of the sliding pin 2-4. At this time, the primary telescopic mechanism 2-2 installed on the self-locking sleeve 2-5 rises, and the self-locking pin 2-6 moves relatively downward along the vertical part of the L-shaped groove of the self-locking sleeve 2-5.

[0045] When the self-locking pin 2-6 moves to the bottom of the vertical part of the L-shaped groove of the self-locking sleeve 2-5, the sliding pin 2-4 continues to rise due to air pressure, and the self-locking pin 2-6 enters the horizontal part of the L-shaped groove due to the rotation of the self-locking sleeve 2-5, blocking the self-locking sleeve 2-5 from continuing to rise. At this time, the sliding pin 2-4 continues to rise and drives the self-locking sleeve 2-5 to rotate. The self-locking pin 2-6 is stuck in the horizontal part of the self-locking sleeve 2-5 until the sliding pin 2-4 enters the vertical part of the C-shaped groove. The secondary telescopic mechanism 3 continues to extend until the sliding pin 2-4 reaches the top of the C-shaped groove, and the secondary telescopic mechanism 3 is fully extended. Conversely, it is the retraction process.

[0046] Below the first - stage piston rod 2 - 7, there is a first - stage extension partition plate 2 - 8. The first - stage extension partition plate 2 - 8 can seal and isolate gas. Threads are designed inside the head of the first - stage piston rod 2 - 7 and below the second - stage telescopic cylinder body 3 - 1, and the two are connected by threads.

[0047] On the first - stage extension partition plate 2 - 8, there is a partition plate positioning pin 2 - 9, and the first - stage extension partition plate 2 - 8 is fixed on the cylinder body 2 - 14 through the partition plate positioning pin 2 - 9. Below the first - stage extension partition plate 2 - 8, there is a first - stage extension piston 2 - 10, and the first - stage extension piston 2 - 10 can push the first - stage piston rod 2 - 7 to move upward.

[0048] Below the first - stage extension piston 2 - 10, there is a reverse - pull pull rod 2 - 11. Below the reverse - pull pull rod 2 - 11, there is a reverse - pull partition plate 2 - 12. The reverse - pull partition plate 2 - 12 is used to isolate gas. Below the reverse - pull partition plate 2 - 12, there is a reverse - pull piston 2 - 13, which is used to pull the reverse - pull pull rod 2 - 11 to increase the reverse - pulling force.

[0049] There are two air inlet holes in the lower half of the cylinder body 2 - 14. One air inlet hole is at the reverse - pull pull rod 2 - 11, and the other air inlet hole is between the reverse - pull partition plate 2 - 12 and the reverse - pull piston 2 - 13. And air inlet valves are arranged at the air inlet holes.

[0050] In the linkage telescopic self - locking mechanism 2, except for the contact nut 2 - 1 and the bearing mounting cover 2 - 15, the rest are arranged inside the cylinder body 2 - 14.

[0051] The process of the positioning anchor claw extending in the present invention is as follows: Gas enters the inside of the cylinder body 2 - 14 from the air inlet hole at the reverse - pull pull rod 2 - 11 of the cylinder body 2 - 14, pushing the first - stage extension piston 2 - 10 to move upward. The first - stage extension piston 2 - 10 pushes the first - stage piston rod 2 - 7 to move upward. During the rising process of the first - stage piston rod 2 - 7, it pushes the second - stage telescopic mechanism 3 to rise. The second - stage telescopic mechanism 3 drives the self - locking sleeve 2 - 5 to rise together. At the same time, the first - stage telescopic mechanism 2 - 2 installed on the self - locking sleeve 2 - 5 also rises simultaneously; When the second - stage telescopic mechanism 3 rises, the second - stage piston 3 - 3 pushes the gripper center push rod 1 - 3 to move upward. The gripper center push rod 1 - 3 pushes the gripper fixed small sliding shoe 1 - 2 to move upward. The outer diameter envelope size of the gripper fixed small sliding shoe 1 - 2 gradually increases to clamp the inner wall of the contact pipe hole. The gripper center return pin 1 - 9 moves upward due to the upward movement of the gripper fixed small sliding shoe 1 - 2, compressing and storing energy in the push rod return spring 1 - 4.

[0052] When the self-locking pin shaft 2-6 slides to the turning point at the bottom of the L-shaped chute of the self-locking sleeve 2-5, the self-locking pin shaft 2-6 and the self-locking sleeve 2-5 are relatively stationary in the vertical direction. At this time, the first-stage extending piston 2-10 continues to drive the first-stage piston rod 2-7 to push upward. The sliding pin shaft 2-4 starts to rotate relative to the self-locking sleeve 2-5. Furthermore, the self-locking pin shaft 2-6 slides relative to the self-locking sleeve 2-5, and the self-locking pin shaft 2-6 slides into the horizontal part of the L-shaped chute of the self-locking sleeve 2-5. At this time, the self-locking sleeve 2-5 is stuck by the self-locking pin shaft 2-6, and the sliding pin shaft 2-4 slides into the vertical groove of the C-shaped chute of the self-locking sleeve 2-5. The first-stage extending piston 2-10 continues to drive the first-stage piston rod 2-7 to push upward, and the second-stage telescopic mechanism 3 continues to extend until it reaches the top of the linkage telescopic self-locking mechanism 2.

[0053] When the positioning anchor claw retracts, open the intake valve of the air intake hole between the anti-pull partition plate 2-12 and the anti-pull piston 2-13. The gas pushes the anti-pull piston 2-13 to move downward. The anti-pull piston 2-13 drives the anti-pull pull rod 2-11 to move downward, and then drives the first-stage extending piston 2-10 to move downward. The rest of the process is opposite to the extending process of the positioning anchor claw.

[0054] The positioning anchor claw of the present invention is a special positioning anchor claw designed for the quadruped configuration tube sheet inspection and positioning robot. Based on the quadruped configuration design, this positioning anchor claw can withstand a large load and a large overturning moment. Compared with the existing positioning anchor claws, the present invention is designed with the cooperation of an inverted inclined plane and a small sliding shoe. The vertical load capacity reaches 60 kg, and the overturning moment bearing capacity reaches 3 N·m.

[0055] Each embodiment in this specification is described in a related manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A positioning anchor claw for a quadruped tube sheet detection and positioning robot, characterized in that, It includes a gripper (1), and the gripper (1) includes a gripper head base (1-1). The exterior of the gripper head base (1-1) is designed with an inclined surface, and a chute is provided on the inclined surface. Gripper fixed small sliders (1-2) are arranged in the chutes. There is a hole that runs through the upper and lower parts at the center inside the gripper head base (1-1). A gripper center push rod (1-3) is arranged in the lower half of the hole, and a gripper center return pin (1-9) is arranged in the upper half. A push rod return spring (1-4) is sleeved on the gripper center push rod (1-3), and a gripper center return spring (1-10) is arranged above the gripper center return pin (1-9); A linkage telescopic self-locking mechanism (2) is arranged below the gripper (1). The linkage telescopic self-locking mechanism (2) includes a cylinder block (2-14). At the uppermost part inside the cylinder block (2-14), a first-stage telescopic mechanism (2-2) is arranged. A contact nut (2-1) is arranged above the first-stage telescopic mechanism (2-2). A second-stage telescopic mechanism (3) is arranged inside the first-stage telescopic mechanism (2-2). The second-stage telescopic mechanism (3) includes a second-stage telescopic cylinder block (3-1), and a second-stage piston (3-3) is arranged inside the second-stage telescopic cylinder block (3-1).

2. The positioning anchor claw for a quadruped tube sheet detection and positioning robot according to claim 1, characterized in that, An inner limit circlip (1-5) is arranged below the gripper center push rod (1-3), and the lower end of the gripper center push rod (1-3) is fixed inside the gripper head base (1-1) through the inner limit circlip (1-5). An outer limit circlip (1-6) and a non-lubricated linear bearing I (1-7) are sequentially arranged below the inner limit circlip (1-5), and the non-lubricated linear bearing I (1-7) is installed inside the gripper head base (1-1) through the outer limit circlip (1-6). A sealing O-ring (1-8) is also arranged below the non-lubricated linear bearing I (1-7).

3. The positioning anchor claw for a quadruped tube sheet detection and positioning robot according to claim 1, characterized in that, The top of the gripper center push rod (1-3) contacts the gripper fixed small slider (1-2), and the bottom of the gripper center return pin (1-9) is also pushed to contact the gripper fixed small slider (1-2).

4. The positioning anchor claw for a quadruped tube sheet detection and positioning robot according to claim 1, characterized in that, A bearing mounting cover (2-15) is arranged above the cylinder block (2-14), and the bearing mounting cover (2-15) is threadedly connected to the cylinder block (2-14).

5. The positioning anchor claw for a quadruped tube sheet detection and positioning robot according to claim 1, characterized in that A second-stage piston partition plate (3-2) is arranged above the second-stage piston (3-3), and a return spring (3-4) is sleeved on the second-stage piston (3-3).

6. The positioning anchor claw for the quadruped tube sheet detection and positioning robot according to claim 1, wherein, Threads are provided below the gripper head base (1-1), and threads are also provided above the second-stage telescopic cylinder block (3-1). The gripper head base (1-1) and the second-stage telescopic cylinder block (3-1) are threadedly connected.

7. The positioning anchor claw for a quadruped tube sheet detection and positioning robot according to claim 1, characterized in that, A non-lubricated linear bearing II (2-3) is arranged below the first-stage telescopic mechanism (2-2). A self-locking sleeve (2-5) is arranged below the non-lubricated linear bearing II (2-3). Two symmetric L-shaped grooves and two symmetrically penetrating C-shaped grooves are arranged on the surface of the self-locking sleeve (2-5); A self-locking pin shaft (2-6) is arranged in the L-shaped groove of the self-locking sleeve (2-5). Threads are provided at both ends of the self-locking pin shaft (2-6). The two ends of the self-locking pin shaft (2-6) penetrate out of the L-shaped groove and are fixed on the cylinder block (2-14) through the threads. A sliding pin shaft (2-4) is arranged in the C-shaped groove of the self-locking sleeve (2-5). Two symmetrical vertical grooves are provided in the upper half of the cylinder block (2-14). The sliding pin shaft (2-4) penetrates out of the C-shaped groove of the self-locking sleeve (2-5) and the vertical groove of the cylinder block (2-14) and is fixed in the concave hole below the secondary telescopic cylinder block (3-1) through the threads.

8. The positioning anchor claw for a quadruped tube sheet detection and positioning robot according to claim 7, characterized in that, A primary piston rod (2-7) is arranged below the self-locking sleeve (2-5). A primary extending partition plate (2-8) is arranged below the primary piston rod (2-7). Threads are designed inside the head of the primary piston rod (2-7) and below the secondary telescopic cylinder block (3-1), and the two are connected through the threads.

9. The positioning anchor claw for a quadruped tube sheet detection and positioning robot according to claim 8, characterized in that, A partition plate positioning pin (2-9) is arranged on the primary extending partition plate (2-8), and the primary extending partition plate (2-8) is fixed on the cylinder block (2-14) through the partition plate positioning pin (2-9). A primary extending piston (2-10) is arranged below the primary extending partition plate (2-8). A reverse pulling tie rod (2-11) is arranged below the primary extending piston (2-10). A reverse pulling partition plate (2-12) is arranged below the reverse pulling tie rod (2-11). A reverse pulling piston (2-13) is arranged below the reverse pulling partition plate (2-12).

10. The positioning anchor claw for the quadruped tube sheet detection and positioning robot according to claim 1, characterized in that, Two air inlets are provided in the lower half of the cylinder block (2-14). One air inlet is at the reverse pulling tie rod (2-11), and the other air inlet is between the reverse pulling partition plate (2-12) and the reverse pulling piston (2-13). Air inlet valves are provided at the air inlets.

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