Port facility equipment maintenance device and maintenance method

Abstract

The invention relates to a port facility equipment overhauling device, which belongs to the technical field of intelligent ports and comprises a carrying platform, a first mechanical arm, a second mechanical arm and a mechanical claw, a moving tool is carried on the carrying platform and is used for moving the maintenance device to a specified position; a connecting part connected with the carrying platform is arranged at one end of the first mechanical arm, the other end of the first mechanical arm is connected with the mechanical claw, and the posture of the mechanical claw is adjusted by adjusting the posture of the first mechanical arm; the second mechanical arm is arranged on the periphery of the first mechanical arm in a sleeving mode, an auxiliary mechanical arm front-end tool is arranged at the end, close to the mechanical claw, of the second mechanical arm, and operation is assisted through the auxiliary mechanical arm front-end tool. Compared with the prior art, the port facility equipment overhauling device has the advantages that the complex task processing capacity is improved through cooperative operation of the multiple mechanical arms, linkage is achieved through gear meshing and bearing limiting of the first mechanical arm and the second mechanical arm, and complex work which cannot be competent by a single tool can be cooperatively completed.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent ports, and in particular to a port facility equipment maintenance device and a maintenance method. Background Art

[0002] With the development of China's maritime power and the booming shipping industry, more and more ports and terminals are emerging. However, the maintenance of numerous port equipment has always faced many challenges, including complex port conditions, large sites, high-altitude maintenance, difficulty and high risks, and low efficiency. At the same time, with the development of unmanned terminals and smart port technologies, a powerful maintenance device with a wide range of applications and access to intelligent control has become extremely important.

[0003] In the existing technology, most maintenance machines operate within a fixed range. For example, in Chinese Patent Publication No. CN218562082U, since it is mainly used for bridge maintenance, its application scenario is relatively specific and after installation, it only works on a single bridge. In another example, in Chinese Patent Publication No. CN113560840A, since the live-operation locking pin installation robot of the drone system designed therein only works for locking pin installation, it cannot handle emergency work in other live environments. In addition, the existing technology rarely has a large-scale multifunctional maintenance device that conforms to the development of smart terminals. Summary of the Invention

[0004] The purpose of the present invention is to provide a port facility equipment maintenance device and maintenance method in order to overcome at least one of the above-mentioned defects in the prior art.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] One of the objects of the present invention is a port facility equipment maintenance device, comprising a carrying platform, a first robotic arm, a second robotic arm, and a robotic claw;

[0007] The carrying platform is equipped with a moving tool for moving the maintenance device to a designated location;

[0008] One end of the first robotic arm is provided with a connection portion connected to the carrying platform, and the other end is connected to the robotic claw, and the posture of the robotic claw is adjusted by adjusting the posture of the first robotic arm;

[0009] The second robotic arm is sleeved on the periphery of the first robotic arm, and an auxiliary robotic arm front end tool is provided at one end thereof close to the robotic claw, so as to assist the operation through the auxiliary robotic arm front end tool.

[0010] Specifically, the first robotic arm is used to drive the second robotic arm and the robotic claw to move in a certain trajectory and posture; the second robotic arm is mounted on the periphery of the first robotic arm, and is meshed and connected with the first robotic arm. Specifically, it is limited and transmitted by the meshing of bearings and gears, and is used to drive the tool or tool changing device at the front end of the second robotic arm to assist the robotic claw to complete complex tasks that a single tool cannot complete or to help the robotic claw replace the front end tool when the first robotic arm drives the robotic claw to work; a front end tool may also be provided in the middle of the robotic claw, which is provided at the end of the first robotic arm away from the connecting part, and is used to clamp objects or use the front end tool to complete the main work.

[0011] Furthermore, the first robotic arm includes a first robotic arm segment 1, a first robotic arm segment 2, and a first robotic arm segment 3 connected in sequence;

[0012] The first robotic arm segment 1 is connected to a first motor provided on the connecting portion, and the first robotic arm segment 1 is driven to rotate around the Z axis by the first motor;

[0013] The first robotic arm segment 2 is connected to a second motor provided on the first robotic arm segment 1, and the first robotic arm segment 2 is driven to rotate around the X-axis by the second motor;

[0014] The first robotic arm segment three is connected to a third motor provided on the first robotic arm segment two, and the first robotic arm segment three is driven to rotate around the X-axis by the third motor.

[0015] Furthermore, the second robotic arm includes a rotating ring, a second robotic arm segment 1, a second robotic arm segment 2, and a second robotic arm segment 3 connected in sequence;

[0016] The rotating ring is sleeved on the second segment of the first robotic arm;

[0017] The second robotic arm segment 1 is connected to a fourth motor provided on the rotating ring, and the second robotic arm segment 1 is driven to rotate around the X-axis by the fourth motor;

[0018] The second robotic arm segment 2 is connected to a fifth motor provided on the second robotic arm segment 1, and the second robotic arm segment 2 is driven to rotate around the X-axis by the fifth motor;

[0019] The second robotic arm segment three is connected to the sixth motor provided on the second robotic arm segment two, and the second robotic arm segment three is driven to rotate around the X-axis by the sixth motor.

[0020] Furthermore, the end of the second robotic arm segment three facing away from the second robotic arm segment two is connected to the auxiliary robotic arm front end tool. The tool can be installed as various existing tools, and when the robotic claw or the front end tool on the robotic claw is working, it can simultaneously perform other complex work around the working body; or it can be installed as a front end tool replacement device, and the replacement of the robotic claw front end tool is completed through the relative movement of the second robotic arm and the first robotic arm.

[0021] Furthermore, a seventh motor is provided on the rotating ring, and a meshing gear is provided at the output end of the seventh motor. The meshing gear is meshed and connected with the shaft gear provided on the second segment of the first robotic arm, so that the second robotic arm can complete the rotation around the first robotic arm under the relative rotation of the rotating ring and the first robotic arm, and then drive the front-end tool to reach the vicinity of the robotic claw in a certain posture to realize auxiliary work around the robotic claw.

[0022] Furthermore, a bearing is provided at the connection between the rotating ring and the first robotic arm segment 2.

[0023] Furthermore, the mechanical claw includes a four-claw clamp and a replaceable front end tool;

[0024] The four-claw clamp comprises:

[0025] The shell, connectors and upper platform are connected in sequence;

[0026] An electric push rod is arranged in the housing, and a piston rod of the electric push rod passes through the housing and is connected to a rotating motor housing arranged in the connecting member;

[0027] A rotating motor is provided in the rotating motor housing, wherein the output end of the rotating motor passes through the upper platform and is provided with a front end tool mounting column, and the replaceable front end tool is detachably mounted on the front end tool mounting column;

[0028] A plurality of mechanical claw arms are arranged around the front-end tool mounting column, and the mechanical claw arms are rotatably connected to the upper platform. A connecting rod is provided between the claw end of the mechanical claw arm and the rotating motor housing to rotatably connect the two.

[0029] Furthermore, the mobile tool is a drone.

[0030] A second object of the present invention is to provide a method for repairing port facilities and equipment, which utilizes the repair device described above and comprises the following steps:

[0031] S1. The mobile tool moves to the trimming area. The first motor, second motor, and third motor of the first robotic arm drive the corresponding robotic arm segments to rotate, thereby extending the first robotic arm so that the robotic claw approaches the device to be installed in a suitable posture. The electric push rod extends and the four-claw clamp opens. When the four-claw clamp encloses the device to be installed within the grasping range, the electric push rod retracts, allowing the four-claw clamp to clamp the device to be installed, and the electric push rod maintains the current state.

[0032] S2. The mobile tool moves to the installation area, and the first motor, second motor, and third motor of the first robotic arm drive the corresponding robotic arm segments to rotate, adjusting the posture of the first robotic arm so that the device to be installed is in stable contact with the connection surface of the installation area;

[0033] S3. Use the fourth motor, the fifth motor, and the sixth motor of the second robotic arm to drive the corresponding robotic arm segments to rotate, so that the auxiliary robotic arm front end tool approaches the position of the installation screw of the device to be installed, and adjust the posture of the second robotic arm again so that the auxiliary robotic arm front end tool and the screw travel direction are collinear, and tighten the screw using the auxiliary robotic arm front end tool. Repeat the operation until the installation of the device to be installed is completed;

[0034] S4. The electric push rod extends and the four-claw clamp opens, so that the installed device is separated from the mechanical claw. The first motor, second motor and third motor of the first mechanical arm drive the corresponding mechanical arm segments to rotate, retract the first mechanical arm, and move the tool back to its original position.

[0035] A third object of the present invention is a method for repairing port facilities and equipment, which utilizes the repair device described above and includes the following steps:

[0036] S1. The front end of the mechanical claw is equipped with a replaceable front end tool;

[0037] S2. The mobile tool moves to the working area, and the electric push rod extends to open the mechanical claw arm to the limit position. At the same time, the front-end tool can be replaced and extended to the farthest position.

[0038] S3, driving the corresponding segments of the first robotic arm to rotate by the first motor, the second motor, and the third motor of the first robotic arm, adjusting the posture of the first robotic arm so that the replaceable front-end tool approaches the working area;

[0039] S4, completing the operation of the replaceable front-end tool in the working area by adjusting the posture of the first robotic arm and moving the mobile tool;

[0040] S5. After the operation is completed, the first motor, the second motor and the third motor of the first robotic arm drive the corresponding robotic arm segments to rotate, retract the first robotic arm, and move the tool back to its original position.

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] (1) The present invention provides a port facility equipment maintenance device, which improves the ability to handle complex tasks through the collaborative operation of multiple robotic arms. The first robotic arm and the second robotic arm are linked through gear engagement and bearing limit, and can collaboratively complete complex tasks that a single tool cannot handle.

[0043] (2) The present invention provides a port facility equipment maintenance device, in which the auxiliary tool or tool replacement device at the front end of the second mechanical arm of the device can synchronously perform auxiliary operations or quickly replace tools while the mechanical claw is working, thereby reducing downtime and improving maintenance efficiency.

[0044] (3) The present invention provides a port facility equipment maintenance device, which can change the immobility of traditional maintenance equipment through the flexibility of drones, and can perform equipment maintenance and repair in areas including high altitude, near the ground, and parts of the facility extending out of the coast; it realizes the needs of transporting workpieces from the ground to high altitude working surfaces or retrieving objects from complex environments, and has a certain carrying capacity, and can complete tasks such as sampling and cleaning and short-distance small piece transportation, so as to better cope with the complexity of port maintenance work.

[0045] (4) The present invention provides a method for repairing port facilities and equipment, which achieves a change in the main work objectives by replacing different front-end tools. Different work contents can be completed by simply adding replaceable connectors to the tools used for different work requirements and connecting them to the front end of the rotating mechanism of the mechanical claw, assisted by the variable speed rotation function of the rotating mechanism. At the same time, there is an auxiliary mechanical arm to assist the work content of the main mechanical arm and the four-claw multifunctional mechanical claw. The entire device has complex functions such as independently completing the installation of small devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is one of the schematic diagrams of the port facility equipment maintenance device of the present invention;

[0047] Figure 2 This is the second schematic diagram of the port facility equipment maintenance device of the present invention;

[0048] Figure 3 is a schematic diagram of the first robotic arm of the present invention;

[0049] Figure 4 is a schematic diagram of the second robotic arm of the present invention;

[0050] Figure 5 Schematic diagram of the connection between the first robotic arm and the second robotic arm in the present invention;

[0051] Figure 6 Schematic diagram of the mechanical claw of the present invention;

[0052] Figure 7is a cross-sectional view of the mechanical claw of the present invention;

[0053] Figure 8 This is a partial enlarged view of a first robotic arm segment in the present invention;

[0054] Figure 9 This is a partial enlarged view of the second section of the first robotic arm in the present invention;

[0055] Figure 10 It is a partial enlarged view of three parts of the first robotic arm segment in the present invention;

[0056] Figure 11 This is a partial enlarged view of a portion of the second robotic arm segment in the present invention;

[0057] Figure 12 This is a partial enlarged view of the second segment of the second robotic arm in the present invention;

[0058] Figure 13 It is a partial enlarged view of three parts of the second robot arm segment in the present invention;

[0059] Numbers in the figure are as follows: 1-main robot arm; 2-auxiliary robot arm; 3-robot claw; 11-connecting part; 111-first motor; 12-first robot arm segment 1; 121-second motor; 13-first robot arm segment 2; 131-third motor; 132-shaft gear; 14-first robot arm segment 3; 21-rotating ring; 211-seventh motor; 212-gear; 213-bearing; 22-second robot arm segment 1; 221-fourth motor ;23-Second robotic arm segment two;231-Fifth motor;24-Second robotic arm segment three;241-Sixth motor;25-Auxiliary robotic arm front end tool;31-Four-claw clamp;33-Replaceable front end tool;311-Electric push rod;312-Push rod housing;313-Connecting part;314-Motor housing;315-Upper platform;316-Robot claw arm;317-Rotating motor;318-Front end tool mounting column;319-Transmission rod. DETAILED DESCRIPTION

[0060] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0061] In the description of the present invention, it should be noted that the terms "starting end", "end", "front end", "rear end", "up", "down", "vertical", "horizontal", "X-axis", "Y-axis", "Z-axis", etc. indicate orientations or positional relationships determined based on the ground and the flight direction of the drone in real life. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0062] In the description of the present invention, the terms “first”, “second” and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0063] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0064] In the following implementation manners or examples, unless otherwise specified, functional components or structures are conventional components or conventional structures used in the art to achieve corresponding functions.

[0065] Example 1

[0066] One of the purposes of the present invention is to provide a port facility equipment maintenance device, the specific structure of which is shown in Figure 1-13 , including a carrying platform, a first robotic arm 1, a second robotic arm 2 and a robotic claw 3:

[0067] The carrying platform is equipped with a moving tool for moving the maintenance device to a designated location;

[0068] One end of the first robotic arm 1 is provided with a connection portion 11 connected to the carrying platform, and the other end is connected to the robotic claw 3. By adjusting the posture of the first robotic arm 1, the posture of the robotic claw 3 is adjusted. In other words, the first robotic arm 1 is used to drive the second robotic arm 2 and the robotic claw 3 to move in a certain trajectory and posture;

[0069] The second robotic arm 2 is sleeved on the periphery of the first robotic arm 1, and an auxiliary robotic arm front-end tool 25 is provided at one end thereof near the robotic claw 3, and the auxiliary robotic arm front-end tool 25 assists in the operation; optionally, the second robotic arm 2 is sleeved on the periphery of the first robotic arm 1, and is meshed and connected with the first robotic arm 1. Specifically, the second robotic arm 2 is limited and transmitted by the meshing of bearings and gears, and is used to drive the tool or tool changing device at the front end of the second robotic arm 2 when the first robotic arm 2 drives the robotic claw 3 to work, to assist the robotic claw 3 to complete complex tasks that a single tool cannot complete or to help the robotic claw 3 replace the front-end tool;

[0070] A front end tool may also be provided in the middle of the mechanical claw 3, which is provided at the end of the first mechanical arm 1 away from the connecting portion, and is used to clamp objects or use the front end tool to complete the main work.

[0071] Please refer to Figure 2 、 8 -10, in this embodiment, the first robotic arm 1 includes a first robotic arm segment 12, a first robotic arm segment 2 13, and a first robotic arm segment 3 14 connected in sequence;

[0072] The first robot arm segment 12 is connected to the first motor 111 provided on the connecting portion 11, and the first robot arm segment 12 is driven to rotate around the Z axis by the first motor 111;

[0073] The first robotic arm segment 2 13 is connected to the second motor 121 provided on the first robotic arm segment 12, and the first robotic arm segment 2 13 is driven to rotate around the X-axis by the second motor 121;

[0074] The first robotic arm segment three 14 is connected to the third motor 131 provided on the first robotic arm segment two 13 , and the first robotic arm segment three 14 is driven to rotate around the X-axis by the third motor 131 .

[0075] Please refer to Figure 3 、 11 -13, in this embodiment, the second robotic arm 2 includes a rotating ring 21, a second robotic arm segment 1 22, a second robotic arm segment 23, and a second robotic arm segment 3 24 connected in sequence;

[0076] The rotating ring 21 is sleeved on the first robotic arm segment 2 13;

[0077] The second robotic arm segment 1 22 is connected to a fourth motor 221 provided on the rotating ring 21 , and the second robotic arm segment 1 22 is driven to rotate around the X-axis by the fourth motor 221 ;

[0078] The second robotic arm segment 23 is connected to the fifth motor 231 provided on the second robotic arm segment 1 22, and the second robotic arm segment 23 is driven to rotate around the X-axis by the fifth motor 231;

[0079] The second robotic arm segment three 24 is connected to the sixth motor 241 provided on the second robotic arm segment two 23 , and the second robotic arm segment three 24 is driven to rotate around the X-axis by the sixth motor 241 .

[0080] Among them, the first motor 111, the second motor 121, the third motor 131, the fourth motor 221, the fifth motor 231 and the sixth motor 241 are all servos or reduction motors. The reduction motor model can be RDS3235 DC reduction motor, and the servo model can be DH-03X servo.

[0081] Please refer to Figure 3 In this embodiment, an auxiliary robot arm front-end tool 25 is further provided at the end of the second robot arm segment three 24 facing away from the second robot arm segment two 23. The tool can be installed as various existing tools, such as a socket, a screwdriver, and a spray gun, etc., and can be used for the robot claw 3 or the front-end tool 33 on the robot claw to perform other complex work around the working body at the same time; or it can be installed as a front-end tool replacement device to complete the replacement of the robot claw front-end tool 33 through the relative movement of the second robot arm 2 and the first robot arm 1.

[0082] Please refer to Figure 3-4 In this embodiment, a seventh motor 211 is further provided on the rotating ring 21, and a meshing gear 212 is provided at the output end of the seventh motor 211. The meshing gear 212 is meshed and connected with the shaft gear 132 provided on the first robotic arm segment 2 13, so that the second robotic arm 2 can complete the rotation around the first robotic arm 1 under the relative rotation of the rotating ring 21 and the first robotic arm 1, thereby driving the front-end tool to reach the vicinity of the robotic claw in a certain posture, so as to realize auxiliary work around the robotic claw.

[0083] Please refer to Figure 4 In this embodiment, a bearing 213 is provided at the connection between the rotating ring 21 and the first robot arm segment 2 13 .

[0084] Please refer to Figure 5-6 In this embodiment, the mechanical claw 3 includes a four-claw clamp 31 and a replaceable front end tool 33; the four-claw clamp 31 includes a housing 312, a connector 313, an upper platform 315, an electric push rod 311, a rotary motor 317, and a plurality of mechanical claw arms 316;

[0085] The shell 312, the connecting piece 313 and the upper platform 315 are connected in sequence; the electric push rod 311 is arranged in the shell 312, and the piston rod of the electric push rod 311 passes through the shell 312 and is connected to the rotating motor housing 314 arranged in the connecting piece 313; the rotating motor 317 is arranged in the rotating motor housing 314, and the output end of the rotating motor 317 passes through the upper platform 315 and is provided with a front end tool mounting column 318, and the replaceable front end tool 33 is detachably mounted on the front end tool mounting column 318; a plurality of the mechanical claw arms 316 are arranged around the front end tool mounting column 318, and the mechanical claw arm 316 is rotatably connected to the upper platform 315, and a connecting rod 319 is provided between the claw end of the mechanical claw arm 316 and the rotating motor housing 314 to rotatably connect the two.

[0086] Specifically, the electric push rod 311 is fixedly installed in the push rod housing 312; the front end of the electric push rod 311 is fixedly connected to the motor housing 314; the push rod housing 312 and the upper platform 315 are fixedly connected and maintained at a fixed distance through four pillars 313; the rotary motor 317 is fixedly installed in the motor housing 314; the end of the front tool mounting column 318 away from the replaceable tool port is connected to the rotating shaft of the rotary motor, so that the front tool mounting column 318 and the replaceable front tool 33 can perform rotating operations such as installing a sleeve to tighten a screw. One end of the mechanical claw arm 316 is hingedly mounted on the outer ring of the upper plane 315, so that the mechanical claw arm can rotate within the plane where the axis of the mechanical claw arm and the front tool mounting column are located; one end of the transmission rod 319 is hingedly mounted on the outer ring of the motor housing 314, and the end away from the outer ring of the motor housing 314 is hingedly mounted in the middle position of the mechanical claw arm near the tip side. When the electric push rod 311 pushes the motor housing 314 forward, the transmission rod will drive the mechanical claw arm to open, that is, away from the front tool mounting column 318 in the middle;

[0087] In this embodiment, the mobile tool is a drone. The flexibility of the drone changes the immobility of traditional maintenance equipment, and equipment can be inspected and maintained in areas including high altitude, near the ground, and areas where facilities extend out to the coast.

[0088] Example 2

[0089] This embodiment provides a method for repairing port facilities and equipment, which utilizes the repair device described in Example 1. The front end of the mechanical claw 3 of the repair device of this embodiment is not equipped with any replaceable front end tool 33;

[0090] The maintenance method includes the following steps:

[0091] S1. The drone takes off with its robotic arm to the trimming area. Near the ground, the first motor 111, the second motor 121, and the third motor 131 of the first robotic arm 1 drive the corresponding robotic arm segments to rotate, thereby extending the first robotic arm 1 so that the robotic claw 3 approaches the device to be installed in a suitable posture. The electric push rod 311 extends and the four-claw clamp 31 opens. When the four-claw clamp 31 encompasses the device to be installed within its grasping range, the electric push rod 311 retracts, causing the four-claw clamp 31 to clamp the device to be installed, and the electric push rod 311 maintains its current state.

[0092] S2. The drone flies to and hovers near the area where the device to be installed is to be installed. The first motor 111, the second motor 121, and the third motor 131 of the first robotic arm 1 drive the corresponding robotic arm segments to rotate, and the posture of the first robotic arm 1 is adjusted so that the device to be installed is in stable contact with the connection surface of the installation area.

[0093] A bearing 213 is installed between the rotating ring 21 of the second robotic arm 2 and the first robotic arm segment 2 13. The seventh motor 211 rotates to drive the meshing gear 212 to mesh with the shaft gear 132 on the first robotic arm segment 2 13 and rotate relative to each other, assisting the robotic arm 2 to rotate directly toward the device to be mounted, which is gripped by the four-claw multifunctional robotic arm 3.

[0094] S3. Drive the corresponding robotic arm segments to rotate through the fourth motor 221, the fifth motor 231, and the sixth motor 241 of the second robotic arm 2, so that the auxiliary robotic arm front end tool 25 is close to the position of the installation screws of the device to be installed, and adjust the posture of the second robotic arm 2 again to make the auxiliary robotic arm front end tool 25 and the direction of travel of the screw collinear, tighten the screw through the auxiliary robotic arm front end tool 25, and repeat the operation until the installation of the device to be installed is completed; optionally, the device to be installed can be an object whose surface needs to be connected by bolts, including but not limited to cameras, sensors, etc.

[0095] S4. The electric push rod 311 extends and the four-claw clamp 31 opens, so that the installed device is separated from the mechanical claw 3. The first motor 111, the second motor 121 and the third motor 131 of the first mechanical arm 1 drive the corresponding mechanical arm segments to rotate, and the first mechanical arm 1 is retracted, and the drone returns.

[0096] Example 3

[0097] This embodiment provides a method for repairing port facilities and equipment, which utilizes the repair device described in Example 1. The repair method includes the following steps:

[0098] S1, the front end of the mechanical claw 3 is equipped with a replaceable front end tool 33;

[0099] S2: The drone flies to the working area and hovers. The electric push rod 311 extends, causing the four-claw multifunctional mechanical claw 3 to open to the limit position. At the same time, the replaceable front end tool 33 is extended to the farthest position.

[0100] S3. Drive the corresponding robotic arm segments to rotate through the first motor 111, the second motor 121 and the third motor 131 of the first robotic arm 1, adjust the posture of the first robotic arm 1, and make the replaceable front-end tool 33 approach the working area with the best posture; optionally, the replaceable front-end tool 33 can be a socket, a screwdriver head, a grinding wheel, a spray gun, etc. When the replaceable front-end tool 33 is a rotating working tool such as a socket, a screwdriver head or a grinding wheel, start the rotating motor 317 as appropriate to cooperate with the movement of the first robotic arm 1 and the movement of the drone to complete the installation and fastening or cleaning and painting of the equipment surface.

[0101] S4, completing the operation of the replaceable front-end tool 33 in the working area by adjusting the posture of the first robot arm 1 and moving the tool;

[0102] S5. After the operation is completed, the first motor 111, the second motor 121 and the third motor 131 of the first robotic arm 1 drive the corresponding robotic arm segments to rotate, the first robotic arm 1 is retracted, and the drone returns to its original position.

[0103] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other manner. Any person skilled in the art may utilize the above-disclosed technical content to modify or modify the present invention into equivalent embodiments. However, any simple modifications, equivalent variations, and modifications to the above embodiments that do not depart from the technical content of the present invention and are based on the technical essence of the present invention remain within the scope of protection of the present invention.

Claims

1. A port facility equipment maintenance device, characterized in that: It comprises a carrying platform, a first robotic arm (1), a second robotic arm (2) and a robotic claw (3); The carrying platform is equipped with a moving tool for moving the maintenance device to a designated location; One end of the first robotic arm (1) is provided with a connection portion (11) connected to the carrying platform, and the other end is connected to the robotic claw (3), and the posture of the robotic claw (3) is adjusted by adjusting the posture of the first robotic arm (1); The second robotic arm (2) is sleeved on the periphery of the first robotic arm (1), and an auxiliary robotic arm front end tool (25) is provided at one end thereof close to the robotic claw (3), and the auxiliary robotic arm front end tool (25) assists in operation.

2. A port facility equipment maintenance device according to claim 1, characterized in that: The first robotic arm (1) comprises a first robotic arm segment 1 (12), a first robotic arm segment 2 (13), and a first robotic arm segment 3 (14) which are connected in sequence; The first robot arm segment 1 (12) is connected to a first motor (111) provided on the connecting portion (11), and the first robot arm segment 1 (12) is driven to rotate around the Z axis by the first motor (111); The first robotic arm segment 2 (13) is connected to a second motor (121) provided on the first robotic arm segment 1 (12), and the first robotic arm segment 2 (13) is driven to rotate around the X-axis by the second motor (121); The first robotic arm segment three (14) is connected to a third motor (131) provided on the first robotic arm segment two (13), and the first robotic arm segment three (14) is driven to rotate around the X-axis by the third motor (131).

3. A port facility equipment maintenance device according to claim 2, characterized in that: The second robotic arm (2) comprises a rotating ring (21), a second robotic arm segment one (22), a second robotic arm segment two (23), and a second robotic arm segment three (24) which are connected in sequence; The rotating ring (21) is sleeved on the first robotic arm segment 2 (13); The second robotic arm segment one (22) is connected to a fourth motor (221) provided on the rotating ring (21), and the second robotic arm segment one (22) is driven to rotate around the X-axis by the fourth motor (221); The second robotic arm segment 2 (23) is connected to a fifth motor (231) provided on the second robotic arm segment 1 (22), and the second robotic arm segment 2 (23) is driven to rotate around the X-axis by the fifth motor (231); The second robotic arm segment three (24) is connected to the sixth motor (241) provided on the second robotic arm segment two (23), and the second robotic arm segment three (24) is driven to rotate around the X-axis by the sixth motor (241).

4. A port facility equipment maintenance device according to claim 3, characterized in that: One end of the second robotic arm segment three (24) facing away from the second robotic arm segment two (23) is connected to the auxiliary robotic arm front end tool (25).

5. A port facility equipment maintenance device according to claim 3, characterized in that: The rotating ring (21) is also provided with a seventh motor (211), and an output end of the seventh motor (211) is provided with a meshing gear (212), and the meshing gear (212) is meshedly connected with a shaft gear (132) provided on the first mechanical arm segment 2 (13).

6. A port facility equipment maintenance device according to claim 3, characterized in that: A bearing (213) is provided at the connection between the rotating ring (21) and the first mechanical arm segment 2 (13).

7. A port facility equipment maintenance device according to claim 2, characterized in that: The mechanical claw (3) includes a four-claw clamp (31) and a replaceable front end tool (33); The four-claw clamp (31) comprises: A housing (312), a connecting member (313), and an upper platform (315) connected in sequence; An electric push rod (311) is arranged in the housing (312), and a piston rod of the electric push rod (311) passes through the housing (312) and is connected to a rotating motor housing (314) arranged in the connecting member (313); A rotating motor (317) is provided in the rotating motor housing (314), wherein the output end of the rotating motor (317) passes through the upper platform (315) and is provided with a front end tool mounting column (318), and the replaceable front end tool (33) is detachably mounted on the front end tool mounting column (318); A plurality of mechanical claw arms (316) are arranged around the front end tool mounting column (318), and the mechanical claw arms (316) are rotatably connected to the upper platform (315). A connecting rod (319) is provided between the claw end of the mechanical claw arm (316) and the rotating motor housing (314) to rotatably connect the two.

8. A port facility equipment maintenance device according to claim 1, characterized in that: The mobile tool is a drone.

9. A method for repairing port facilities and equipment, characterized in that: The maintenance method utilizes the maintenance device according to any one of claims 1 to 8, and comprises the following steps: S1, the mobile tool moves to the trimming area, and the first motor (111), the second motor (121) and the third motor (131) of the first mechanical arm (1) drive the corresponding mechanical arm segments to rotate, thereby extending the first mechanical arm (1), so that the mechanical claw (3) approaches the device to be installed, the electric push rod (311) extends, and the four-claw clamp (31) opens. When the four-claw clamp (31) includes the device to be installed in the grasping range, the electric push rod (311) retracts, so that the four-claw clamp (31) clamps the device to be installed, and the electric push rod (311) maintains the current state; S2, the mobile tool moves to the installation area, and the first motor (111), the second motor (121) and the third motor (131) of the first mechanical arm (1) drive the corresponding mechanical arm segments to rotate, and adjust the posture of the first mechanical arm (1) so that the device to be installed fits the connection surface of the installation area; S3, driving the corresponding robot arm segments to rotate by the fourth motor (221), the fifth motor (231), and the sixth motor (241) of the second robot arm (2), so that the auxiliary robot arm front end tool (25) is close to the position of the installation screw of the device to be installed, and adjusting the posture of the second robot arm (2) again so that the auxiliary robot arm front end tool (25) and the screw travel direction are collinear, and tightening the screw by the auxiliary robot arm front end tool (25), repeating the operation until the installation of the device to be installed is completed; S4, the electric push rod (311) is extended, and the four-claw clamp (31) is opened, so that the installed device is separated from the mechanical claw (3), and the first motor (111), the second motor (121) and the third motor (131) of the first mechanical arm (1) drive the corresponding mechanical arm segments to rotate, and the first mechanical arm (1) is retracted, and the mobile tool returns to its original position.

10. A method for repairing port facilities and equipment, characterized in that: The maintenance method utilizes the maintenance device according to any one of claims 1 to 8, and comprises the following steps: S1, the front end of the mechanical claw (3) is equipped with a replaceable front end tool (33); S2, the mobile tool moves to the working area, the electric push rod (311) extends, so that the mechanical claw arm (316) of the mechanical claw (3) opens to the extreme position, and the replaceable front end tool (33) extends to the farthest position; S3, driving the corresponding robot arm segments to rotate by the first motor (111), the second motor (121) and the third motor (131) of the first robot arm (1), adjusting the posture of the first robot arm (1) so that the replaceable front end tool (33) approaches the working area; S4, completing the operation of the replaceable front-end tool (33) in the working area by adjusting the posture of the first robotic arm (1) and moving the tool; S5. After the operation is completed, the first motor (111), the second motor (121) and the third motor (131) of the first robotic arm (1) drive the corresponding robotic arm segments to rotate, retract the first robotic arm (1), and move the tool back to its original position.

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