Modularized tool quick connection device for inspection robot

Abstract

The invention discloses a modular tool quick connecting device for an inspection robot, belongs to the technical field of inspection robots, and provides the following scheme that the modular tool quick connecting device comprises a tool switching mechanism and a switching mechanism, the tool switching mechanism comprises a rotating table structure, and a plurality of tool storage assemblies are arranged on the rotating table structure; a tool mounting cavity is formed in the tool storage assembly, a modular tool structure is mounted below the tool mounting cavity, and positioning assemblies are arranged on the two sides of the tool mounting cavity; the tool assembling assemblies on the two sides are driven by the change-over driving assembly to be clamped with the clamping openings, meanwhile, in the unfolding process of the tool assembling assemblies on the two sides, a positioning assembly automatically disassembles a tool mounting cavity to be connected with a limiting tool disc, and then an inspection robot can directly take out a modular tool structure; therefore, quick connection operation of the modular tool structure is achieved, the whole taking-out process is smooth and natural, and the efficient operation capacity of the inspection robot is fully reflected.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to a quick-connect device for modular tools of inspection robots. Background Technology

[0002] In scenarios such as power line inspection, chemical plant inspection, and rail transit inspection, inspection robots need to perform diverse tasks such as inspection, cleaning, and fastening. Modular tools, with their advantage of "one robot adapting to multiple tools," have become a core component for expanding the operational range of inspection robots. By replacing modular tools with different functions, inspection robots can replace manual labor to complete multi-dimensional tasks, significantly improving inspection efficiency and safety. However, the existing quick-connect devices for modular tools lack sufficient reliability. When inspection robots operate at heights or in vibrating environments, modular tools are prone to loosening due to shaking, affecting inspection accuracy or causing tools to fall. Furthermore, the dual fastening of tools to the robot and tools to the base requires separate operations, resulting in low switching efficiency and failing to meet the requirements of "rapid switching, stable reliability, and low-consumption adaptation" for inspection operations.

[0003] To address the aforementioned problems, this invention proposes a modular tool quick-connect device for inspection robots. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing modular tool quick-connect devices, such as insufficient fixation reliability, the tendency for modular tools to loosen due to shaking when inspection robots operate in high-altitude or vibrating environments, affecting detection accuracy or causing tools to fall, and the need for separate operations for fixing the tool to the robot and the tool to the base, resulting in low switching efficiency. The invention proposes a modular tool quick-connect device for inspection robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The modular tool quick-connect device for inspection robots includes a tool transfer mechanism and a switching mechanism. The tool transfer mechanism includes a rotary table structure with multiple tool storage components on it. Each tool storage component has a tool mounting cavity inside. A modular tool structure is installed below the tool mounting cavity. Positioning components are provided on both sides of the tool mounting cavity. Four automatic limit components are provided inside the tool mounting cavity. The switching mechanism includes a switching drive assembly, and a tool assembly assembly is disposed below the switching drive assembly. The tool assembly assembly is used to assemble with the tool mounting cavity to realize the replacement of the modular tool structure.

[0006] Preferably, the tool storage assembly includes a limiting tool disk, the tool mounting cavity is placed in the limiting tool disk, two positioning holes are opened on both sides of the limiting tool disk, and four fixing rods are fixedly connected to the bottom wall of the limiting tool disk.

[0007] Preferably, the switching drive assembly includes a robotic arm mounting plate, a drive device is fixedly mounted below the robotic arm mounting plate, and a switching cam is fixedly connected to the output shaft of the drive device.

[0008] Preferably, the tool assembly assembly includes two mounting brackets, which are fixedly connected to the drive device. One end of each mounting bracket is fixedly connected to an assembly alignment head, and two assembly alignment sleeves are fixedly connected to the bottom wall of the tool mounting cavity. The assembly alignment head is adapted to the assembly alignment sleeve.

[0009] Preferably, spring structures are fixedly connected to both sides of the mounting bracket, and an adjusting horizontal plate is fixedly connected to one end of each of the two spring structures. The two adjusting horizontal plates are located on both sides of the switching cam. Two assembly head structures are fixedly connected to one side of each adjusting horizontal plate, and a fixing opening is provided on the assembly head structure. The tool mounting cavity has four locking slots, and the assembly head structure is adapted to the locking slots.

[0010] Preferably, the positioning component includes a guide rod, one end of which is fixedly connected to the side wall of the tool mounting cavity, and a bidirectional toothed structure is slidably connected to the guide rod, with an adjustment drive bar fixedly connected to one end of the bidirectional toothed structure.

[0011] Preferably, both sides of the bidirectional rack structure are meshed with drive shaft teeth, which are rotatably mounted on the tool mounting cavity via bearings. A return torsion spring is fixedly connected to the drive shaft teeth, and one end of the return torsion spring is fixedly connected to the upper wall of the tool mounting cavity.

[0012] Preferably, the transmission shaft teeth mesh with the positioning rack, the positioning rack passes through the tool mounting cavity, and one end of the positioning rack is adapted to the positioning port.

[0013] Preferably, the automatic limiting component includes a movable outer frame, the fixed top rod passes upward through the tool mounting cavity and overlaps the lower part of the movable outer frame, connecting blocks are fixedly connected to both sides of the movable outer frame, guide sleeves are installed on the connecting blocks, the guide sleeves are slidably connected to the guide rods, the guide rods are fixedly connected in the tool mounting cavity, and a return spring is fixedly connected between the bottom end of the guide sleeves and the guide rods.

[0014] Preferably, a limiting head is fixedly connected to the upper wall of the movable outer frame, and the limiting head is adapted to the fixing port.

[0015] Compared with the prior art, the present invention provides a modular tool quick-connect device for inspection robots, which has the following advantages: 1. The modular tool quick-connect device of this inspection robot drives the tool assembly components on both sides to engage with the locking slot through the switching drive component. At the same time, the unfolding process of the tool assembly components on both sides causes the positioning component to automatically disengage from the tool mounting cavity and connect with the limiting tool plate. Subsequently, the inspection robot can directly remove the modular tool structure, thereby realizing the quick connection operation of the modular tool structure. The entire removal process is smooth and natural, fully demonstrating the high-efficiency operation capability of the inspection robot.

[0016] 2. The modular tool quick-connect device of this inspection robot allows the inspection robot to remove the modular tool structure, and the automatic limit component can automatically return to its fixed position and lock into the fixed port, thereby locking the assembly head structure and ensuring the stability of the assembly head structure. This ensures that the tool can quickly connect the modular tool structure, providing a solid guarantee for the stability and efficiency of the entire workflow.

[0017] 3. The modular tool quick-connect device for this inspection robot, through the switching drive component, drives the tool assembly component to unfold, causing the tool assembly component to not only engage with the locking slot, but also pushes the positioning component to disengage from the tool storage component. This allows the inspection robot to remove the modular tool structure, and the automatic limit component resets and self-locks in the fixed slot, thus achieving bidirectional stable locking. When the modular tool structure is placed in the tool storage component, the fixed top rod can lift the automatic limit component to disengage from the fixed slot, preparing for subsequent assembly. Subsequently, the switching drive component works with the tool assembly component to disengage from the tool mounting cavity. The entire process is tightly connected, smooth, and efficient, realizing fully automated operation of the inspection robot in picking up and placing modular tool structures without human assistance. This feature not only significantly improves the replacement efficiency of modular tool structures and reduces the errors and time costs that may be caused by manual operation, but also reasonably simplifies the modular tool structure, reduces the complexity and maintenance difficulty of the system, and improves the overall system performance and reliability. Attached Figure Description

[0018] Figure 1 This is a perspective view of the modular tool quick-connect device for the inspection robot proposed in this invention; Figure 2 This is a perspective view of the modular tool structure of the quick-connect device for the modular tool of the inspection robot proposed in this invention; Figure 3 This is a perspective view of the modular tool quick-connect device for the inspection robot proposed in this invention; Figure 4 This is a three-dimensional view showing the tool mounting cavity, the limiting tool disk, and the switching mechanism of the modular tool quick-connect device for the inspection robot proposed in this invention. Figure 5This is a three-dimensional cross-sectional view of the limiting tool disk of the modular tool quick-connect device for the inspection robot proposed in this invention. Figure 6 A perspective view of the interchange drive assembly of the modular tool quick-connect device for the inspection robot proposed in this invention; Figure 7 A perspective view of the tool assembly components of the modular tool quick-connect device for inspection robots proposed in this invention; Figure 8 A perspective view of the limiting tool disk of the modular tool quick-connect device for inspection robots proposed in this invention; Figure 9 In this invention Figure 4 Enlarged view of point A; Figure 10 This is a perspective view of the automatic limiting component of the modular tool quick-connect device for inspection robots proposed in this invention.

[0019] In the diagram: 100, Tool transfer mechanism; 101, Rotary table structure; 102, Modular tool structure; 103, Tool mounting cavity; 104, Assembly alignment sleeve; 105, Positioning assembly; 1051, Guide rod; 1052, Two-way rack structure; 1053, Adjustment drive bar; 1054, Return torsion spring; 1055, Drive shaft gear; 1056, Positioning rack; 106, Automatic limit assembly; 1061, Movable outer frame; 1062, Limit head; 1063, Connecting block; 1064, Guide sleeve; 1065, Return spring. 1066. Spring; 107. Guide slide rod; 108. Locking port; 109. Tool storage assembly; 1081. Limiting tool disk; 1082. Positioning port; 1083. Fixed top rod; 200. Changing mechanism; 201. Changing drive assembly; 2011. Robotic arm mounting disk; 2012. Drive device; 2013. Changing cam; 202. Tool assembly assembly assembly; 2021. Mounting frame; 2022. Adjusting cross plate; 2023. Assembly head structure; 2024. Fixing port; 2025. Spring structure; 2026. Assembly alignment head. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] Example 1: Refer to Figures 1-9The inspection robot's modular tool quick-connect device includes a tool transfer mechanism 100 and a switching mechanism 200. The tool transfer mechanism 100 includes a rotary table structure 101, through which the position of the limiting tool disk 1081 can be adjusted, thereby adjusting the modular tool structure 102 to achieve the replacement position. This facilitates the inspection robot's control of the switching mechanism 200 to perform the operation of replacing the modular tool structure 102. The rotary table structure 101 is provided with multiple tool storage components 108, each including a limiting tool disk 1081, which is used to limit the tool mounting cavity 103, facilitating the modular tool connection. The tool storage assembly 102 is stably stored within a tool mounting cavity 103, which is placed in a limiting tool tray 1081. Two positioning ports 1082 are provided on both sides of the limiting tool tray 1081. Four fixing rods 1083 are fixedly connected to the bottom wall of the limiting tool tray 1081. The tool storage assembly 108 has a tool mounting cavity 103 inside, and a modular tool structure 102 is installed below the tool mounting cavity 103. Positioning assemblies 105 are provided on both sides of the tool mounting cavity 103. Each positioning assembly 105 includes a guide rod 1051, one end of which is fixedly connected to the side wall of the tool mounting cavity 103. The guide rod 1051 allows for precise positioning of both tools. Positioning the rack structure 1052 ensures stable sliding of the bidirectional rack structure 1052, enabling stable transmission between the bidirectional rack structure 1052 and the drive shaft gear 1055. The bidirectional rack structure 1052 is slidably connected to the guide rod 1051. One end of the bidirectional rack structure 1052 is fixedly connected to an adjusting drive bar 1053. Both sides of the bidirectional rack structure 1052 are engaged with drive shaft gears 1055. The drive shaft gears 1055 are rotatably mounted on the tool mounting cavity 103 via bearings. The drive shaft gears 1055 can be kept stable by the bearings, enabling stable transmission between the drive shaft gears 1055 and the positioning rack 1056. The drive shaft gears 1055 are fixedly connected to... A reset torsion spring 1054 is provided. The torque of the reset torsion spring 1054 drives the transmission shaft gear 1055 to rotate, so that the transmission shaft gear 1055 drives the positioning rack 1056 to engage with the positioning port 1082, thereby positioning the tool mounting cavity 103 and ensuring the stable placement of the modular tool structure 102. One end of the reset torsion spring 1054 is fixedly connected to the upper wall of the tool mounting cavity 103. The transmission shaft gear 1055 meshes with the positioning rack 1056. The positioning rack 1056 is set through the tool mounting cavity 103. One end of the positioning rack 1056 is adapted to the positioning port 1082. Four automatic limit components 106 are provided inside the tool mounting cavity 103. The switching mechanism 200 includes a switching drive assembly 201, which includes a robotic arm mounting plate 2011. The robotic arm mounting plate 2011 can be installed on the robotic arm of the inspection robot to ensure the stability of the switching mechanism 200. A drive device 2012 is fixedly installed below the robotic arm mounting plate 2011. The output shaft of the drive device 2012 is fixedly connected to a switching cam 2013. A tool assembly assembly 202 is provided below the switching drive assembly 201. The tool assembly assembly 202 includes two mounting brackets 2021, which are fixedly connected to the drive device 2012. One end of each mounting bracket 2021 is fixedly connected to an assembly alignment head 2026. Two assembly alignment sleeves 104 are fixedly connected to the bottom wall of the tool mounting cavity 103. The assembly alignment head 2026 is adapted to the assembly alignment sleeve 104. By aligning and entering the assembly alignment sleeve 104, precise alignment can be achieved. To prevent the switching mechanism 200 from shifting, spring structures 2025 are fixedly connected to both sides of the mounting bracket 2021. The spring structures 2025 can drive the adjusting plate 2022 to reset, so that the adjusting plate 2022 drives the assembly head structure 2023 to automatically disengage from the locking port 107, thereby facilitating the quick disassembly of the switching mechanism 200 from the tool mounting cavity 103. One end of the two spring structures 2025 is fixedly connected to the adjusting plate 2022. The two adjusting plates 2022 are located on both sides of the switching cam 2013. Two assembly head structures 2023 are fixedly connected to one side of the adjusting plate 2022. The assembly head structure 2023 has a fixing port 2024. The tool mounting cavity 103 has four locking ports 107. The assembly head structure 2023 is adapted to the locking ports 107. The tool assembly component 202 is used to assemble with the tool mounting cavity 103 to realize the replacement of the modular tool structure 102.

[0023] In this embodiment: the switching drive component 201 drives the tool assembly components 202 on both sides to engage with the locking port 107. At the same time, during the unfolding process of the tool assembly components 202 on both sides, the adjusting plate 2022 pushes the adjusting drive bar 1053 and the bidirectional rack structure 1052 to move. The bidirectional rack structure 1052 drives the transmission shaft gear 1055, causing the transmission shaft gear 1055 to drive the positioning rack 1056 to disengage from the positioning port 1082. This automatically removes the tool mounting cavity 103 from the limiting tool disk 1081. Subsequently, the inspection robot can directly remove the modular tool structure 102, thereby realizing the rapid connection operation of the modular tool structure 102. The entire removal process is smooth and natural, fully demonstrating the high-efficiency operation capability of the inspection robot.

[0024] Example 2: Refer to Figures 8-10The modular tool quick-connect device for the inspection robot includes an automatic limiting component 106. The automatic limiting component 106 includes a movable outer frame 1061. A fixed top rod 1083 extends upward through the tool mounting cavity 103 and overlaps with the lower part of the movable outer frame 1061. It enters the limiting tool disk 1081 through the tool mounting cavity 103, allowing the fixed top rod 1083 to smoothly push the movable outer frame 1061 upward. The movable outer frame 1061 can drive the limiting head 1062 to disengage from the fixing port 2024, thereby automatically removing the positioning of the assembly head structure 2023. Simultaneously, the movable outer frame 1061 also drives the connecting block 1063 to move the guide sleeve 1064, causing the return spring 1065 to deform and store elastic potential energy, which can then be used for subsequent... After assembly, connecting blocks 1063 are fixedly connected to both sides of the movable outer frame 1061. Guide sleeves 1064 are installed on the connecting blocks 1063. The guide sleeves 1064 are slidably connected to the guide rods 1066. The guide rods 1066 guide the guide sleeves 1064, thereby ensuring the stable sliding of the guide sleeves 1064 and keeping the movable outer frame 1061 moving stably. The guide rods 1066 are fixedly connected in the tool mounting cavity 103. A return spring 1065 is fixedly connected between the bottom end of the guide sleeves 1064 and the guide rods 1066. A limit head 1062 is fixedly connected to the upper wall of the movable outer frame 1061. The limit head 1062 is adapted to the fixing port 2024.

[0025] In this embodiment: the modular tool structure 102 is removed by the inspection robot, so that the automatic limiting component 106 automatically returns to its position and can be locked in the fixed port 2024, thereby locking the assembly head structure 2023 and preventing it from becoming unstable. This ensures that the tool can quickly connect the modular tool structure 102, providing a solid guarantee for the stability and efficiency of the entire workflow.

[0026] Example 3: Reference Figures 1-4 and Figures 7-8 The modular tool quick-connect device for inspection robots includes a tool transfer mechanism 100 and a switching mechanism 200. The tool transfer mechanism 100 includes a rotary table structure 101, on which multiple tool storage components 108 are provided. The tool storage components 108 have a tool mounting cavity 103 inside. A modular tool structure 102 is installed below the tool mounting cavity 103. Positioning components 105 are provided on both sides of the tool mounting cavity 103. Four automatic limit components 106 are provided inside the tool mounting cavity 103. The switching mechanism 200 includes a switching drive assembly 201, and a tool assembly assembly 202 is disposed below the switching drive assembly 201. The tool assembly assembly 202 is used to assemble with the tool mounting cavity 103 to realize the replacement of the modular tool structure 102.

[0027] In this embodiment: after the tool assembly component 202 is unfolded by the drive component 201, the tool assembly component 202 not only engages with the locking slot 107, but also pushes the positioning component 105 to disengage from the tool storage component 108, allowing the inspection robot to remove the modular tool structure 102. Furthermore, the automatic limiting component 106 resets and self-locks in the fixing slot 2024, thus achieving bidirectional stable locking. When the modular tool structure 102 is placed into the tool storage component 108, the fixing rod 1083 can lift the automatic limiting component 106 to disengage from the fixing slot 2024. Next, in preparation for subsequent assembly, the drive component 201 is replaced and the tool assembly component 202 is used to disconnect the connection with the tool mounting cavity 103. The whole process is closely connected, smooth and efficient, realizing the fully automated operation of the inspection robot to pick up and put down the modular tool structure 102. This feature of not requiring manual assistance not only significantly improves the replacement efficiency of the modular tool structure 102 and reduces the errors and time costs that may be caused by manual operation, but also reasonably simplifies the modular tool structure 102, reduces the complexity and maintenance difficulty of the system, and improves the overall system performance and reliability.

[0028] Working principle: When using the modular tool structure 102, the inspection robot drives the switching mechanism 200 into the tool mounting cavity 103, and then controls the drive device 2012 to rotate the switching cam 2013. The convex surface of the switching cam 2013 presses the two adjusting horizontal plates 2022 to unfold. The adjusting horizontal plates 2022 drive the spring structure 2025 to store elastic potential energy. The assembly head structure 2023 passes into the locking port 107, so that the fixing port 2024 corresponds to the limiting head 1062. Next, by adjusting the horizontal plates 2022, the adjusting drive bar 1053 can be moved. The adjusting drive bar 1053 drives the bidirectional gear. The rod structure 1052 moves, and the bidirectional rack structure 1052 drives the transmission shaft gear 1055 to rotate. The transmission shaft gear 1055 drives the return torsion spring 1054 to deform, and the transmission shaft gear 1055 drives the positioning rack 1056. The positioning rack 1056 disengages from the positioning port 1082. Then the inspection robot takes the modular tool structure 102 upward. At this time, the return spring 1065 drives the guide sleeve 1064 and the connecting block 1063 to return downward, so that the movable outer frame 1061 drives the limit head 1062 to lock into the fixing port 2024, thereby realizing the double fixing of the modular tool structure 102 and ensuring the stable operation in the future. When switching the modular tool structure 102, the rotary table structure 101 drives the limiting tool disk 1081 to move, so that the limiting tool disk 1081 reaches the replacement position. The inspection robot adjusts the position of the switching structure, so that the tool mounting cavity 103 enters the limiting tool disk 1081. At the same time, the movable outer frame 1061 is pushed upward by the fixed top rod 1083, which drives the connecting block 1063 and the limiting head 1062 to move. The connecting block 1063 drives the return spring 1065 to deform and store elastic potential energy through the guide sleeve 1064, while the limiting head 1062 disengages from the fixed port 2024. Then, the control drive device 2012 drives... The switching cam 2013 rotates, and the convex surface of the switching cam 2013 moves away from the adjusting plate 2022, causing the spring structure 2025 to drive the adjusting plate 2022 to reset. The assembly head structure 2023 separates from the locking port 107. At the same time, the reset torsion spring 1054 releases elastic potential energy to drive the transmission shaft gear 1055 and the positioning rack 1056 to drive each other. The positioning rack 1056 enters the positioning port 1082, fixing the position of the tool mounting cavity 103. This completes the repositioning of the modular tool structure 102. Then, the inspection robot adjusts the position of the switching mechanism 200 and reassembles the modular tool structure 102 again.

[0029] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A modular tool quick-connect device for an inspection robot, comprising a tool transfer mechanism (100) and a switching mechanism (200), characterized in that, The tool transfer mechanism (100) includes a rotary table structure (101), on which multiple tool storage components (108) are provided. The tool storage components (108) have a tool mounting cavity (103) inside. A modular tool structure (102) is installed below the tool mounting cavity (103). Positioning components (105) are provided on both sides of the tool mounting cavity (103). Four automatic limit components (106) are provided inside the tool mounting cavity (103). The switching mechanism (200) includes a switching drive assembly (201), and a tool assembly assembly (202) is disposed below the switching drive assembly (201). The tool assembly assembly (202) is used to assemble with the tool mounting cavity (103) to realize the replacement of the modular tool structure (102).

2. The modular tool quick-connect device for inspection robots according to claim 1, characterized in that, The tool storage assembly (108) includes a limiting tool disk (1081), the tool mounting cavity (103) is placed in the limiting tool disk (1081), two positioning ports (1082) are opened on both sides of the limiting tool disk (1081), and four fixed top rods (1083) are fixedly connected to the bottom wall of the limiting tool disk (1081).

3. The modular tool quick-connect device for inspection robots according to claim 2, characterized in that, The switching drive assembly (201) includes a robotic arm mounting plate (2011), and a drive device (2012) is fixedly mounted below the robotic arm mounting plate (2011). The output shaft of the drive device (2012) is fixedly connected to a switching cam (2013).

4. The modular tool quick-connect device for inspection robots according to claim 3, characterized in that, The tool assembly assembly (202) includes two mounting brackets (2021), which are fixedly connected to the drive device (2012). One end of each mounting bracket (2021) is fixedly connected to an assembly alignment head (2026). Two assembly alignment sleeves (104) are fixedly connected to the bottom wall of the tool mounting cavity (103). The assembly alignment head (2026) is adapted to the assembly alignment sleeve (104).

5. The modular tool quick-connect device for inspection robots according to claim 4, characterized in that, Both sides of the mounting bracket (2021) are fixedly connected to spring structures (2025), and one end of each spring structure (2025) is fixedly connected to an adjusting plate (2022). The two adjusting plates (2022) are located on both sides of the switching cam (2013). One side of each adjusting plate (2022) is fixedly connected to two assembly head structures (2023), and the assembly head structures (2023) have a fixing opening (2024). The tool mounting cavity (103) has four slots (107), and the assembly head structure (2023) is adapted to the slots (107).

6. The modular tool quick-connect device for inspection robots according to claim 2, characterized in that, The positioning component (105) includes a guide rod (1051), one end of which is fixedly connected to the side wall of the tool mounting cavity (103). A bidirectional rack structure (1052) is slidably connected to the guide rod (1051), and an adjustment drive bar (1053) is fixedly connected to one end of the bidirectional rack structure (1052).

7. The modular tool quick-connect device for inspection robots according to claim 6, characterized in that, Both sides of the bidirectional rack structure (1052) are meshed with drive shaft teeth (1055). The drive shaft teeth (1055) are rotatably mounted on the tool mounting cavity (103) via bearings. A reset torsion spring (1054) is fixedly connected to the drive shaft teeth (1055). One end of the reset torsion spring (1054) is fixedly connected to the upper wall of the tool mounting cavity (103).

8. The modular tool quick-connect device for inspection robots according to claim 7, characterized in that, The drive shaft teeth (1055) mesh with the positioning rack (1056), the positioning rack (1056) passes through the tool mounting cavity (103), and one end of the positioning rack (1056) is adapted to the positioning port (1082).

9. The modular tool quick-connect device for inspection robots according to claim 5, characterized in that, The automatic limiting component (106) includes a movable outer frame (1061), the fixed top rod (1083) passes upward through the tool mounting cavity (103) and overlaps with the lower part of the movable outer frame (1061), and connecting blocks (1063) are fixedly connected to both sides of the movable outer frame (1061). A guide sleeve (1064) is installed on the connecting block (1063), the guide sleeve (1064) is slidably connected to the guide rod (1066), the guide rod (1066) is fixedly connected in the tool mounting cavity (103), and a return spring (1065) is fixedly connected between the bottom end of the guide sleeve (1064) and the guide rod (1066).

10. The modular tool quick-connect device for inspection robots according to claim 9, characterized in that, The upper wall of the movable outer frame (1061) is fixedly connected to a limiting head (1062), which is adapted to the fixing port (2024).

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