Simple and easy method for intelligent maintenance of cantilever

Abstract

The present application relates to a kind of simple wrist arm intelligent maintenance methods, and simple wrist arm is maintained by maintenance robot to carry out maintenance operation, maintenance operation includes tightening operation, adjustment operation, maintenance robot includes tightening unit, at least two mechanical arm units, carrier unit and adjustment unit;When needing to carry out adjustment operation, first the mechanical arm unit drives tightening unit to carry out loosening operation, second mechanical arm unit drives the adjustment unit to carry out mobile correction operation, third mechanical arm unit drives tightening unit to carry out secondary tightening operation;After maintenance operation is completed, rail car is operated to next predetermined position to continue maintenance operation.The present application replaces manual operation, realizes the mechanical operation of the nut on simple wrist arm to be loosened and tightened, the mechanical operation of the component to be offset and moved to be corrected, and realizes the mechanized maintenance of simple wrist arm.

Description

Technical Field

[0001] This invention relates to the field of high-speed railway overhead contact lines, specifically to a simplified intelligent maintenance method for cantilever arms. 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 view of this, the present invention provides a simplified intelligent maintenance method for a wrist arm. Addressing the unstructured environment and installation process requirements of simplified wrist arms, this method utilizes a maintenance robot and its robotic arm unit, carrier unit, tightening unit, tightening gun module, and motion module to perform mechanized tightening of loose nuts on the simplified wrist arm. This replaces manual labor, avoiding problems such as human fatigue errors, insufficient pre-tightening force, or false tightening. Furthermore, the method utilizes an adjustment unit, including a clamping module and a moving module, within the maintenance robot, along with the carrier unit and robotic arm unit, to perform mechanized 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. Summary of the Invention

[0005] The present invention aims to provide a simplified intelligent wrist and arm repair method 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 intelligent maintenance method for a wrist arm utilizes a maintenance robot to perform maintenance operations on a simplified wrist arm. The improvement lies in that the maintenance operations include tightening and adjustment. The maintenance robot comprises a tightening unit, at least two robotic arm units, a carrier unit, and an adjustment unit. The robotic arm units are mounted on the carrier unit, the tightening unit is mounted on one robotic arm unit, and the adjustment unit is mounted on the other robotic arm unit. During maintenance, the carrier unit moves to a predetermined position via a railcar, and performs forward, backward, translational, and rotational movements to move the robotic arm units to the predetermined positions. When tightening is required, the robotic arm units drive the tightening unit to perform the tightening operation. When adjustment is required, firstly, the robotic arm units drive the tightening unit to loosen the tightening operation; secondly, the robotic arm units drive the adjustment unit to perform a movement and correction operation; and thirdly, the robotic arm units drive the tightening unit to perform a second tightening operation. After the maintenance operation is completed, the railcar moves to the next predetermined position to continue the maintenance operation.

[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 tightening clamping module is disposed on the tightening lifting module.

[0008] Preferably, the tightening operation performed by the robotic arm unit refers to the robotic arm unit performing three-dimensional spatial movement and rotation to lift the tightening unit to a predetermined position and place it in an adaptive posture. The tightening advance / retract module and the tightening lifting module move so that the tightening clamping module surrounds the wrist arm tubes on both sides of the position to be tightened. The tightening clamping module clamps and fixes the wrist arm tubes on both sides of the position to be tightened. The tightening gun module located below the tightening clamping module tightens the loose nut from below. After the nut is tightened, the tightening head of the tightening gun module retracts, the tightening clamping module releases the wrist arm tube and moves away from the wrist arm tube under the action of the tightening advance / retract module and the tightening lifting module, and the robotic arm unit retracts to the initial position.

[0009] Preferably, the tightening advance / retract module includes a tightening advance / retract mounting plate disposed on the tightening docking module, a tightening advance / retract slider fixedly disposed on the tightening advance / retract mounting plate, a tightening advance / retract slide rail slidably disposed on the tightening advance / retract slider and slidable relative to the tightening advance / retract slider, a tightening advance / retract sliding plate fixedly disposed on the tightening advance / retract slide rail, a tightening advance / retract driver disposed at the end of the tightening advance / retract sliding plate, and a tightening advance / retract telescopic screw disposed on the tightening advance / retract mounting plate. The output end of the tightening advance / retract driver is connected to the tightening advance / retract telescopic screw, and the tightening advance / retract driver drives the tightening advance / retract telescopic screw to extend and retract so that the tightening advance / retract sliding plate slides advance and retract relative to the tightening advance / retract mounting plate.

[0010] Preferably, the tightening lifting module includes a tightening lifting mounting plate disposed on the tightening forward and backward module and driven to move forward and backward by the tightening forward and backward module, a tightening lifting slide rail disposed on the tightening lifting mounting plate, a tightening lifting slider slidably disposed on the tightening lifting slide rail, and a tightening lifting driver disposed on the tightening lifting mounting plate. The telescopic end of the tightening lifting driver is fixedly connected to the tightening lifting slider. The tightening lifting slider is provided with a tightening lifting sliding plate. The tightening lifting driver drives the tightening lifting slider to move up and down along the tightening lifting slide rail so that the tightening lifting sliding plate moves up and down relative to the tightening lifting mounting plate.

[0011] Preferably, the tightening clamping module includes a tightening clamping mounting plate disposed on the tightening lifting module and driven to move up and down by the tightening lifting module, a tightening clamping driver disposed on the tightening clamping mounting plate, and a tightening clamping gripper. The tightening clamping driver drives the tightening clamping gripper to open and close to clamp or release the wrist arm tubes on both sides of the position to be tightened.

[0012] Preferably, the adjustment unit includes an adjustment docking module for docking with the robotic arm unit, an adjustment moving module disposed on the adjustment docking module, and an adjustment clamping module disposed on the adjustment moving module. The adjustment clamping module is used to clamp the wrist arm tube at the position to be moved, and the adjustment moving module is used to move the offset component.

[0013] Preferably, the robotic arm unit driving the tightening unit to perform the loosening operation means that the robotic arm unit performs three-dimensional spatial movement and rotation to lift the tightening unit to a predetermined position and place it in an adapted posture. The tightening advance and retreat module and the tightening lifting module move so that the tightening clamping module surrounds the wrist arm tubes on both sides of the position to be moved. The tightening clamping module clamps and fixes the wrist arm tubes on both sides of the position to be moved. The tightening gun module located below the tightening clamping module loosens the nut from below. After the nut is loosened, the tightening head of the tightening gun module retracts, the tightening clamping module releases the wrist arm tube and moves away from the wrist arm tube under the action of the tightening advance and retreat module and the tightening lifting module, and the robotic arm unit retracts to the initial position.

[0014] Preferably, the robotic arm unit drives the adjustment unit to perform a movement correction operation, which means that the robotic arm unit performs three-dimensional spatial movement and rotation to lift the adjustment unit to a predetermined position and place it in an adaptive posture. The adjustment clamping module clamps and fixes the wrist arm tube at the position to be moved. The adjustment movement module pushes the offset component to perform movement correction. After the offset component is corrected, the adjustment clamping module releases the wrist arm tube, and the robotic arm unit retracts, causing the adjustment unit to detach from the entire simplified wrist arm and continue to retract to the initial position.

[0015] Preferably, the robotic arm unit drives the tightening unit to perform a secondary tightening operation. This means that the robotic arm unit performs three-dimensional spatial movement and rotation, and the tightening unit lifts it to the position after movement correction and places it in an adaptive posture. The tightening advance and retreat module and the tightening lifting module move so that the tightening clamping module surrounds the wrist arm tubes on both sides of the position after movement correction. The tightening clamping module clamps and fixes the wrist arm tubes on both sides of the position after movement correction. The tightening gun module located below the tightening clamping module tightens the nut from below. After the nut is tightened, the tightening head of the tightening gun module retracts, the tightening clamping module releases the wrist arm tube and moves away from the wrist arm tube under the action of the tightening advance and retreat module and the tightening lifting module, and the robotic arm unit retracts to the initial position.

[0016] Preferably, the adjustment and movement module includes an adjustment and movement mounting plate disposed on the adjustment docking module, an adjustment and movement driver and an adjustment and movement slide rail disposed on the adjustment and movement mounting plate, an adjustment and movement slider slidably disposed on the adjustment and movement slide rail, an adjustment and movement pusher mounting plate disposed on the adjustment and movement slider, an adjustment and movement pusher disposed on the adjustment and movement pusher mounting plate, and an adjustment and movement connecting plate connecting the adjustment and movement driver and the adjustment and movement pusher mounting plate. One end of the adjustment and movement connecting plate is connected to the telescopic end of the adjustment and movement driver, and the other end is connected to the adjustment and movement pusher mounting plate. The telescopic end of the adjustment and movement driver drives the adjustment and movement pusher mounting plate to move along the adjustment and movement slide rail, thereby driving the adjustment and movement pusher to move and deflect.

[0017] Preferably, the adjustment clamping module includes an adjustment clamping driver and an adjustment clamping gripper disposed on the adjustment moving mounting plate. The adjustment clamping driver drives the adjustment clamping gripper to open and close to clamp or release the wrist arm tube at the position to be moved.

[0018] Preferably, the vehicle unit includes a vehicle forward / backward module for providing forward / backward motion, a vehicle translation module disposed on the vehicle forward / backward module for providing translational motion, and a vehicle rotation module disposed on the vehicle translation module for providing rotational motion, wherein the robotic arm unit is disposed on the vehicle rotation platform of the vehicle rotation module.

[0019] Compared with existing technologies, this invention uses a carrier unit and a robotic arm unit on the maintenance robot to move the tightening unit and the adjustment unit to a predetermined position and put them in an adapted posture. By setting a tightening clamping module and a tightening gun module on the tightening unit, loose nuts can be tightened while ensuring the installation accuracy of the entire simplified wrist arm. Simultaneously, the tightening advance and retreat module and the tightening lifting module ensure effective clamping and fixation of the tightening clamping module and smooth tightening operation of the tightening gun module. By setting an adjustment clamping module and an adjustment movement module on the adjustment unit, offset support connectors, combined positioning rings, and other components can be moved and corrected while ensuring the installation accuracy of the entire simplified wrist arm. This replaces manual operation, avoiding problems such as human fatigue errors, insufficient pre-tightening force or false tightening, low efficiency, and operational difficulties. It achieves mechanized operation for tightening loose nuts on the simplified wrist arm and mechanized operation for moving and correcting offset components, thus realizing mechanized maintenance of the simplified wrist arm. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the repair robot in this invention; Figure 2This is a schematic diagram of the mechanical arm unit and tightening unit of the maintenance robot in this invention; Figure 3 This is a schematic diagram of the tightening unit of the maintenance robot in this invention; Figure 4 This is a schematic diagram of the tightening unit of the maintenance robot in this invention, excluding the tightening gun module; Figure 5 This is a schematic diagram of the mechanical arm unit and adjustment unit of the maintenance robot in this invention; Figure 6 This is a schematic diagram of the adjustment unit of the maintenance robot in this invention; Figure 7 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 arm; 02, inclined cantilever arm; 03, combined load-bearing cable seat; 04, cantilever arm 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 advance / retreat module; 121, tightening advance / retreat mounting plate; 122, tightening advance / retreat mounting plate. 123. Tighten the forward / reverse telescopic screw; 124. Tighten the forward / reverse sliding plate; 125. Tighten the forward / reverse slide rail; 126. Tighten the forward / reverse driver; 13. Tighten the lifting module; 131. Tighten the lifting mounting plate; 132. Tighten the lifting slide rail; 133. Tighten the lifting slider; 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. Tightening clamping gripper; 15. Tightening 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 plate. Mounting, 42. Adjusting the clamping module, 421. Adjusting the clamping driver, 422. Adjusting the clamping gripper, 43. Adjusting the moving module, 431. Adjusting the moving driver, 432. Adjusting the moving slide rail, 433. Adjusting the moving slider, 434. Adjusting the moving connecting plate, 435. Adjusting the moving mounting plate, 436. Adjusting the moving pusher mounting plate, 437. Adjusting the moving pusher, 50. Clamping unit, 60. Pull-out unit, 70. Detection unit. Detailed Implementation

[0021] 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.

[0022] Example 1: Reference Figures 1 to 7 As shown, a simplified intelligent repair method for a wrist arm utilizes a repair robot to perform repair work on a simplified wrist arm. The improvement lies in that the repair work includes tightening and adjustment operations; the repair robot includes a tightening unit 10, at least two robotic arm units 20, a carrier unit 30, and an adjustment unit 40. The robotic arm units 20 are mounted on the carrier unit 30, the tightening unit 10 is mounted on one of the robotic arm units 20, and the adjustment unit 40 is mounted on the other robotic arm unit 20; during the repair work, the carrier unit 30 moves to a predetermined position via a railcar. The carrier unit 30 performs forward, backward, translational, and rotational movements to move the robotic arm unit 20 to a predetermined position. When tightening is required, the robotic arm unit 20 drives the tightening unit 10 to perform tightening. When adjustment is required, the robotic arm unit 20 first drives the tightening unit 10 to loosen, then the robotic arm unit 20 drives the adjustment unit 40 to move and correct, and finally the robotic arm unit 20 drives the tightening unit 10 to perform a second tightening. After the maintenance work is completed, the railcar moves to the next predetermined position to continue the maintenance work.

[0023] Furthermore, refer to Figures 2 to 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 13 disposed on the tightening forward and backward module 12 and driven by the tightening forward and backward module 12 to move forward and backward. The tightening clamping module 14 is disposed on the tightening lifting module 13.

[0024] Furthermore, the robotic arm unit 20 driving the tightening unit 10 to perform tightening operations means that 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 tightened. The tightening clamping module 14 clamps and fixes the wrist arm tubes on both sides of the position to be tightened. The tightening gun module 15 located below the tightening clamping module 14 tightens the loose nut from below. 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 and retraction module 12 and the tightening lifting module 13, and the robotic arm unit 20 retracts to the initial position.

[0025] Furthermore, refer to Figure 5 , 6 As shown, the adjustment unit 40 includes an adjustment docking module 41 for docking with the robotic arm unit 20, an 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 adjustment clamping module 42 is used to clamp the wrist arm tube at the position to be moved, and the adjustment moving module 43 is used to move the offset component.

[0026] Furthermore, the robotic arm unit 20 driving the tightening unit 10 to perform a loosening operation means that 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 moved. The tightening clamping module 14 clamps and fixes the wrist arm tubes on both sides of the position to be moved. The tightening gun module 15 located below the tightening clamping module 14 loosens the nut from below. 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.

[0027] Furthermore, the robotic arm unit 20 driving the adjustment unit 40 to perform movement correction work means that the 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 moved, and the adjustment moving module 43 pushes the offset component to perform movement correction. After the offset component is corrected, 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.

[0028] Furthermore, the robotic arm unit 20 drives the tightening unit 10 to perform a secondary tightening operation. This means that the robotic arm unit 20 performs three-dimensional spatial movement and rotation, and the tightening unit 10 lifts it to the position after movement correction and places 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 after movement correction. The tightening clamping module 14 clamps and fixes the wrist arm tubes on both sides of the position after movement correction. The tightening gun module 15 located below the tightening clamping module 14 tightens the nut from below. 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 and retraction module 12 and the tightening lifting module 13, and the robotic arm unit 20 retracts to the initial position.

[0029] Furthermore, 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, and a vehicle rotation module 33 disposed on the vehicle translation module 32 for providing rotational motion. The robotic arm unit 20 is disposed on the vehicle rotation platform 331 of the vehicle rotation module 33.

[0030] 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.

[0031] In this embodiment, the carrier unit 30 is used to perform forward, backward, translational, and rotational movements to move the robotic arm unit 20 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 the 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 forward and backward module 12 is used to provide for the tightening clamping module 14 The tightening and lifting module 13 provides lifting and lowering motion for the tightening and clamping module 14, which clamps and fixes the arm tubes on both sides of the position to be tightened. The tightening gun module 15 is used to tighten loose bolts. 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 clamping module 42 is used to clamp and fix the arm tube at the position to be moved. The adjustment moving module 43 is used to move and correct offset components such as the support connector and the combined positioning ring.

[0032] In this embodiment, the tightening and clamping module 14 is necessary because when tightening the nuts of the support connector 05 or the combined positioning ring 06, the entire simplified cantilever arm is in a relatively precise installation state, meaning that the installation accuracy of the entire simplified cantilever arm basically meets the installation requirements, with only some nuts of the support connector 05 and / or the combined positioning ring 06 becoming loose. Directly tightening the nuts at this time would affect other components of the simplified cantilever arm; for example, the torque generated by tightening could cause slight displacement or bending of the insulator, or slight bending at the cantilever tube connection, thus reducing the overall installation accuracy of the simplified cantilever arm or even causing it to fail to meet the installation requirements. By setting up the tightening and clamping module 14, the cantilever tubes on both sides of the position to be tightened are clamped, and the entire tightening unit 10 and the robotic arm unit 20 clamp and fix the cantilever tube at this location, thereby offsetting the influence of the torque generated during tightening on the remaining components of the simplified cantilever arm, and thus ensuring the installation accuracy of the already basically precisely installed simplified cantilever arm.

[0033] 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 supporting the connector 05 and the combined positioning ring 06 are located below the corresponding components, and the tightening head of the tightening gun module 15 can only enter the nut from below and 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 arm tube, support connector 05, and combined positioning ring 06, 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 support connector 05 and the combined positioning ring 06 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 wrist arm tubes on both sides of the position to be tightened, and the tightening head of the tightening gun module 15 can effectively enter and exit the position to be tightened and tighten the nut.

[0034] In this embodiment, the adjustment clamping module 42 is necessary because when moving and correcting 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 experiencing positional deviations. At this time, directly moving and correcting the deviated support connectors and combined positioning rings would affect other components of the simplified cantilever arm. For example, the tension generated by the movement and correction 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 moved is clamped, making the adjustment clamping module 42, the adjustment moving module 43, and the wrist arm tube at the position to be moved 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 when moving and correcting the offset are only applied to this whole, thereby eliminating the influence on the other parts of the simplified wrist arm during movement correction, and thus ensuring the installation accuracy of the simplified wrist arm that has been basically accurately installed. At the same time, this is also the reason why the adjustment clamping module 42 is set on the adjustment moving module 43 rather than on the adjustment mounting bracket 412. In addition, if the adjustment clamping module 42 is not set, the reaction force generated when moving and correcting the offset support connector and the combined positioning ring can only 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 moving the correction 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.

[0035] In this embodiment, when performing maintenance work, after the vehicle unit 30 moves to the predetermined position via the railcar, the vehicle unit 30 adjusts its position. That is, the vehicle forward / backward module 31, the vehicle translation module 32, and the vehicle rotation module 33 of the vehicle unit 30 perform forward / backward, translation, and rotation movements to drive the robotic arm unit 20 to the predetermined position.

[0036] 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 from below. 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 adjustments are required: First, a loosening operation is performed. 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 encircles the wrist arm tubes on both sides of the position to be moved. The tightening clamping module 14 clamps and fixes the wrist arm tubes on both sides of the position to be moved. The tightening head of the tightening gun module 15 loosens the nut from below. 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 / retract module 12 and the tightening lifting module 13, and the robotic arm unit 20 retracts to the initial position. Next, a movement correction operation is performed. 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 moved. The adjustment movement module 43 pushes the offset support connector, combined positioning ring and other components to perform movement correction. After the offset components are corrected, 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. A second tightening operation is performed. The robotic arm unit 20 performs three-dimensional spatial movement and rotation to lift the tightening unit 10 to the position after movement correction 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 after movement correction. The tightening clamping module 14 clamps and fixes the wrist arm tubes on both sides of the position after movement correction. The tightening head of the tightening gun module 15 tightens the nut from below. 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 and retraction module 12 and the tightening lifting module 13. The robotic arm unit 20 retracts to the initial position.

[0038] Once all tightening and / or adjustment work is completed at the designated location, the railcar moves to the next designated location to continue tightening and / or adjustment work.

[0039] 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 to be tightened or loosened and can move forward to tighten or loosen 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 or loosened; 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 moved; the adjustment moving pusher 437 of the adjustment moving module 43 is located on one side of the part to be moved and can push the part to be moved to move under the action of the adjustment moving driver 431 of the adjustment moving module 43.

[0040] Compared with the prior art, this embodiment uses the carrier unit 30 and the robotic arm unit 20 on the maintenance robot to move the tightening unit 10 and the adjusting unit 40 to a predetermined position and put the tightening unit 10 and the adjusting unit 40 in an adapted posture; by setting the tightening clamping module 14 and the tightening gun module 15 on the tightening unit 10, the loose nut can be tightened while ensuring the installation accuracy of the entire simplified wrist arm. At the same time, the tightening advance and retreat module 12 and the tightening lifting module 13 are used to ensure the effective clamping and fixing of the tightening clamping module 14 and the tightening gun module 15. The tightening operation of 5 is carried out smoothly; by setting the adjustment clamping module 42 and the adjustment moving module 43 on the adjustment unit 40, the adjustment operation of moving and correcting the offset support connector, the combination positioning ring and other components can be carried out while ensuring the installation accuracy of the entire simplified cantilever arm; thus replacing manual operation to avoid problems such as human fatigue error, insufficient pre-tightening force or false tightening, low efficiency and difficult operation, realizing the mechanized operation of tightening loose nuts on the simplified cantilever arm and the mechanized operation of moving and correcting offset components, realizing the mechanized maintenance of the simplified cantilever arm.

[0041] Example 2: Based on Example 1, referring to Figure 3 , 4As shown, 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. Furthermore, 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.

[0042] Furthermore, the tightening advance / retract module 12 includes a tightening advance / retract mounting plate 121 disposed on the tightening docking module 11, a tightening advance / retract slider 122 fixedly disposed on the tightening advance / retract mounting plate 121, a tightening advance / retract slide rail 125 slidably disposed on the tightening advance / retract slider 122 and slidable relative to the tightening advance / retract slider 122, a tightening advance / retract sliding plate 124 fixedly disposed on the tightening advance / retract slide rail 125, a tightening advance / retract driver 126 disposed at the end of the tightening advance / retract sliding plate 124, and a tightening advance / retract telescopic screw 123 disposed on the tightening advance / retract mounting plate 121. The output end of the tightening advance / retract driver 126 is connected to the tightening advance / retract telescopic screw 123. The tightening advance / retract driver 126 drives the tightening advance / retract telescopic screw 123 to extend and retract so that the tightening advance / retract sliding plate 124 slides advance and retract relative to the tightening advance / retract 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.

[0043] 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.

[0044] 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 tubes on both sides of the position to be tightened.

[0045] 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 tubes on both sides of the position to be tightened, thereby achieving stable fixation of the wrist arm tubes at the position to be tightened.

[0046] Example 3: Based on Example 1 or 2, refer to Figure 5 , 6 As shown, 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. Furthermore, 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.

[0047] Furthermore, 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.

[0048] 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 moved.

[0049] 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 carpal tube at the position to be moved, thereby achieving stable fixation of the carpal tube at the position to be moved. 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 movement correction of the offset components.

[0050] 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.

[0051] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments described in this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0052] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0053] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0054] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, such as rotated 90 degrees or in other orientations, and the spatial relative descriptions used herein will be interpreted accordingly.

[0055] In the detailed description above, reference has been made to the accompanying drawings, which form part of this document. In the drawings, similar symbols typically identify similar parts unless the context otherwise indicates otherwise. The illustrated embodiments described in the detailed specification, drawings, and claims are not intended to be limiting. Other embodiments may be used and other changes may be made without departing from the spirit or scope of the subject matter presented herein.

[0056] 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 intelligent repair method for a wrist arm, which uses a repair robot to perform repair work on a simplified wrist arm, characterized in that: The maintenance work includes tightening and adjustment. The maintenance robot includes a tightening unit (10), at least two robotic arm units (20), a carrier unit (30), and an adjustment unit (40). The robotic arm units (20) are mounted on the carrier unit (30), the tightening unit (10) is mounted on one of the robotic arm units (20), and the adjustment unit (40) is mounted on the other robotic arm unit (20). During maintenance, the carrier unit (30) moves to a predetermined position via a railcar, and the carrier unit (30) performs forward, backward, translational, and rotational movements to move the robotic arm unit (20) to the predetermined position. When tightening is required... The robotic arm unit (20) drives the tightening unit (10) to perform a tightening operation; when an adjustment operation is required, firstly, the robotic arm unit (20) drives the tightening unit (10) to perform a loosening operation, then the robotic arm unit (20) drives the adjustment unit (40) to perform a movement correction operation, and then the robotic arm unit (20) drives the tightening unit (10) to perform a second tightening operation; after the maintenance operation is completed, the railcar moves to the next predetermined position to continue the maintenance operation; the tightening unit (10) includes a tightening docking module (11) for docking with the robotic arm unit (20), a tightening motion module provided on the tightening docking module (11), and a tightening motion module provided on the tightening docking module (11). The tightening gun module (15) is located on the tightening docking module (11) and below the tightening motion module; the tightening clamping module (14) is located on the tightening motion module and is driven by the tightening motion module to move forward, backward and up. The tightening motion module includes a tightening forward and backward module (12) located on the tightening docking module (11) and a tightening lifting module (13) located on the tightening forward and backward module (12) and is driven by the tightening forward and backward module (12) to move forward and backward. The tightening clamping module (14) is located on the tightening lifting module (13); the adjustment unit (40) includes an adjustment docking module (41) for docking with the robotic arm unit (20) and a tightening clamping module (44) located on the tightening docking module (11) and below the tightening motion module (20). The docking module (41) has an adjustment and movement module (43) and an adjustment and clamping module (42) on the adjustment and movement module (43). The adjustment and clamping module (42) is used to clamp the wrist arm tube at the position to be moved, and the adjustment and movement module (43) is used to move the offset component. The robotic arm unit (20) drives the adjustment unit (40) to perform a movement correction operation, which means that the robotic arm unit (20) performs three-dimensional spatial movement and rotation to lift the adjustment unit (40) to a predetermined position and make it in an adaptive posture. The adjustment and clamping module (42) clamps and fixes the wrist arm tube at the position to be moved, and the adjustment and movement module (43) pushes the offset component to perform movement correction.After the offset component is corrected, the adjustment clamping module (42) releases the wrist arm tube, and the robotic arm unit (20) retracts, causing the adjustment unit (40) to disengage from the entire simplified wrist arm and continue to retract to the initial position; the adjustment moving module (43) includes an adjustment moving mounting plate (435) on the adjustment docking module (41), an adjustment moving driver (431) on the adjustment moving mounting plate (435), and an adjustment moving slide rail (432), an adjustment moving slider (433) slidably mounted on the adjustment moving slide rail (432), an adjustment moving pusher mounting plate (436) on the adjustment moving slider (433), an adjustment moving pusher (437) on the adjustment moving pusher mounting plate (436), and a connection between the adjustment moving driver (431) and the adjustment moving module (432). The adjustment movable connecting plate (434) of the adjustment movable pusher mounting plate (436) is connected at one end to the telescopic end of the adjustment movable driver (431) and at the other end to the adjustment movable pusher mounting plate (436). The telescopic end of the adjustment movable driver (431) drives the adjustment movable pusher mounting plate (436) to move along the adjustment movable slide rail (432) to drive the adjustment movable pusher (437) to move and deflect. The adjustment clamping module (42) includes an adjustment clamping driver (421) and an adjustment clamping gripper (422) provided 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 moved.

2. The simplified intelligent wrist arm repair method according to claim 1, characterized in that: The robotic arm unit (20) drives the tightening unit (10) to perform tightening operations. This means that 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 retreat 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) The arm tubes on both sides of the position to be tightened are clamped and fixed. The tightening gun module (15) located below the tightening clamping module (14) tightens the loose nut from below. After the nut is tightened, the tightening head of the tightening gun module (15) is withdrawn. The tightening clamping module (14) releases the arm tube and moves away from the arm tube under the drive of the tightening advance and retreat module (12) and the tightening lifting module (13). The robotic arm unit (20) retracts to the initial position.

3. The simplified intelligent wrist arm repair method according to claim 1, 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. The simplified intelligent wrist-arm repair method according to claim 1, 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 intelligent wrist-arm repair method according to claim 1, 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 tubes on both sides of the position to be tightened.

6. A simplified intelligent wrist-arm repair method according to claim 1, characterized in that: The robotic arm unit (20) drives the tightening unit (10) to perform a loosening operation. This means that the robotic arm unit (20) performs three-dimensional spatial movement and rotation to lift the tightening unit (10) to a predetermined position and make 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 wrist arm tubes on both sides of the position to be moved. The tightening clamping module (14) clamps and fixes the wrist arm tubes on both sides of the position to be moved. The tightening gun module (15) located below the tightening clamping module (14) loosens the nut from below. 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 drive of the tightening advance and retreat module (12) and the tightening lifting module (13). The robotic arm unit (20) retracts to the initial position.

7. A simplified intelligent wrist-arm repair method according to claim 1, characterized in that: The robotic arm unit (20) drives the tightening unit (10) to perform a secondary tightening operation. This means that the robotic arm unit (20) performs three-dimensional spatial movement and rotation, and the tightening unit (10) lifts the tightening unit (10) to the position after movement correction and places 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 wrist arm tubes on both sides of the position after movement correction. Group (14) clamps and fixes the wrist arm tubes on both sides of the position after the movement correction. The tightening gun module (15) located below the tightening clamping module (14) tightens the nut from below. After the nut is tightened, the tightening head of the tightening gun module (15) is withdrawn. The tightening clamping module (14) releases the wrist arm tube and moves away from the wrist arm tube under the drive of the tightening advance and retreat module (12) and the tightening lifting module (13). The robotic arm unit (20) retracts to the initial position.

8. A simplified intelligent wrist-arm repair method 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, and a vehicle rotation module (33) disposed on the vehicle translation module (32) for providing rotational motion. The robotic arm unit (20) is disposed on the vehicle rotation platform (331) of the vehicle rotation module (33).

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