Simple wrist arm intelligent maintenance robot

Abstract

The application relates to a simple and simplified wrist arm intelligent maintenance robot, which comprises a tightening unit, at least two mechanical arm units, a carrier unit, an adjusting unit, a clamping unit and a pulling-out unit, the mechanical arm units, the clamping unit and the pulling-out unit are arranged on the carrier unit, the tightening unit and the adjusting unit are arranged on the two mechanical arm units respectively; the mechanical arm units are used for providing spatial three-dimensional movement and rotation for the tightening unit and the adjusting unit so as to drive the tightening unit and the adjusting unit to a predetermined position and make the tightening unit and the adjusting unit in an adaptive posture, the tightening unit is used for tightening or loosening work, the adjusting unit is used for adjustment work, the clamping unit is used for clamping and fixing work, and the pulling-out unit is used for re-calibration work of a pulling-out value. The application replaces manual work and realizes mechanical work of re-calibration of the pulling-out value of the contact line of the simple and simplified wrist arm.

Description

Technical Field

[0001] This invention relates to the field of high-speed railway overhead contact lines, specifically to a simplified wrist-arm intelligent maintenance robot. Background Technology

[0002] my country's high-speed rail network has now exceeded 48,000 kilometers, accounting for more than 70% of the world's total high-speed rail mileage. It covers 97% of cities with a population of over 500,000, forming the world's densest high-speed rail network. Within this network, the overhead contact system is a crucial component ensuring normal train operation. The contact system consists of catenary wires, droppers, and contact wires. The catenary wires and contact wires are supported by cantilever arms, with droppers connecting the catenary wires to the contact wires. Types of cantilever arms include simplified cantilever arms, aluminum cantilever arms, and iron cantilever arms. Each cantilever arm bears a load of 50-80 kilograms at a height of tens of meters and requires millimeter-level installation precision to ensure good and effective contact between the contact wire and the train's pantograph. With the continuous expansion of the high-speed rail network, the operation and maintenance of the contact system is becoming increasingly demanding. Currently, intelligent equipment in the contact system field mainly focuses on detection and inspection tasks. Tasks such as dropper wire repair and replacement, cantilever arm repair, insulator cleaning, and high-clearance maintenance still rely on manual labor. Taking a simplified cantilever arm as an example, common problems include loosening and misalignment of bolts and nuts in components such as support connectors and combined positioning rings, as well as deviations in contact wire pull-out values. The main reason for loosening of bolts and nuts in components such as support connectors and combined positioning rings on simplified cantilever arms is vibration and impact under extreme operating conditions. For example, the continuous vibration (3-50Hz) generated when a train passes at high speed weakens the thread friction, causing the nut to rotate and loosen. Although the vibration amplitude in the cantilever arm area is small, the frequency is extremely high, reaching thousands of cycles per day. The instantaneous impact load (peak value exceeding 10kN) generated by the collision between the pantograph slide and the hard point of the contact wire, exceeding the bolt preload, forces the component to slip slightly. Other causes include preload decay due to temperature-induced deformation, chain failures caused by a single loose bolt in multi-bolt synergistic stress, electrochemical corrosion, and freezing rain. If the bolts and nuts of components such as the supporting connector and the combined positioning ring become loose and are not repaired in time, a series of negative consequences will occur, such as: displacement of the supporting connector and the combined positioning ring, which will damage the millimeter-level positioning accuracy of the contact wire (e.g., horizontal distance deviation exceeding ±20mm), leading to abnormal dynamic coordination of the pantograph, increasing the risk of arcing or the probability of pantograph detachment; in high-frequency vibration environments, loosening will accelerate friction loss, causing the bolts to "rotate and loosen," and under long-term action, the mating surfaces of the connected parts will wear or undergo plastic deformation, weakening the preload and accelerating the overall fatigue fracture of the cantilever arm; loose bolts will reduce clamping force, increase contact resistance at electrical connection points, and easily cause local burns or short circuits due to overload heating, and in extreme cases, damage to the catenary or contact wire; it may also cause components to fall off, threatening train operation safety, such as speed limits or accidents caused by track instability. Therefore, it is necessary to monitor and regularly inspect the simplified cantilever arm for prevention. Currently, the main methods for repairing loose parts include the alternating cyclic tightening method, which involves three steps for multi-bolt components: initial tightening (50% preload), re-tightening (80%), and final tightening (100%) to avoid uneven force distribution; and the torque wrench precision control method, which involves adjusting the torque value according to the component specifications and slowly applying vertical force to the calibrated value.These methods are all performed manually. Due to the compact space in the arm area, especially in high-altitude curved sections, maintenance personnel have difficulty maintaining a stable torque wrench, which can easily lead to problems such as insufficient preload (less than 60% of the standard value), false tightening, failure to open the cotter pin to 120°, and missing gaskets. Furthermore, since the combination positioning ring and support connector involve an alternating tightening process, long-term repetitive high-altitude operations can easily lead to fatigue and errors among maintenance personnel.

[0003] The main reason for the positional displacement of components such as the support connector and the combined positioning ring on the simplified cantilever arm is the instantaneous impact (peak value exceeding 10kN) generated by the collision between the pantograph and the hard point of the contact wire, which forces the positioning ring and other components to slide along the direction of the force, with a displacement of up to ±30mm. Continuous vibration (3-50Hz) when a train passes causes microscopic deformation of the threaded connection surface, leading to a decrease in bolt tightening force and gradual displacement of the components. Other factors include differences in thermal expansion and contraction of different materials, metal creep relaxation, and deviations in installation processes. When the support connectors, combined positioning rings, etc., are misaligned: The pantograph experiences abnormal current intake; the misalignment causes the contact wire pull-out value to exceed the design range (±200-300mm in straight sections, ≤350mm in curved sections), disrupting the pantograph's dynamic envelope, exacerbating pantograph-catenary friction and generating continuous arcing that erodes the contact wire, and causing uneven distribution of pantograph lifting force, potentially triggering a pantograph detachment accident in extreme cases; a chain reaction of mechanical structural damage occurs; the misalignment causes the combined positioning ring slot to deviate from the line center, leading to bolt imbalance and accelerated loosening, resulting in reduced pre-tightening force of the cantilever support pipe clamps, loss of horizontal distance control of the anchor joint (allowable error ±20mm), and excessive fluctuation in the height of the center post contact wire, causing elastic imbalance in the contact network; contact resistance increases dramatically; the displacement reduces the crimping tightness of electrical connections, increasing resistance and causing localized overheating, potentially burning out the catenary or contact wire in severe cases; insulation performance deteriorates; the misalignment causes abnormal stress angles on the insulators, making them more prone to flashover breakdown in polluted environments, especially during thunderstorms and heavy fog. Currently, the main methods for recalibrating misaligned support connectors and locating rings are: torque wrench pre-tightening adjustment, which involves alternately tightening bolts in stages according to standard tightening torques (e.g., 44 N·m for support pipe clamps and 25 N·m for locating rings), combined with a "three-turn, three-stop" strategy (checking the displacement every 120° rotation); and special tool correction using a wrist arm straightener to mechanically correct hard-bend deformation areas. The former relies on manual experience, making secondary loosening easy in windy mountainous environments, and alternating bolt tightening can easily lead to secondary component misalignment; the latter requires stopping operations for continuous hard bends, resulting in low efficiency and difficulty in operation in the confined space of tunnels.

[0004] In high-speed rail networks, the contact wire is not installed in a straight line, but rather in a zigzag pattern, known as the contact wire pull-out value or zigzag value. The contact wire pull-out value refers to the horizontal offset distance of the contact wire relative to the centerline of the pantograph's contact plate. Specifically, at the positioning point, the horizontal distance between the vertical projection point of the contact wire and the centerline of the track is the pull-out value (straight sections), or the dynamic offset value relative to the pantograph centerline (curved sections). The purpose of the contact wire pull-out value is to prevent localized wear of the pantograph's contact plate due to prolonged single-point contact, thus extending the equipment's lifespan; and to ensure that the pantograph's contact plate always slides within the contact wire's envelope, especially in strong winds or curved sections, to prevent pantograph detachment. If the contact wire completely coincides with the track centerline (i.e., zero pull-out value), friction at the fixed position of the pantograph's contact plate will cause crescent-shaped groove wear, shortening its lifespan to less than 1 / 3. In curved sections, the pantograph is thrown outward by centrifugal force (offset δ=mv). 2 / R), under strong winds, the contact wire deflection can reach 80mm, making it easy for the pantograph to detach. The reasons for excessive contact wire pull-out deviation include design and construction defects, mechanical structural factors, and environmental factors. The most significant reason is mechanical structural issues, such as: reduced preload of the support connector bolts (standard torque 44 N·m) or wear of the combined positioning ring groove, leading to excessive lateral displacement of the contact wire; concentrated weight of the locator or uneven elasticity at the phase insulator, causing mechanical impact when the pantograph passes, resulting in lateral movement of the contact wire. Excessive deviation in the contact wire pull-out value can trigger a series of serious problems. The main consequences include accelerated wear on one side of the pantograph slide, shortening its service life; the pantograph potentially slipping out of the contact wire range (pantograph detachment), causing power outages, train interruptions, or mechanical damage; in extreme cases, abnormal stress on the contact wire support or even collapse; during high-speed operation, the deviation can cause arcing (electric sparks) between the contact wire and the pantograph, burning the contact wire surface and potentially causing electrical short circuits; accumulated deviations can lead to tension imbalances in the wire (such as due to compensation device failure), potentially causing hard point impacts and loosening of the positioner or cantilever assembly. Current methods for recalibrating the contact wire pull-out value mainly include manual mechanical correction, laser dynamic calibration, and dynamic compensation optimization. For manual mechanical correction, due to its reliance on manual operation, accuracy is dependent on human experience, making it prone to errors due to fatigue, and data is easily distorted in strong winds. In view of this, the present invention provides a simplified intelligent maintenance robot for a wrist arm. Addressing the unstructured environment and installation process requirements of simplified wrist arms, it mechanizes the tightening of loose nuts on the simplified wrist arm by setting up a robotic arm unit, a carrier unit, and a tightening unit. The tightening unit utilizes a tightening gun module and a motion module to replace manual labor, avoiding problems such as human fatigue errors, insufficient pre-tightening force, or false tightening. Furthermore, by setting up an adjustment unit including a clamping module and a moving module, and utilizing the cooperation of the carrier unit and the robotic arm unit, it mechanizes the calibration and resetting of displaced support connectors, combined positioning rings, etc., thereby replacing manual labor and avoiding problems such as human fatigue errors, low efficiency, and operational difficulties. Finally, by using a clamping unit to clamp and fix the positioning tube, and by using a pull-out unit to push the contact wire to pull the positioning column, it recalibrates the contact wire pull-out value, thereby replacing manual labor and avoiding problems such as human fatigue errors and low adjustment accuracy. Summary of the Invention

[0005] The present invention aims to provide a simplified wrist-arm intelligent maintenance robot to overcome the shortcomings of the existing technology. The technical problem to be solved by the present invention is achieved through the following technical solution.

[0006] A simplified wrist-arm intelligent maintenance robot includes a tightening unit, at least two robotic arm units, a carrier unit, an adjustment unit, a clamping unit, and a pull-out unit. The improvement lies in that: the robotic arm units, clamping unit, and pull-out unit are mounted on the carrier unit; the tightening unit and adjustment unit are respectively mounted on the two robotic arm units; the carrier unit performs forward, backward, translational, rotational, and lifting movements to move the robotic arm units, clamping unit, and pull-out unit to a predetermined position; the robotic arm units provide three-dimensional spatial motion and rotation for the tightening and adjustment units to move them to the predetermined position and position them in an adaptive posture; the tightening unit performs tightening or loosening operations; the adjustment unit performs adjustment operations; the clamping unit performs clamping and fixing operations; and the pull-out unit performs pull-out value recalibration operations.

[0007] Preferably, the tightening unit includes a tightening docking module for docking with the robotic arm unit, a tightening motion module disposed on the tightening docking module, a tightening gun module disposed on the tightening docking module and located below the tightening motion module, and a tightening clamping module disposed on the tightening motion module and driven by the tightening motion module to move forward, backward, and up and down. The tightening motion module includes a tightening forward and backward module disposed on the tightening docking module and a tightening lifting module disposed on the tightening forward and backward module and driven by the tightening forward and backward module to move forward and backward. The assembly consists of a tightening clamping module mounted on a tightening lifting module. The robotic arm unit moves the tightening unit to a predetermined position and into an adaptive posture. The tightening advance and retreat module and the tightening lifting module move the tightening clamping module to a position to be tightened, adjusted, or after adjustment, or after pull-out value recalibration. The tightening clamping module clamps the wrist arm tube or positioning tube on both sides of the corresponding position. The tightening gun module located below the tightening clamping module tightens or loosens the nut from below to complete the tightening or loosening operation.

[0008] Preferably, the vehicle unit includes a vehicle forward / backward module for providing forward / backward movement, a vehicle translation module disposed on the vehicle forward / backward module for providing translational movement, a vehicle rotation module disposed on the vehicle translation module for providing rotational movement, and a vehicle lifting module disposed on the vehicle translation module for providing lifting movement. The robotic arm unit and the clamping unit are disposed on the vehicle rotation platform of the vehicle rotation module, and the pull-out unit is disposed on the vehicle lifting module.

[0009] Preferably, the adjustment unit includes an adjustment docking module for docking with the robotic arm unit and for mounting the adjustment moving module, the adjustment moving module disposed on the adjustment docking module, and an adjustment clamping module disposed on the adjustment moving module. The robotic arm unit drives the adjustment unit to move to a predetermined position and into an adaptive posture. The adjustment clamping module clamps the wrist arm tube at the position to be adjusted. The adjustment moving module moves the offset component to complete the adjustment operation.

[0010] Preferably, the clamping unit includes a clamping mounting frame disposed on the carrier unit and driven by the carrier unit to move forward, backward, translate, and rotate; a clamping translation module disposed on the clamping mounting frame; a clamping lifting module disposed on the clamping translation module and driven by the clamping translation module to move translatively; a clamping forward and backward module disposed on the clamping lifting module and driven by the clamping lifting module to move up and down; and a clamping holding module disposed on the clamping forward and backward module and driven by the clamping forward and backward module to move forward and backward. The carrier unit drives the clamping unit to move to a predetermined position, and the clamping translation module, the clamping lifting module, and the clamping forward and backward module drive the clamping holding module to move to the position where the pull-out value needs to be recalibrated. The clamping holding module clamps the positioning tube at the position where the pull-out value needs to be recalibrated.

[0011] Preferably, the pull-out unit includes a pull-out mounting frame mounted on the carrier unit and driven by the carrier unit to move forward, backward, translate, and lift; a pull-out driver mounted on the pull-out mounting frame; a pull-out screw and a pull-out slide rail; a pull-out slider slidably mounted on the pull-out slide rail and screwed to the pull-out screw; and a pull-out pusher mounted on the pull-out slider. The pull-out driver drives the pull-out screw to rotate, and the pull-out slider moves along the pull-out slide rail under the drive of the pull-out screw to drive the pull-out pusher to move. The pull-out pusher pushes the contact wire to drive the positioning column to move along the positioning tube, thereby completing the recalibration of the contact wire pull-out value.

[0012] Compared with the prior art, the present invention, by setting a carrier unit and a robotic arm unit, moves the tightening unit and the adjusting unit to a predetermined position and puts them in an adapted posture; by setting a tightening clamping module and a tightening gun module on the tightening unit, the tightening and loosening operations of the nut can be performed while ensuring the installation accuracy of the entire simplified wrist arm; at the same time, the set tightening advance and retreat module and tightening lifting module ensure the effective clamping and fixing of the tightening clamping module and the smooth tightening and loosening operations of the tightening gun module; by setting an adjusting clamping module on the adjusting unit... The adjustment and moving module allows for the calibration and resetting of misaligned support connectors, combined positioning rings, and other components while ensuring the overall installation accuracy of the simplified cantilever arm. By incorporating clamping and pull-out units, the pull-out value can be recalibrated while maintaining the overall installation accuracy of the simplified cantilever arm. Simultaneously, the clamping unit utilizes clamping translation, clamping lifting, and clamping forward / backward modules to ensure effective clamping and fixing of the positioning tube by the clamping and holding module. The pull-out unit pushes the contact line to pull the positioning column, thereby recalibrating the contact line pull-out value. This replaces manual labor, avoiding problems such as human fatigue errors, insufficient pre-tightening force or false tightening, low efficiency, operational difficulties, and low adjustment accuracy. It achieves mechanized operations for tightening loose nuts on the simplified cantilever arm, calibrating and resetting misaligned components, and recalibrating the contact line pull-out value, thus realizing mechanized maintenance of the simplified cantilever arm. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the robotic arm unit and the tightening unit in this invention; Figure 3 This is a schematic diagram of the tightening unit in this invention; Figure 4 This is a schematic diagram of the tightening unit in this invention, excluding the tightening gun module; Figure 5 This is a schematic diagram of the structure of the robotic arm unit and the adjustment unit in this invention; Figure 6 This is a schematic diagram of the adjustment unit in this invention; Figure 7 This is a schematic diagram of the clamping unit in this invention; Figure 8 This is a schematic diagram of the clamping and translation module of the clamping unit in this invention; Figure 9 This is a schematic diagram of the clamping and lifting module of the clamping unit in this invention; Figure 10 This is a schematic diagram of the clamping advance and retraction module of the clamping unit in this invention; Figure 11 This is a schematic diagram of the pull-out unit in this invention; Figure 12 This is a simplified structural diagram of the wrist arm used in this invention; The reference numerals in the attached drawings are as follows: 01, flat cantilever tube; 02, inclined cantilever tube; 03, combined load-bearing cable seat; 04, cantilever support; 05, support connector; 06, combined positioning ring; 07, positioning tube; 08, positioning column; 09, positioning clamp; 10, tightening unit; 11, tightening docking module; 111, tightening docking joint; 112, tightening mounting bracket; 12, tightening forward / backward module; 121, tightening forward / backward mounting plate; 122, tightening forward / backward slider; 123, tightening forward / backward telescopic screw; 124, tightening forward / backward sliding plate; 125, tightening forward / backward slide rail; 126, tightening forward / backward driver; 13, tightening lifting module; 131, tightening lifting mounting plate; 132, tightening lifting slide rail; 133, tightening lifting slide... Block, 134. Tighten the lifting sliding plate, 135. Tighten the lifting driver, 14. Tighten the clamping module, 141. Tighten the clamping mounting plate, 142. Tighten the clamping driver, 143. Tighten the clamping gripper, 15. Tighten the gun module, 20. Robotic arm unit, 21. Robotic arm body, 22. Robotic arm connector, 23. Robotic arm mounting column, 30. Carrier unit, 31. Carrier forward / backward module, 32. Carrier translation module, 33. Carrier rotation module, 331. Carrier rotation platform, 34. Carrier lifting module, 40. Adjustment unit, 41. Adjustment docking module, 411. Adjustment docking connector, 412. Adjustment mounting bracket, 42. Adjustment clamping module, 421. Adjustment clamping driver, 422. Adjustment clamping gripper, 4 3. Adjust the moving module; 431. Adjust the moving driver; 432. Adjust the moving slide rail; 433. Adjust the moving slider; 434. Adjust the moving connecting plate; 435. Adjust the moving mounting plate; 436. Adjust the moving pusher mounting plate; 437. Adjust the moving pusher; 50. Clamping unit; 51. Clamping mounting bracket; 52. Clamping translation module; 521. Clamping translation mounting plate; 522. Clamping translation driver; 523. Clamping translation screw mounting block; 524. Clamping translation screw; 525. Clamping translation slide rail; 526. Clamping translation slider; 527. Clamping translation mounting block; 528. Clamping translation limit switch; 529. Clamping translation limit plate; 53. Clamping lifting module; 531. Clamping lifting mounting plate. 532. Clamping lifting driver; 533. Clamping lifting screw mounting block; 534. Clamping lifting screw; 535. Clamping lifting slide rail; 536. Clamping lifting slider; 537. Clamping lifting mounting block; 538. Clamping lifting limit switch; 539. Clamping lifting limit plate; 54. Clamping forward / backward module; 541. Clamping forward / backward mounting plate; 542. Clamping forward / backward driver; 543. Clamping forward / backward screw mounting block; 544. Clamping forward / backward screw; 545. Clamping forward / backward slide rail; 546. Clamping forward / backward slider; 547. Clamping forward / backward mounting block; 548. Clamping forward / backward limit switch; 549. Clamping forward / backward limit plate; 55. Clamping and holding module; 551. Clamping and holding mounting bracket; 552. Clamping and holding driver.553. Clamping gripper; 60. Pull-out unit; 61. Pull-out mounting bracket; 62. Pull-out driver; 63. Pull-out lead screw; 64. Pull-out slider; 65. Pull-out slide rail; 66. Pull-out pusher; 661. Pull-out pusher guide; 662. Pull-out pusher arc-shaped part; 70. Detection unit. Detailed Implementation

[0014] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0015] Example 1: Reference Figures 1 to 12 As shown, a simplified wrist-arm intelligent maintenance robot includes a tightening unit 10, at least two robotic arm units 20, a carrier unit 30, an adjustment unit 40, a clamping unit 50, and a pull-out unit 60. The improvement lies in that the robotic arm units 20, clamping units 50, and pull-out units 60 are mounted on the carrier unit 30, and the tightening unit 10 and adjustment unit 40 are respectively mounted on the two robotic arm units 20. The carrier unit 30 is used for forward / backward, translational, rotational, and lifting movements to hold the robotic arm units 20, clamping units 50, and pull-out units 60. The holding unit 50 and the pull-out unit 60 are driven to a predetermined position. The robotic arm unit 20 is used to provide three-dimensional spatial motion and rotation for the tightening unit 10 and the adjusting unit 40 to drive the tightening unit 10 and the adjusting unit 40 to the predetermined position and make the tightening unit 10 and the adjusting unit 40 in an adapted posture. The tightening unit 10 is used to perform tightening or loosening operations, the adjusting unit 40 is used to perform adjustment operations, the clamping unit 50 is used to perform clamping and fixing operations, and the pull-out unit 60 is used to perform pull-out value recalibration operations.

[0016] Furthermore, the vehicle unit 30 includes a vehicle forward / backward module 31 for providing forward / backward movement, a vehicle translation module 32 disposed on the vehicle forward / backward module 31 for providing translational movement, a vehicle rotation module 33 disposed on the vehicle translation module 32 for providing rotational movement, and a vehicle lifting module 34 disposed on the vehicle translation module 32 for providing lifting movement. The robotic arm unit 20 and the clamping unit 50 are disposed on the vehicle rotation platform 331 of the vehicle rotation module 33, and the pull-out unit 60 is disposed on the vehicle lifting module 34.

[0017] Furthermore, the robotic arm unit 20 includes a robotic arm mounting column 23 disposed on the carrier rotation platform 331, a robotic arm body 21 disposed on the robotic arm mounting column 23, and a robotic arm connector 22 disposed at the end of the robotic arm body 21, and the tightening unit 10 disposed on the robotic arm connector 22.

[0018] Furthermore, refer to Figure 3 , 4 As shown, the tightening unit 10 includes a tightening docking module 11 for docking with the robotic arm unit 20, a tightening motion module disposed on the tightening docking module 11, a tightening gun module 15 disposed on the tightening docking module 11 and located below the tightening motion module, and a tightening clamping module 14 disposed on the tightening motion module and driven by the tightening motion module to move forward, backward and up and down. The tightening motion module includes a tightening forward and backward module 12 disposed on the tightening docking module 11, and a tightening lifting module disposed on the tightening forward and backward module 12 and driven by the tightening forward and backward module 12 to move forward and backward. Group 13, the tightening clamping module 14 is disposed on the tightening lifting module 13; the robotic arm unit 20 drives the tightening unit 10 to move to a predetermined position and be in an adaptive posture, the tightening advance and retreat module 12 and the tightening lifting module 13 drive the tightening clamping module 14 to move to the position to be tightened, to be adjusted, or after adjustment, or after pull-out value recalibration or pull-out value recalibration, the tightening clamping module 14 clamps the wrist arm tube or positioning tube on both sides at the corresponding position, and the tightening gun module 15 located below the tightening clamping module 14 tightens or loosens the nut from below to complete the tightening or loosening operation.

[0019] Furthermore, the tightening docking module 11 includes a tightening connector 111 for docking with the robotic arm unit 20, and a tightening mounting bracket 112 disposed on the tightening connector 111. The tightening advance / retract module 12 and the tightening gun module 15 are disposed on the tightening mounting bracket 112. Even further, after the tightening connector 111 docks with the robotic arm unit 20, it is driven by the robotic arm unit 20 to perform three-dimensional movement and rotation, so that the tightening unit 10 moves to a predetermined position and is in an adaptive posture.

[0020] Furthermore, refer to Figure 6 As shown, the adjustment unit 40 includes an adjustment docking module 41 for docking with the robotic arm unit 20 and for mounting the adjustment moving module 43, the adjustment moving module 43 disposed on the adjustment docking module 41, and an adjustment clamping module 42 disposed on the adjustment moving module 43. The robotic arm unit 20 drives the adjustment unit 40 to move to a predetermined position and into an adaptive posture. The adjustment clamping module 42 clamps the wrist arm tube at the position to be adjusted. The adjustment moving module 43 moves the offset component to complete the adjustment operation.

[0021] Furthermore, the adjustment docking module 41 includes an adjustment connector 411 that docks with the robotic arm unit 20, an adjustment mounting bracket 412 disposed on the adjustment connector 411, and an adjustment moving module 43 disposed on the adjustment mounting bracket 412. Even further, after the adjustment connector 411 docks with the robotic arm unit 20, it is driven by the robotic arm unit 20 to perform three-dimensional movement and rotation, so that the adjustment unit 40 moves to a predetermined position and is in an adaptive posture.

[0022] Furthermore, refer to Figures 7 to 10 As shown, the clamping unit 50 includes a clamping mounting frame 51 mounted on the carrier unit 30 and driven by the carrier unit 30 to move forward, backward, translate, and rotate; a clamping translation module 52 mounted on the clamping mounting frame 51; a clamping lifting module 53 mounted on the clamping translation module 52 and driven by the clamping translation module 52 to move translationally; and a clamping advance mechanism mounted on the clamping lifting module 53 and driven by the clamping lifting module 53 to move up and down. The clamping and holding module 54 is mounted on the clamping and retracting module 54 and is driven to move forward and backward by the clamping and retracting module 54; the carrier unit 30 drives the clamping unit 50 to move to a predetermined position, the clamping translation module 52, the clamping lifting module 53 and the clamping and retracting module 54 drive the clamping and holding module 55 to move to the pull-out value recalibration position, and the clamping and holding module 55 clamps the positioning tube at the pull-out value recalibration position.

[0023] Furthermore, refer to Figure 11 As shown, the pull-out unit 60 includes a pull-out mounting frame 61 mounted on the carrier unit 30 and driven by the carrier unit 30 to move forward, backward, translate, and lift; a pull-out driver 62 mounted on the pull-out mounting frame 61; a pull-out screw 63 and a pull-out slide rail 65; a pull-out slider 64 slidably mounted on the pull-out slide rail 65 and screwed to the pull-out screw 63; and a pull-out pusher 66 mounted on the pull-out slider 64. The pull-out driver 62 drives the pull-out screw 63 to rotate, and the pull-out slider 64 moves along the pull-out slide rail 65 under the drive of the pull-out screw 63 to drive the pull-out pusher 66 to move. The pull-out pusher 66 pushes the contact wire to drive the positioning column to move along the positioning tube, thereby completing the recalibration of the contact wire pull-out value.

[0024] Furthermore, there are two pull-out drivers 62 and two pull-out screws 63, which are respectively located diagonally opposite to each other on the pull-out mounting bracket 61. The two pull-out drivers 62 rotate in the same direction and the two pull-out screws 63 rotate in opposite directions, or the two pull-out drivers 62 rotate in opposite directions and the two pull-out screws 63 rotate in the same direction. This allows one pull-out screw 63 to pull the pull-out pusher 66 and the other pull-out screw 63 to push the pull-out pusher 66 when the pull-out pusher 66 moves. This enables the pull-out pusher 66 to generate sufficient thrust to push the contact line, thereby ensuring that the positioning column moves smoothly along the positioning tube to ensure the smooth recalibration of the pull-out value.

[0025] Furthermore, the pull-out pusher 66 includes a triangular upper pull-out pusher guide part 661 and a lower pull-out pusher arc-shaped part 662. The pull-out pusher guide part 661 guides the contact line to slide into the pull-out pusher arc-shaped part 662, and the pull-out pusher arc-shaped part 662 is used to push the contact line.

[0026] In this embodiment, the carrier unit 30 is used to perform forward, backward, translational, rotational, and lifting movements to move the robotic arm unit 20, clamping unit 50, and pull-out unit 60 to a predetermined position; the robotic arm unit 20 is used to perform three-dimensional spatial movement and rotation to move the tightening unit 10 and the adjusting unit 40 to a predetermined position and to position the tightening unit 10 and the adjusting unit 40 in an adaptive posture; the tightening docking module 11 is used to dock with the robotic arm unit 20 and to install other components of the tightening unit 10; the tightening connector 111 of the tightening docking module 11 is used to dock with the robotic arm unit 20 and to connect to the robotic arm unit 20. Driven by the movement, the entire tightening unit 10 undergoes three-dimensional motion and rotation, causing it to move to a predetermined position and assume an adaptive posture. The tightening mounting bracket 112 of the tightening docking module 11 is used to mount the tightening advance / retract module 12 and the tightening gun module 15. The tightening advance / retract module 12 provides advance / retract movement for the tightening clamping module 14, and the tightening lifting module 13 provides lifting movement for the tightening clamping module 14. The tightening clamping module 14 is used to clamp and fix the arm tubes or positioning tubes on both sides at the position to be tightened, adjusted, or after adjustment, or after pull-out value recalibration. The tightening gun module 15 is used to tighten the part to be tightened or adjusted. After pulling out or pulling out the nut at the recalibrated position, loosen the bolt at the position to be adjusted or pulled out; the adjustment docking module 41 is used to dock with the robotic arm unit 20 and to install other components of the adjustment unit 40; the adjustment docking joint 411 of the adjustment docking module 41 is used to dock with the robotic arm unit 20 and move under the drive of the robotic arm unit 20, thereby driving the entire adjustment unit 40 to perform three-dimensional movement and rotation so that the adjustment unit 40 moves to a predetermined position and is in an adapted posture; the adjustment mounting bracket 412 of the adjustment docking module 41 is used to install the adjustment moving module 43; the adjustment clamping module 42 is used to clamp and fix the position to be adjusted. The adjustment and movement module 43 is used to adjust and reset the offset support connector, combined positioning ring, and other components; the clamping mounting bracket 51 is used to install and support other components of the clamping unit 50 and is driven by the carrier unit 30 to move forward, backward, translate, and rotate so that the clamping unit 50 moves to a predetermined position; the clamping translation module 52 is used to provide translational movement for the clamping lifting module 53, the clamping lifting module 53 is used to provide lifting movement for the clamping forward and backward module 54, the clamping forward and backward module 54 is used to provide forward and backward movement for the clamping holding module 55, and the clamping holding module 55 is used to clamp the positioning tube at the fixed pull-out value recalibration position;The pull-out mounting bracket 61 is used to mount other components of the pull-out unit 60 and is driven by the carrier unit 30 to move forward, backward, translate, and lift, so that the pull-out unit 60 moves to a predetermined position. The pull-out driver 62 operates to drive the pull-out screw 63 to rotate, thereby driving the pull-out slider 64 to slide along the pull-out slide rail 65. The pull-out pusher 66 provided on the pull-out slider 64 moves under the drive of the pull-out slider 64, thereby pushing the contact wire. The contact wire drives the positioning column to move along the positioning tube, thereby completing the recalibration of the contact wire pull-out value.

[0027] In this embodiment, the tightening and clamping module 14 is necessary because when tightening or loosening the nut at the position to be tightened, adjusted, or after adjustment, or when the pull-out value needs to be recalibrated, the entire simplified cantilever arm is in a relatively precise installation state. That is, the installation accuracy of the entire simplified cantilever arm basically meets the installation requirements. Only when the nut is loose, the component is offset, or the pull-out value deviation exceeds the limit, does it need to be tightened again, or when loosening and tightening is needed during adjustment and reset, or when loosening and tightening is needed during pull-out value recalibration. At this time, directly loosening or tightening the nut will affect other components of the simplified cantilever arm. For example, the torque generated by tightening may cause slight offset or bending of the insulator part, slight bending of the cantilever arm tube connection, etc., thereby reducing the installation accuracy of the entire simplified cantilever arm or even failing to meet the installation requirements. By setting the tightening and clamping module 14, the wrist arm tube or positioning tube on both sides of the position to be tightened, adjusted, or after adjustment, or after pull-out value recalibration, is clamped and fixed by the entire tightening unit 10 and the robotic arm unit 20, thereby offsetting the influence of the torque generated during tightening on the rest of the simplified wrist arm, and thus ensuring the installation accuracy of the basically accurate simplified wrist arm.

[0028] In this embodiment, the reason why the tightening lifting module 13 and the tightening forward and backward module 12 are required is that the tightening gun module 15 is located below the tightening forward and backward module 12. The reason why the tightening gun module 15 is located below the tightening forward and backward module 12 is that the nuts of the components at the positions to be tightened, adjusted, pulled out, or recalibrated, such as the support connector 05, the combined positioning ring 06, and the connecting parts at the upper end of the positioning column 08, are all located below the corresponding components. The tightening head of the tightening gun module 15 can only enter the nut from below and loosen or tighten it. Since the tightening gun module 15 is located below the tightening advance and retreat module 12, and in addition to the fixed spacing required due to the thickness of components such as the support connector 05, combined positioning ring 06, positioning tube 07, and the connecting parts at the upper end of the positioning column 08, the tightening gun module 15 and the tightening clamping module 14 also need to allow for the advance and retreat distance of the tightening head of the tightening gun module 15 into and out of the nut, as well as the advance and retreat stroke of the tightening operation. At the same time, since the locking part (i.e., the connection between the bolt and the nut) of the connecting parts at the upper end of the support connector 05, combined positioning ring 06, and positioning column 08 is located on one side, the locking part may be on the side closer to the tightening unit 10 or on the side farther from the tightening unit 10 during actual operation. This makes the relative height and relative distance between the tightening gun module 15 and the tightening clamping module 14 not constant. The tightening lifting module 13 and the tightening forward and backward module 12 can adjust the height and distance of the tightening clamping module 14 relative to the tightening gun module 15, so that the tightening clamping module 14 can effectively clamp and stabilize the arm tube or positioning tube on both sides of the position to be tightened, to be adjusted, after adjustment, pull-out value to be recalibrated or after pull-out value recalibration, and the tightening head of the tightening gun module 15 can effectively enter and exit the position to be tightened, to be adjusted, after adjustment, pull-out value to be recalibrated or after pull-out value recalibration, and perform loosening and tightening operations on the nut.

[0029] In this embodiment, the adjustment clamping module 42 is necessary because during the calibration and reset of components such as the support connector and the combined positioning ring, the entire simplified cantilever arm is in a relatively precise installation state. That is, the installation accuracy of the entire simplified cantilever arm basically meets the installation requirements, with only a few support connectors and combined positioning rings showing positional deviations. Directly adjusting the deviated support connectors and combined positioning rings at this time would affect other components of the simplified cantilever arm. For example, the tension generated during adjustment could cause slight displacement or bending of the insulator, or slight deflection at the cantilever arm tube connection, thereby reducing the overall installation accuracy of the simplified cantilever arm or even causing it to fail to meet the installation requirements. By setting the adjustment clamping module 42, the wrist arm tube at the position to be adjusted is clamped, making the adjustment clamping module 42, the adjustment moving module 43, and the wrist arm tube at the position to be adjusted a whole. The entire adjustment unit 40 and the robotic arm unit 20 clamp and fix the wrist arm tube at this position. This ensures that the thrust generated by the adjustment moving module 43 and the reaction force generated by the support connector and the combined positioning ring during calibration and reset are only applied to this whole, thereby eliminating the influence on the other parts of the simplified wrist arm during calibration and reset, and thus ensuring the installation accuracy of the simplified wrist arm that has been basically accurately installed. This is also why the adjustment clamping module 42 is set on the adjustment moving module 43 rather than on the adjustment mounting bracket 412. Furthermore, if the adjustment clamping module 42 is not set, the reaction force generated by the support connector and the combined positioning ring during calibration and reset would have to be borne by the robotic arm unit 20. Thus, on the one hand, the robotic arm unit 20 may not be able to provide enough force to counteract the reaction force generated when calibrating the reset support connector and assembling the positioning ring; on the other hand, the joint axis of the robotic arm unit 20 may be affected by the reaction force, thereby affecting the accuracy of the robotic arm unit 20.

[0030] In this embodiment, the clamping unit 50 is necessary because during pull-out value recalibration, the entire simplified cantilever arm is in a relatively precise installation state, meaning the installation accuracy of the entire simplified cantilever arm basically meets the installation accuracy requirements; only the pull-out value deviation exceeds the limit and needs recalibration. At this time, if the contact wire is directly pushed by the pull-out unit 60 to move the positioning column 08 along the positioning tube 07 to recalibrate the contact wire pull-out value, the force generated during the recalibration process will affect other components of the simplified cantilever arm. For example, the force generated during the recalibration process may cause the positioning column 08 to tilt, the combined positioning ring 06 to experience shearing and torsion, and the insulator to experience slight displacement or bending, thereby reducing the overall installation accuracy of the simplified cantilever arm or even causing it to fail to meet installation requirements. By setting up the clamping unit 50, the clamping and holding module 55 of the clamping unit 50 clamps the positioning tube 07 at the pull-out value recalibration position. The entire clamping unit 50 clamps and fixes the positioning tube 07 at this position, thereby offsetting the influence of the force generated during the pull-out value recalibration process on the rest of the simplified wrist arm, and thus ensuring the installation accuracy of the simplified wrist arm that has been basically accurately installed. The clamping translation module 52, the clamping lifting module 53, and the clamping forward and backward module 54 can ensure that the clamping and holding module 55 can move smoothly to the pull-out value recalibration position and effectively clamp and fix the positioning tube 07 at that position.

[0031] In this embodiment, the reason for setting up a pull-out unit 60 including components such as a pull-out mounting bracket 61 and a pull-out driver 62, and using the pull-out unit 60 to recalibrate the pull-out value of the contact line instead of using the robotic arm unit to directly lift the pull-out pusher 66 for pull-out value recalibration, is that, on the one hand, the robotic arm unit may not be able to provide enough force to push the contact line; on the other hand, the joint bearing of the robotic arm unit may be affected by the reaction force, thus affecting the accuracy of the robotic arm unit; and thirdly, the thrust on the contact line during pull-out value recalibration needs to be parallel to the axial direction of the positioning tube 07 so that the positioning column 08 can move smoothly along the positioning tube 07. When using the robotic arm unit 20, the thrust provided by the robotic arm unit 20 is likely to tilt due to the reverse interference of the frictional force between the positioning tube 07 and the upper end connector of the positioning column 08, thus making it impossible to effectively recalibrate the pull-out value. After the pull-out unit 60 is lifted to a suitable position by the carrier unit 30, the pulling-out mounting bracket 61 and the pull-out slide rail 65 limit and guide the thrust generated by the pull-out pusher 66 under the drive of the pull-out driver 62, which can effectively ensure the direction of the thrust, thereby effectively and smoothly carrying out the pull-out value recalibration operation.

[0032] In this embodiment, the carrier unit 30 is mounted on a railcar. After the railcar reaches a predetermined position, the carrier unit 30 adjusts its position. Specifically, the carrier advance / retreat module 31, the carrier translation module 32, and the carrier rotation module 33 of the carrier unit 30 perform advance / retreat, translation, rotation, and lifting movements to move the robotic arm unit 20, the clamping unit 50, and the pull-out unit 60 to the predetermined position.

[0033] When tightening is required: the robotic arm unit 20 performs three-dimensional spatial movement and rotation to lift the tightening unit 10 to a predetermined position and place it in an adaptive posture. The tightening advance / retract module 12 and the tightening lifting module 13 move so that the tightening clamping module 14 surrounds the wrist arm tubes on both sides of the position to be tightened. The tightening clamping module 14 clamps and fixes the wrist arm tubes on both sides of the position to be tightened. The tightening head of the tightening gun module 15 tightens the loose nut. After the nut is tightened, the tightening head of the tightening gun module 15 retracts. The tightening clamping module 14 releases the wrist arm tube and moves away from the wrist arm tube under the action of the tightening advance / retract module 12 and the tightening lifting module 13. The robotic arm unit 20 retracts to the initial position.

[0034] When adjustments are needed: First, the tightening unit 10 performs the loosening operation: the robotic arm unit 20 performs three-dimensional spatial movement and rotation to lift the tightening unit 10 to a predetermined position and place it in an adaptive posture. The tightening advance and retraction module 12 and the tightening lifting module 13 move so that the tightening clamping module 14 surrounds the wrist arm tubes on both sides of the position to be adjusted. The tightening clamping module 14 clamps and fixes the wrist arm tubes on both sides of the position to be adjusted. The tightening head of the tightening gun module 15 loosens the nut. After the nut is loosened, the tightening head of the tightening gun module 15 retracts, the tightening clamping module 14 releases the wrist arm tube and moves away from the wrist arm tube under the action of the tightening advance and retraction module 12 and the tightening lifting module 13, and the robotic arm unit 20 retracts to the initial position.

[0035] Next, the adjustment unit 40 performs a calibration and reset operation: another robotic arm unit 20 performs three-dimensional spatial movement and rotation to lift the adjustment unit 40 to a predetermined position and place it in an adaptive posture. The adjustment clamping module 42 clamps and fixes the wrist arm tube at the position to be adjusted. The adjustment moving module 43 pushes the offset support connector, combined positioning ring, and other components to move and reset them to the initial position. After the offset components are reset, the adjustment clamping module 42 releases the wrist arm tube, and the robotic arm unit 20 retracts, causing the adjustment unit 40 to detach from the entire simplified wrist arm and continue to retract to the initial position.

[0036] Finally, the adjusted support connector, combined positioning ring, and other components are tightened: the robotic arm unit 20 performs three-dimensional spatial movement and rotation to lift the tightening unit 10 to the adjusted position and place it in an adaptive posture. The tightening advance / retract module 12 and the tightening lifting module 13 move so that the tightening clamping module 14 surrounds the wrist arm tubes on both sides of the adjusted position. The tightening clamping module 14 clamps and fixes the wrist arm tubes on both sides of the adjusted position. The tightening head of the tightening gun module 15 tightens the nut. After the nut is tightened, the tightening head of the tightening gun module 15 retracts, the tightening clamping module 14 releases the wrist arm tube and moves away from the wrist arm tube under the action of the tightening advance / retract module 12 and the tightening lifting module 13, and the robotic arm unit 20 retracts to the initial position.

[0037] When a pull-out value recalibration operation is required: First, the tightening unit 10 performs the loosening operation: the robotic arm unit 20 performs three-dimensional spatial movement and rotation to lift the tightening unit 10 to a predetermined position and place it in an adaptive posture. The tightening advance and retraction module 12 and the tightening lifting module 13 move so that the tightening clamping module 14 surrounds the positioning tubes on both sides of the pull-out value to be recalibrated position. The tightening clamping module 14 clamps and fixes the positioning tubes 07 on both sides of the pull-out value to be recalibrated position. The tightening head of the tightening gun module 15 loosens the nut. After the nut is loosened, the tightening head of the tightening gun module 15 retracts, the tightening clamping module 14 releases the positioning tube and moves away from the positioning tube under the action of the tightening advance and retraction module 12 and the tightening lifting module 13, and the robotic arm unit 20 retracts to the initial position.

[0038] Next, the clamping unit 50 performs the clamping and fixing operation: the clamping translation module 52, the clamping lifting module 53 and the clamping forward and backward module 54 of the clamping unit 50 move so that the clamping holding module 55 surrounds the positioning tube 07 at the pull-out value to be recalibrated position, and the clamping holding module 55 clamps and fixes the positioning tube 07 at the pull-out value to be recalibrated position.

[0039] Next, the pull-out unit 60 performs pull-out value correction: the pull-out pusher 66 of the pull-out unit 60 pushes the contact line so that the positioning column 08 moves along the positioning tube 07, thereby completing the correction of the excessive deviation of the contact line pull-out value; after the correction of the excessive deviation of the contact line pull-out value, the clamping and holding module 55 releases the positioning tube 07 and moves away from the positioning tube 07 and retracts to the initial position under the action of the clamping translation module 52, the clamping lifting module 53 and the clamping advance and retreat module 54.

[0040] Finally, the tightening unit 10 performs the tightening operation: the robotic arm unit 20 performs three-dimensional spatial movement and rotation to lift the tightening unit 10 to the position after pull-out value recalibration and place it in an adaptive posture; the tightening advance and retreat module 12 and the tightening lifting module 13 move so that the tightening clamping module 14 surrounds the positioning tubes 07 on both sides of the position after pull-out value recalibration; the tightening clamping module 14 clamps and fixes the positioning tubes 07 on both sides of the position after pull-out value recalibration; and the tightening head of the tightening gun module 15 tightens the nut. After the nut is tightened, the tightening head of the tightening gun module 15 retracts, the tightening clamping module 14 releases the positioning tube 07 and moves away from the positioning tube 07 under the action of the tightening advance and retreat module 12 and the tightening lifting module 13, and the robotic arm unit 20 retracts to the initial position; the pull-out driver 62 of the pull-out unit 60 rotates in the opposite direction to drive the pull-out screw 63 to reverse and the pull-out slider 64 to slide in the opposite direction, thereby causing the pull-out pusher 66 to move away from the contact line, and the pull-out unit 60 returns to the initial position under the action of the vehicle lifting module 34 of the vehicle unit 30.

[0041] Once the maintenance work at the designated location is completed, the railcar will move to the next designated location to continue the maintenance work.

[0042] In this embodiment, the adaptation posture refers to the tightening unit 10 being in the following state: the tightening head of the tightening gun module 15 is located below the nut at the position to be tightened, adjusted, or after adjustment, or after pull-out value recalibration, and can move forward to loosen or tighten the nut and exit; the tightening clamping module 14, driven by the movement of the tightening advance and retreat module 12 and the tightening lifting module 13, can clamp and fix the arm tubes on both sides of the position to be tightened, adjusted, or after adjustment, or the positioning tubes 07 on both sides of the position after pull-out value recalibration; the adjustment unit 40 is in the following state: the adjustment clamping gripper 422 of the adjustment clamping module 42 is in the open state and surrounds the outer periphery of the arm tube at the position to be adjusted; the adjustment moving pusher 437 of the adjustment moving module 43 is located on one side of the offset component and can push the offset component for calibration and reset under the action of the adjustment moving driver 431 of the adjustment moving module 43.

[0043] Compared with the prior art, this embodiment uses a carrier unit 30 and a robotic arm unit 20 to move the tightening unit 10 and the adjusting unit 40 to a predetermined position and put them in an adapted posture. By setting a tightening clamping module 14 and a tightening gun module 15 on the tightening unit 10, the nuts can be tightened or loosened while ensuring the installation accuracy of the entire simplified wrist arm. Simultaneously, the tightening advance / retreat module 12 and the tightening lifting module 13 ensure effective clamping and fixing of the tightening clamping module 14 and smooth tightening / loosening operations of the tightening gun module 15. An adjusting clamping module is also provided on the adjusting unit 40. The adjustment and moving module 42 and 43 can perform calibration and reset adjustments on offset components such as the support connector 05 and the combined positioning ring 06 while ensuring the installation accuracy of the entire simplified cantilever arm. By setting up the clamping unit 50 and the pull-out unit 60, the pull-out value can be recalibrated while ensuring the installation accuracy of the entire simplified cantilever arm. Simultaneously, the clamping translation module 52, clamping lifting module 53, and clamping forward and backward module 54 on the clamping unit 50 ensure the effective clamping and fixing of the positioning tube 07 by the clamping holding module 55. The pull-out unit 60 pushes the contact line to pull the positioning column 08, thereby achieving the recalibration of the contact line pull-out value. This embodiment replaces manual operation to avoid problems such as human fatigue errors, insufficient pre-tightening force or false tightening, operational difficulties, and low adjustment accuracy. It achieves mechanized operations for tightening loose nuts on the simplified cantilever arm, calibrating and resetting offset components, and recalibrating the pull-out value of the contact line, thus realizing mechanized maintenance of the simplified cantilever arm.

[0044] Example 2: Based on Example 1, referring to Figure 3 , 4As shown, the tightening advance and retreat module 12 includes a tightening advance and retreat mounting plate 121 disposed on the tightening docking module 11, a tightening advance and retreat slider 122 fixedly disposed on the tightening advance and retreat mounting plate 121, a tightening advance and retreat slide rail 125 slidably disposed on the tightening advance and retreat slider 122 and slidable relative to the tightening advance and retreat slider 122, a tightening advance and retreat sliding plate 124 fixedly disposed on the tightening advance and retreat slide rail 125, a tightening advance and retreat driver 126 disposed at the end of the tightening advance and retreat sliding plate 124, and a tightening advance and retreat telescopic screw 123 disposed on the tightening advance and retreat mounting plate 121. The output end of the tightening advance and retreat driver 126 is connected to the tightening advance and retreat telescopic screw 123. The tightening advance and retreat driver 126 drives the tightening advance and retreat telescopic screw 123 to extend and retract so that the tightening advance and retreat sliding plate 124 slides advance and retreat relative to the tightening advance and retreat mounting plate 121. The tightening lifting module 13 is mounted on the tightening advance and retreat sliding plate 124. Under the action of the tightening advance and retreat driver 126 and the tightening advance and retreat telescopic screw 123, the tightening lifting module 13 moves forward and backward relative to the tightening advance and retreat mounting plate 121.

[0045] Furthermore, the tightening lifting module 13 includes a tightening lifting mounting plate 131 disposed on the tightening forward and backward module 12 and driven to move forward and backward by the tightening forward and backward module 12, a tightening lifting slide rail 132 disposed on the tightening lifting mounting plate 131, a tightening lifting slider 133 slidably disposed on the tightening lifting slide rail 132, and a tightening lifting driver 135 disposed on the tightening lifting mounting plate 131. The telescopic end of the tightening lifting driver 135 is fixedly connected to the tightening lifting slider 133. The tightening lifting slider 133 is provided with a tightening lifting sliding plate 134. The tightening lifting driver 135 drives the tightening lifting slider 133 to move up and down along the tightening lifting slide rail 132 so that the tightening lifting sliding plate 134 slides up and down relative to the tightening lifting mounting plate 131. The tightening clamping module 14 is mounted on the tightening lifting sliding plate 134. Under the action of the tightening lifting driver 135 and the tightening lifting slider 133, the tightening lifting sliding plate 134 drives the tightening clamping module 14 to move up and down relative to the tightening lifting mounting plate 131.

[0046] Furthermore, the tightening clamping module 14 includes a tightening clamping mounting plate 141 disposed on the tightening lifting module 13 and driven to move up and down by the tightening lifting module 13, a tightening clamping driver 142 disposed on the tightening clamping mounting plate 141, and a tightening clamping gripper 143. The tightening clamping driver 142 drives the tightening clamping gripper 143 to open and close to clamp or release the wrist arm tube or positioning tube on both sides of the position to be tightened, adjusted, or after adjustment, or after pull-out value recalibration or pull-out value recalibration.

[0047] In this embodiment, the tightening advance / retractor 126 of the tightening advance / retract module 12 drives the tightening advance / retract telescopic screw 123 to extend and retract, causing the tightening advance / retract sliding plate 124 to slide forward and backward relative to the tightening advance / retract mounting plate 121. This causes the tightening lifting module 13 mounted on the tightening advance / retract sliding plate 124 to move forward and backward relative to the tightening advance / retract mounting plate 121. The tightening lifting driver 135 of the tightening lifting module 13 drives the tightening lifting slider 133 to move up and down along the tightening lifting slide rail 132, causing the tightening lifting sliding plate 134 to slide up and down relative to the tightening lifting mounting plate 131. This causes the tightening clamping module 14 mounted on the tightening lifting sliding plate 134 to move up and down relative to the tightening lifting mounting plate 131, thereby causing the tightening clamping module 14 to move forward, backward, and up and down relative to the tightening gun module 15. The tightening clamping driver 142 of the tightening clamping module 14 drives the tightening clamping gripper 143 to open and close to clamp or release the wrist arm tube or positioning tube 07 on both sides of the position to be tightened, adjusted, or after adjustment, or after pull-out value recalibration, thereby achieving stable fixation of the wrist arm tube or positioning tube 07 at the position to be tightened, adjusted, or after adjustment, or after pull-out value recalibration.

[0048] Example 3: Based on Example 1 or 2, refer to Figure 5 , 6 As shown, the adjustment and movement module 43 includes an adjustment and movement mounting plate 435 disposed on the adjustment docking module 41, an adjustment and movement driver 431 and an adjustment and movement slide rail 432 disposed on the adjustment and movement mounting plate 435, an adjustment and movement slider 433 slidably disposed on the adjustment and movement slide rail 432, an adjustment and movement pusher mounting plate 436 disposed on the adjustment and movement slider 433, an adjustment and movement pusher 437 disposed on the adjustment and movement pusher mounting plate 436, and an adjustment and movement connecting plate 434 connecting the adjustment and movement driver 431 and the adjustment and movement pusher mounting plate 436. One end of the adjustment and movement connecting plate 434 is connected to the telescopic end of the adjustment and movement driver 431, and the other end is connected to the adjustment and movement pusher mounting plate 436. The telescopic end of the adjustment and movement driver 431 drives the adjustment and movement pusher mounting plate 436 to move along the adjustment and movement slide rail 432 to drive the adjustment and movement pusher 437 to move and deflect.

[0049] Furthermore, the adjustment clamping module 42 includes an adjustment clamping driver 421 and an adjustment clamping gripper 422 disposed on the adjustment moving mounting plate 435. The adjustment clamping driver 421 drives the adjustment clamping gripper 422 to open and close to clamp or release the wrist arm tube at the position to be adjusted.

[0050] In this embodiment, the adjustment clamping driver 421 of the adjustment clamping module 42 drives the adjustment clamping gripper 422 to open and close to clamp or release the wrist arm tube at the position to be adjusted, thereby achieving stable fixation of the wrist arm tube at the position to be adjusted. The telescopic end of the adjustment movement driver 431 of the adjustment movement module 43 extends to drive the adjustment movement connecting plate 434 to move. Under the drive of the adjustment movement connecting plate 434, the adjustment movement pusher mounting plate 436 moves along the adjustment movement slide rail 432. The adjustment movement pusher 437 mounted on the adjustment movement pusher mounting plate 436 pushes the offset support connector, combined positioning ring and other components to move, thereby completing the calibration and reset of the offset components.

[0051] Example 4: Based on any of the foregoing embodiments, refer to Figures 7 to 10 As shown, the clamping and translation module 52 includes a clamping and translation mounting plate 521 mounted on the clamping mounting frame 51, a clamping and translation driver 522 mounted on the clamping and translation mounting plate 521, a clamping and translation screw mounting block 523, a clamping and translation slide rail 525, a clamping and translation slider 526 slidably mounted on the clamping and translation slide rail 525, a clamping and translation screw 524 rotatably mounted on the clamping and translation screw mounting block 523, and a clamping and translation mounting block 527 screwed onto the clamping and translation screw 524. The clamping and translation driver 522 outputs... The output end is connected to the clamping translation screw 524. The clamping lifting module 53 is disposed on the clamping translation mounting block 527 and the clamping translation slider 526. The clamping translation driver 522 drives the clamping translation screw 524 to rotate. The clamping translation mounting block 527 moves relative to the clamping translation mounting plate 521 under the drive of the clamping translation screw 524. The clamping lifting module 53 moves relative to the clamping translation module 52 along the clamping translation slide rail 525 under the drive of the clamping translation mounting block 527.

[0052] Furthermore, the clamping translation mounting plate 521 is provided with a clamping translation limit switch 528, and the clamping lifting module 53 is provided with a clamping translation limit piece 529. The clamping translation limit piece 529 and the clamping translation limit switch 528 cooperate to limit the starting position and ending position of the translation movement of the clamping lifting module 53.

[0053] Furthermore, the clamping lifting module 53 includes a clamping lifting mounting plate 531 disposed on the clamping translation module 52 and driven to translate by the clamping translation module 52, a clamping lifting driver 532 disposed on the clamping lifting mounting plate 531, a clamping lifting screw mounting block 533 and a clamping lifting slide rail 535, a clamping lifting slider 536 slidably disposed on the clamping lifting slide rail 535, a clamping lifting screw 534 rotatably disposed on the clamping lifting screw mounting block 533, and a clamping lifting mounting block 537 screwed to the clamping lifting screw 534. The output end of the lifting driver 532 is connected to the clamping lifting screw 534. The clamping advance and retreat module 54 is disposed on the clamping lifting mounting block 537 and the clamping lifting slider 536. The clamping lifting driver 532 drives the clamping lifting screw 534 to rotate. The clamping lifting mounting block 537 moves relative to the clamping lifting mounting plate 531 under the drive of the clamping lifting screw 534. The clamping advance and retreat module 54 moves up and down relative to the clamping lifting module 53 along the clamping lifting slide rail 535 under the drive of the clamping lifting mounting block 537.

[0054] Furthermore, the clamping lifting mounting plate 531 is provided with a clamping lifting limit switch 538, and the clamping advance and retreat module 54 is provided with a clamping lifting limit piece 539. The clamping lifting limit piece 539 cooperates with the clamping lifting limit switch 538 to limit the starting position and ending position of the lifting movement of the clamping advance and retreat module 54.

[0055] Furthermore, the clamping advance / retract module 54 includes a clamping advance / retract mounting plate 541 mounted on the clamping lifting module 53 and driven to move up and down by the clamping lifting module 53, a clamping advance / retract driver 542 mounted on the clamping advance / retract mounting plate 541, a clamping advance / retract screw mounting block 543, a clamping advance / retract slide rail 545, a clamping advance / retract slider 546 slidably mounted on the clamping advance / retract slide rail 545, a clamping advance / retract screw 544 rotatably mounted on the clamping advance / retract screw mounting block 543, and a clamping advance / retract mounting block 547 screwed onto the clamping advance / retract screw 544. The output end of the advance / retract drive 542 is connected to the clamping advance / retract screw 544. The clamping and holding module 55 is disposed on the clamping advance / retract mounting block 547 and the clamping advance / retract slider 546. The clamping advance / retract drive 542 drives the clamping advance / retract screw 544 to rotate. The clamping advance / retract mounting block 547 moves relative to the clamping advance / retract mounting plate 541 under the drive of the clamping advance / retract screw 544. The clamping and holding module 55 moves forward and backward relative to the clamping advance / retract module 54 along the clamping advance / retract slide rail 545 under the drive of the clamping advance / retract mounting block 547.

[0056] Furthermore, the clamping advance and retreat mounting plate 541 is provided with a clamping advance and retreat limit switch 548, and the clamping and holding module 55 is provided with a clamping advance and retreat limit piece 549. The clamping advance and retreat limit piece 549 cooperates with the clamping advance and retreat limit switch 548 to limit the starting position and ending position of the advance and retreat movement of the clamping and holding module 55.

[0057] Furthermore, the clamping and holding module 55 includes a clamping and holding mounting bracket 551 disposed on the clamping and retracting module 54 and driven to move forward and backward by the clamping and retracting module 54, a clamping and holding driver 552 disposed on the clamping and holding mounting bracket 551, and a clamping and holding gripper 553. The clamping and holding driver 552 drives the clamping and holding gripper 553 to open and close to clamp or release the positioning tube 07 at the position to be recalibrated.

[0058] In this embodiment, the clamping translation driver 522 of the clamping translation module 52 drives the clamping translation screw 524 to rotate. The clamping translation mounting block 527 moves relative to the clamping translation mounting plate 521 under the drive of the clamping translation screw 524. The clamping lifting module 53, mounted on the clamping translation mounting block 527 and the clamping translation slider 526, performs a translational movement relative to the clamping translation module 52 along the clamping translation slide rail 525. The clamping lifting driver 532 of the clamping lifting module 53 drives the clamping lifting screw 534 to rotate. The clamping lifting mounting block 537 moves relative to the clamping lifting mounting plate 531 under the drive of the clamping lifting screw 534. The clamping advance / retreat module 54, mounted on the clamping lifting mounting block 537 and the clamping lifting slider 536, performs a lifting movement relative to the clamping lifting module 53 along the clamping lifting slide rail 535. The clamping advance / retreat driver 542 of the clamping advance / retreat module 54 drives the clamping advance / retreat screw 544 to rotate. The clamping advance / retreat mounting block 547 moves relative to the clamping advance / retreat mounting plate 541 under the drive of the clamping advance / retreat screw 544. The clamping holding module 55, mounted on the clamping advance / retreat mounting block 547 and the clamping advance / retreat slider 546, moves forward and backward relative to the clamping advance / retreat module 54 along the clamping advance / retreat slide rail 545. Finally, the clamping translation module 52, the clamping lifting module 53, and the clamping advance / retreat module 54 realize the translation, lifting, and advance / retreat movements of the clamping holding module 55, thereby ensuring that the clamping holding module 55 smoothly moves to the pull-out value recalibration position and effectively clamps and fixes the positioning tube 07 at that position. The clamping and holding module 55's clamping and holding driver 533 drives the clamping and holding gripper 553 to open and close to clamp or release the positioning tube 07 at the pull-out value recalibration position, thereby achieving stable fixation of the positioning tube 07 at the pull-out value recalibration position.

[0059] It should be noted that the above detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A simplified wrist-arm intelligent maintenance robot, comprising a tightening unit (10), at least two robotic arm units (20), a carrier unit (30), an adjustment unit (40), a clamping unit (50), and a pull-out unit (60), characterized in that: The robotic arm unit (20), clamping unit (50), and pull-out unit (60) are mounted on the carrier unit (30), and the tightening unit (10) and adjusting unit (40) are respectively mounted on the two robotic arm units (20). The carrier unit (30) is used to perform forward, backward, translational, rotational, and lifting movements to move the robotic arm unit (20), clamping unit (50), and pull-out unit (60) to a predetermined position. The robotic arm unit (20) is used to provide three-dimensional spatial movement and rotation for the tightening unit (10) and adjusting unit (40) to move the tightening unit (10) and adjusting unit (40) to a predetermined position and make the tightening unit (10) and adjusting unit (40) move to a predetermined position. The tightening unit (10) and the adjusting unit (40) are in an adaptive posture. The tightening unit (10) is used to tighten or loosen the screws, the adjusting unit (40) is used to adjust the screws, the clamping unit (50) is used to clamp and fix the screws, and the pulling-out unit (60) is used to recalibrate the pull-out value. The adjusting unit (40) includes an adjusting docking module (41) for docking with the robotic arm unit (20) and for installing the adjusting moving module (43), the adjusting moving module (43) on the adjusting docking module (41), and an adjusting clamping module (42) on the adjusting moving module (43). The robotic arm unit... (20) Drive the adjustment unit (40) to move to the predetermined position and into the adaptation posture. The adjustment clamping module (42) clamps the wrist arm tube at the position to be adjusted. The adjustment moving module (43) moves the offset component to complete the adjustment operation. The adjustment moving module (43) includes an adjustment moving mounting plate (435) on the adjustment docking module (41), an adjustment moving driver (431) and an adjustment moving slide rail (432) on the adjustment moving mounting plate (435), an adjustment moving slider (433) slidably disposed on the adjustment moving slide rail (432), and an adjustment moving pusher mounted on the adjustment moving slider (433). The components include a plate (436), an adjustment moving pusher (437) mounted on the adjustment moving pusher mounting plate (436), and an adjustment moving connecting plate (434) connecting the adjustment moving driver (431) and the adjustment moving pusher mounting plate (436). One end of the adjustment moving connecting plate (434) is connected to the telescopic end of the adjustment moving driver (431), and the other end is connected to the adjustment moving pusher mounting plate (436). The telescopic end of the adjustment moving driver (431) drives the adjustment moving pusher mounting plate (436) to move along the adjustment moving slide rail (432) to drive the adjustment moving pusher (437) to move and deflect.The adjustment clamping module (42) includes an adjustment clamping driver (421) and an adjustment clamping gripper (422) disposed on the adjustment movable mounting plate (435). The adjustment clamping driver (421) drives the adjustment clamping gripper (422) to open and close to clamp or release the wrist arm tube at the position to be adjusted.

2. The simplified wrist-arm intelligent maintenance robot according to claim 1, characterized in that: The tightening unit (10) includes a tightening docking module (11) for docking with the robotic arm unit (20), a tightening motion module disposed on the tightening docking module (11), a tightening gun module (15) disposed on the tightening docking module (11) and located below the tightening motion module, and a tightening clamping module (14) disposed on the tightening motion module and driven by the tightening motion module to move forward, backward and up and down. The tightening motion module includes a tightening forward and backward module (12) disposed on the tightening docking module (11), and a tightening lifting module (12) disposed on the tightening forward and backward module (12) and driven by the tightening forward and backward module (12) to move forward and backward. 13), the tightening clamping module (14) is located on the tightening lifting module (13); the robotic arm unit (20) drives the tightening unit (10) to move to a predetermined position and be in an adaptive posture; the tightening advance and retreat module (12) and the tightening lifting module (13) drive the tightening clamping module (14) to move to the position to be tightened or adjusted or after adjustment or pull-out value to be recalibrated or after pull-out value recalibration; the tightening clamping module (14) clamps the wrist arm tube or positioning tube on both sides of the corresponding position; the tightening gun module (15) located below the tightening clamping module (14) tightens or loosens the nut from below to complete the tightening or loosening operation.

3. The simplified wrist-arm intelligent maintenance robot according to claim 2, characterized in that: The tightening and retracting module (12) includes a tightening and retracting mounting plate (121) disposed on the tightening docking module (11), a tightening and retracting slider (122) fixedly disposed on the tightening and retracting mounting plate (121), a tightening and retracting slide rail (125) slidably disposed on the tightening and retracting slider (122) and slidable relative to the tightening and retracting slider (122), a tightening and retracting sliding plate (124) fixedly disposed on the tightening and retracting slide rail (125), and a tightening and retracting slide plate (124) disposed on the tightening and retracting module (11). The sliding plate (124) has a tightening advance and retraction driver (126) at its end and a tightening advance and retraction telescopic screw (123) on the tightening advance and retraction mounting plate (121). The output end of the tightening advance and retraction driver (126) is connected to the tightening advance and retraction telescopic screw (123). The tightening advance and retraction driver (126) drives the tightening advance and retraction telescopic screw (123) to extend and retract so that the tightening advance and retraction sliding plate (124) slides forward and backward relative to the tightening advance and retraction mounting plate (121).

4. A simplified wrist-arm intelligent maintenance robot according to claim 2, characterized in that: The tightening lifting module (13) includes a tightening lifting mounting plate (131) mounted on the tightening advance and retreat module (12) and driven to move forward and backward by the tightening advance and retreat module (12), a tightening lifting slide rail (132) mounted on the tightening lifting mounting plate (131), a tightening lifting slider (133) slidably mounted on the tightening lifting slide rail (132), and a tightening lifting driver (135) mounted on the tightening lifting mounting plate (131). The telescopic end of the tightening lifting driver (135) is fixedly connected to the tightening lifting slider (133). The tightening lifting slider (133) is provided with a tightening lifting sliding plate (134). The tightening lifting driver (135) drives the tightening lifting slider (133) to move up and down along the tightening lifting slide rail (132) so that the tightening lifting sliding plate (134) slides up and down relative to the tightening lifting mounting plate (131).

5. A simplified wrist-arm intelligent maintenance robot according to claim 2, characterized in that: The tightening clamping module (14) includes a tightening clamping mounting plate (141) disposed on the tightening lifting module (13) and driven to move up and down by the tightening lifting module (13), a tightening clamping driver (142) disposed on the tightening clamping mounting plate (141), and a tightening clamping gripper (143). The tightening clamping driver (142) drives the tightening clamping gripper (143) to open and close to clamp or release the wrist arm tube or positioning tube on both sides of the position to be tightened, adjusted, or after adjustment, or after pull-out value recalibration or pull-out value recalibration.

6. A simplified wrist-arm intelligent maintenance robot according to claim 1, characterized in that: The vehicle unit (30) includes a vehicle forward / backward module (31) for providing forward / backward motion, a vehicle translation module (32) disposed on the vehicle forward / backward module (31) for providing translational motion, a vehicle rotation module (33) disposed on the vehicle translation module (32) for providing rotational motion, and a vehicle lifting module (34) disposed on the vehicle translation module (32) for providing lifting motion. The robotic arm unit (20) and the clamping unit (50) are disposed on the vehicle rotation platform (331) of the vehicle rotation module (33), and the pull-out unit (60) is disposed on the vehicle lifting module (34).

7. A simplified wrist-arm intelligent maintenance robot according to claim 1, characterized in that: The clamping unit (50) includes a clamping mounting frame (51) mounted on the carrier unit (30) and driven by the carrier unit (30) to move forward, backward, translate, and rotate; a clamping translation module (52) mounted on the clamping mounting frame (51); a clamping lifting module (53) mounted on the clamping translation module (52) and driven by the clamping translation module (52) to move translationally; and a clamping forward and backward clamping mechanism mounted on the clamping lifting module (53) and driven by the clamping lifting module (53) to move up and down. The module (54) and the clamping and holding module (55) are mounted on the clamping and retracting module (54) and are driven to move forward and backward by the clamping and retracting module (54); the carrier unit (30) drives the clamping unit (50) to move to a predetermined position, the clamping translation module (52), the clamping lifting module (53) and the clamping and retracting module (54) drive the clamping and holding module (55) to move to the pull-out value recalibration position, and the clamping and holding module (55) clamps the positioning tube at the pull-out value recalibration position.

8. A simplified wrist-arm intelligent maintenance robot according to claim 7, characterized in that: The clamping and translation module (52) includes a clamping and translation mounting plate (521) disposed on the clamping mounting frame (51), a clamping and translation driver (522) disposed on the clamping and translation mounting plate (521), a clamping and translation screw mounting block (523), and a clamping and translation slide rail (525), a clamping and translation slider (526) slidably disposed on the clamping and translation slide rail (525), a clamping and translation screw (524) rotatably disposed on the clamping and translation screw mounting block (523), and a clamping and translation mounting block (527) screwed onto the clamping and translation screw (524). The clamping and translation driver (522) outputs... The output end is connected to the clamping translation screw (524). The clamping lifting module (53) is mounted on the clamping translation mounting block (527) and the clamping translation slider (526). The clamping translation driver (522) drives the clamping translation screw (524) to rotate. The clamping translation mounting block (527) moves relative to the clamping translation mounting plate (521) under the drive of the clamping translation screw (524). The clamping lifting module (53) moves relative to the clamping translation module (52) along the clamping translation slide rail (525) under the drive of the clamping translation mounting block (527).

9. A simplified wrist-arm intelligent maintenance robot according to claim 7, characterized in that: The clamping and lifting module (53) includes a clamping and lifting mounting plate (531) mounted on the clamping and translating module (52) and driven to move by the clamping and translating module (52), a clamping and lifting driver (532) mounted on the clamping and lifting mounting plate (531), a clamping and lifting screw mounting block (533) and a clamping and lifting slide rail (535), a clamping and lifting slider (536) slidably mounted on the clamping and lifting slide rail (535), a clamping and lifting screw (534) rotatably mounted on the clamping and lifting screw mounting block (533), and a clamping and lifting mounting block (537) screwed onto the clamping and lifting screw (534). The output end of the driver (532) is connected to the clamping lifting screw (534). The clamping advance and retreat module (54) is mounted on the clamping lifting mounting block (537) and the clamping lifting slider (536). The clamping lifting driver (532) drives the clamping lifting screw (534) to rotate. The clamping lifting mounting block (537) moves relative to the clamping lifting mounting plate (531) under the drive of the clamping lifting screw (534). The clamping advance and retreat module (54) moves up and down relative to the clamping lifting module (53) along the clamping lifting slide rail (535) under the drive of the clamping lifting mounting block (537).

10. A simplified wrist-arm intelligent maintenance robot according to claim 7, characterized in that: The clamping advance and retreat module (54) includes a clamping advance and retreat mounting plate (541) mounted on the clamping lifting module (53) and driven by the clamping lifting module (53) to move up and down, a clamping advance and retreat driver (542) mounted on the clamping advance and retreat mounting plate (541), a clamping advance and retreat screw mounting block (543) and a clamping advance and retreat slide rail (545), a clamping advance and retreat slider (546) slidably mounted on the clamping advance and retreat slide rail (545), a clamping advance and retreat screw (544) rotatably mounted on the clamping advance and retreat screw mounting block (543), and a clamping advance and retreat mounting block (547) screwed onto the clamping advance and retreat screw (544). The output end of the driver (542) is connected to the clamping advance and retreat screw (544). The clamping and holding module (55) is disposed on the clamping advance and retreat mounting block (547) and the clamping advance and retreat slider (546). The clamping advance and retreat driver (542) drives the clamping advance and retreat screw (544) to rotate. The clamping advance and retreat mounting block (547) moves relative to the clamping advance and retreat mounting plate (541) under the drive of the clamping advance and retreat screw (544). The clamping and holding module (55) moves forward and backward relative to the clamping advance and retreat module (54) along the clamping advance and retreat slide rail (545) under the drive of the clamping advance and retreat mounting block (547).

11. A simplified wrist-arm intelligent maintenance robot according to claim 7, characterized in that: The clamping and holding module (55) includes a clamping and holding mounting bracket (551) disposed on the clamping and retracting module (54) and driven to move forward and backward by the clamping and retracting module (54), a clamping and holding driver (552) disposed on the clamping and holding mounting bracket (551), and a clamping and holding gripper (553). The clamping and holding driver (552) drives the clamping and holding gripper (553) to open and close to clamp or release the positioning tube at the position to be recalibrated.

12. A simplified wrist-arm intelligent maintenance robot according to claim 1, characterized in that: The pull-out unit (60) includes a pull-out mounting frame (61) mounted on the carrier unit (30) and driven by the carrier unit (30) to move forward, backward, translate and lift; a pull-out driver (62) mounted on the pull-out mounting frame (61); a pull-out screw (63) and a pull-out slide rail (65); a pull-out slider (64) slidably mounted on the pull-out slide rail (65) and screwed to the pull-out screw (63); and a pull-out pusher (66) mounted on the pull-out slider (64). The pull-out driver (62) drives the pull-out screw (63) to rotate. The pull-out slider (64) moves along the pull-out slide rail (65) under the drive of the pull-out screw (63) to drive the pull-out pusher (66) to move. The pull-out pusher (66) pushes the contact wire to drive the positioning column to move along the positioning tube, thereby completing the recalibration of the pull-out value of the contact wire.

13. A simplified wrist-arm intelligent maintenance robot according to claim 12, characterized in that: The pull-out pusher (66) includes a triangular upper pull-out pusher guide (661) and a lower pull-out pusher arc-shaped part (662). The pull-out pusher guide (661) guides the contact line to slide into the pull-out pusher arc-shaped part (662), and the pull-out pusher arc-shaped part (662) is used to push the contact line.

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