Negative-pressure bolt dismounting and mounting mechanism and maintenance robot

Abstract

The utility model belongs to the field of maintenance equipment, and particularly relates to a negative pressure bolt dismounting and mounting mechanism and a maintenance robot. Wherein the negative pressure bolt dismounting mechanism comprises an electric screwdriver, a negative pressure sleeve and a sliding sleeve; the interior of the negative pressure sleeve is hollow, an inlet is formed in one end of the negative pressure sleeve, and an outlet is formed in the other end of the negative pressure sleeve; an electric screwdriver head of the electric screwdriver penetrates through the inlet and the hollow part and extends out of the outlet, and the electric screwdriver head is in rotary sealing fit with the inlet; the sliding sleeve comprises a sliding sleeve, a sealing sliding ring and an annular suction head, the sealing sliding ring and the negative pressure sleeve are in sliding sealing fit in the axial direction of the electric screwdriver head, the sealing sliding ring is fixedly connected with the sliding sleeve, and a suction interval is formed between the ring inner side of the annular suction head and the outer wall, stretching out of the outlet, of the electric screwdriver head. The negative-pressure bolt disassembling and assembling mechanism can adapt to dynamic changes of screwing depth of screws and suction of screws of different specifications, and therefore stability of the whole process that the screws are screwed or loosened by an electric screwdriver head is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of maintenance equipment, specifically relating to a negative pressure bolt disassembly and assembly mechanism and a maintenance robot. Background Technology

[0002] In the field of robotic automated assembly, especially in the manufacturing of precision electronic or mechanical equipment, traditional electric screwdrivers often suffer from problems such as misalignment between the screw and the bit, and screws falling off due to mechanical vibration or contact reaction force during tightening, because the robot end effector lacks the adaptive adjustment capability of a human hand to complex environments. Existing magnetic or fixed negative pressure adsorption solutions are difficult to adapt to the dynamic changes in screw insertion depth, resulting in insufficient screw fixation reliability and restricting the application efficiency of robots in high-precision and high-stability assembly tasks. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a negative pressure bolt disassembly and assembly mechanism and maintenance robot that can adapt to the dynamic changes in the suction of screws of different specifications and the screw insertion depth.

[0004] This utility model provides a negative pressure bolt disassembly and assembly mechanism, including an electric screwdriver, a negative pressure sleeve, and a sliding sleeve;

[0005] The negative pressure sleeve is hollow inside, with an inlet at one end communicating with the hollow and an outlet at the other end communicating with the hollow, and also includes a negative pressure inlet communicating with the hollow.

[0006] The electric screwdriver bit passes through the inlet and the hollow cavity and extends out from the outlet. The outer wall of the electric screwdriver bit and the inner wall of the hollow cavity have an air gap. The electric screwdriver bit and the inlet are rotated and sealed together.

[0007] The sliding sleeve includes a sliding sleeve, a sealing slip ring, and an annular suction head. The sliding sleeve is disposed on the outlet side. The inner wall of the sealing slip ring slides and seals with the outer wall of the negative pressure sleeve along the axial direction of the electric screwdriver bit. The outer wall of the sealing slip ring is fixedly connected to the inner wall of the sliding sleeve. The outer side of the annular suction head engages with the end of the sliding sleeve, and the inner side of the ring has a suction gap with the outer wall of the electric screwdriver bit extending out of the outlet.

[0008] Furthermore, the annular suction head includes an inner cylinder, a flexible deformable ring disposed on the outer side of the outer end of the inner cylinder, and a connecting ring disposed on the inner side of the outer end of the inner cylinder;

[0009] An avoidance ring gap is provided between the flexible deformable ring and the connecting ring.

[0010] Furthermore, a flange ring is provided protruding from the end of the connecting ring opposite to the flexible deformable ring;

[0011] The sliding sleeve includes a main sleeve body and a fastening sleeve. The outer wall of the front end of the main sleeve body is provided with an external thread I, and a support ring is provided inward on the front end face. The inner wall of the fastening sleeve is provided with an internal thread I that mates with the external thread I, and a locking ring is provided inward on the outer end face of the fastening sleeve.

[0012] When the main sleeve and the fastening sleeve are threadedly fastened together, the engaging ring and the support ring engage the flange ring.

[0013] Furthermore, the inner wall of the main sleeve has a stepped hole structure, and the front end has a small hole, while the inner wall of the large hole at the rear end of the main sleeve is provided with an internal thread II.

[0014] The sliding sleeve also includes a sealing slip ring fastening sleeve. The outer wall of the sealing slip ring fastening sleeve is provided with an external thread II. After the external thread II is threadedly connected with the internal thread II, the end of the sealing slip ring fastening sleeve abuts against one end of the sealing slip ring, and the other end of the sealing slip ring abuts against the step of the stepped hole.

[0015] Furthermore, this negative pressure bolt disassembly and assembly mechanism also includes an elastic reset component that drives the sliding sleeve to always be in the extended limit state.

[0016] Furthermore, the outer front end of the negative pressure sleeve has a stepped shaft structure, and the front end is a small shaft, with the sealing slip ring slidingly sealing against the outer wall of the small shaft;

[0017] The elastic reset component is a spring, which is sleeved on the outside of the small shaft, with one end abutting against the sealing slip ring and the other end abutting against the stepped surface of the stepped shaft.

[0018] Furthermore, the sliding sleeve extends to the major axis of the stepped shaft.

[0019] Furthermore, this negative pressure bolt disassembly and assembly mechanism also includes an electric screwdriver mounting sleeve that is fixedly connected to the inlet side of the negative pressure sleeve;

[0020] The main body of the electric screwdriver is fixedly mounted on the electric screwdriver mounting sleeve.

[0021] This utility model also provides a maintenance robot, including a mobile robot, a robotic arm mounted on the mobile robot, and the aforementioned negative pressure bolt disassembly and assembly mechanism mounted on the robotic arm.

[0022] Furthermore, an elastic reset mechanism is also provided between the robotic arm and the negative pressure bolt disassembly and assembly mechanism.

[0023] The beneficial effects of this utility model are that the negative pressure bolt assembly / disassembly mechanism provided by this utility model, through the configuration of a negative pressure structure and a sliding sleeve, can achieve adaptive and stable adsorption of screws, thereby adapting to dynamic changes in the screw's screwing depth and ensuring the stability of the screw throughout the entire process of tightening or loosening the screw with the electric screwdriver bit. When using this negative pressure bolt assembly / disassembly mechanism to install screws, the screw can be pre-fixed by the annular suction head, thus securing the screw head and facilitating the electric screwdriver bit to screw the screw into the target position. Furthermore, the inner side of the annular suction head and the outer wall of the electric screwdriver bit extending from the outlet have a suction gap. This suction gap ensures a small flow area at the negative pressure outlet, thereby guaranteeing sufficient negative pressure and improving the stability of the negative pressure suction. Attached Figure Description

[0024] Appendix Figure 1 This is a schematic diagram of the first angle structure of the negative pressure bolt disassembly and assembly mechanism in this utility model;

[0025] Appendix Figure 2 This is a schematic diagram of the second angle structure of the negative pressure bolt disassembly and assembly mechanism in this utility model;

[0026] Appendix Figure 3 This is a top view of the negative pressure bolt disassembly and assembly mechanism in this utility model;

[0027] Appendix Figure 4 For the appendix Figure 3 Top view from AA direction;

[0028] Appendix Figure 5 For the appendix Figure 4 Enlarged view of a section at point B in the middle;

[0029] Appendix Figure 6 This is a front sectional view of the annular suction head in this utility model;

[0030] Appendix Figure 7 This is a schematic diagram of the structure of the maintenance robot in this utility model.

[0031] In the diagram, 1-electric screwdriver; 101-electric screwdriver head; 102-body; 103-torque adjustment knob; 2-negative pressure sleeve; 201-hollow; 202-inlet; 203-outlet; 204-negative pressure inlet; 3-sliding sleeve; 301-sliding sleeve; 3011-main sleeve; 30111-external thread I; 30112-support ring; 30113-internal thread II; 3012-fastening sleeve; 30121-locking ring; 30122-internal thread I; 3013-sealing slip ring fastening sleeve; 3013 1-External thread II; 302-Sealing slip ring; 303-Annular suction head; 3031-Inner cylinder; 3032-Flexible deformation ring; 3033-Connecting ring; 30331-Flange ring; 3034-Allowing ring seam; 304-Negative pressure suction chamber; 4-Ventilation interval; 5-Suction interval; 6-Elastic reset mechanism; 601-Guide rail slider mechanism; 602-Spring reset component; 7-Spring; 8-Electric screwdriver mounting sleeve; 801-Operating window; 9-Mobile robot; 10-Mechanical arm; 11-Rotating sealing plug. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0034] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal connection of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0037] As attached Figure 1 - Appendix Figure 7 As shown, this utility model provides a negative pressure bolt disassembly and assembly mechanism, including an electric screwdriver 1, a negative pressure sleeve 2, and a sliding sleeve 3;

[0038] The negative pressure sleeve 2 has a hollow interior 201, with an inlet 202 at one end and an outlet 203 at the other end. The inlet 202 and outlet 203 are arranged coaxially. It also includes a negative pressure inlet 204 that connects to the hollow 201. The negative pressure inlet 204 is used to connect to a negative pressure machine to provide negative pressure inside the hollow 201. Preferably, the negative pressure inlet 204 is located on the side wall of the negative pressure sleeve 2, and its axis is perpendicular to the axis of the inlet 202 and the outlet 203.

[0039] The electric screwdriver bit 101 of the electric screwdriver 1 passes through the inlet 202 and the hollow 201. The front end of the electric screwdriver bit 101 extends from the outlet 203. The electric screwdriver bit 101 has a metal rod-shaped structure, and its front end is provided with a flathead, Phillips head, internal hexagon, or external hexagonal head for screwing. The outer wall of the electric screwdriver bit 101 and the inner wall of the hollow 201 have a ventilation gap 4. The electric screwdriver bit 101 is rotatably sealed with the inlet 202. At this time, both the ventilation gap 4 and the outlet 203 are connected to the negative pressure inlet 204. Preferably, the electric screwdriver bit 101 achieves a rotatable sealing fit with the inlet 202 by rotating the sealing plug 11.

[0040] The sliding sleeve 3 includes a sliding sleeve 301, a sealing slip ring 302, and an annular suction head 303. The sliding sleeve 301 is disposed on the outlet 203 side. The inner wall of the sealing slip ring 302 is slidably and sealingly fitted with the outer wall of the negative pressure sleeve 2 along the axial direction of the electric screwdriver bit 101. The outer wall of the sealing slip ring 302 is fixedly connected to the inner wall of the sliding sleeve 301, that is, the sliding sleeve 301 slides linearly on the negative pressure sleeve 2 through the sealing slip ring 302. The outer side of the annular suction head 303 is fitted with the end of the sliding sleeve 301, and the inner side of the ring has a suction gap 5 with the outer wall of the electric screwdriver bit 101 extending out of the outlet 203. Thus, the annular suction head 303 slides linearly on the negative pressure sleeve 2 through the sliding sleeve 301. At this time, the inner wall of the sliding sleeve 301, the end wall of the sealing slip ring 302, and the end wall of the annular suction head 303 form a negative pressure suction chamber 304. The negative pressure suction chamber 304 is connected to the ventilation interval 4 through the outlet 203 and to the outside through the suction interval 5. That is, the negative pressure inlet 204, the suction interval 5, the negative pressure suction chamber 304, and the suction interval 5 are connected in sequence. When tightening screws, the negative pressure bolt disassembly and assembly mechanism can use the negative pressure on the suction interval 5 to suck the screw onto the annular suction head 303 to stabilize the bolt. Moreover, the annular suction head 303 can move linearly relative to the electric screwdriver bit 101, thereby adapting to the fitting depth between the bolt head and the end of the electric screwdriver bit 101, so that the annular suction head 303 always has a good adsorption effect on the bolt end.

[0041] The negative pressure bolt assembly / disassembly mechanism provided by this utility model, through the configuration of a negative pressure structure and a sliding sleeve 3, can achieve adaptive and stable adsorption of screws, thereby adapting to dynamic changes in screw insertion depth and the adsorption of screws of different specifications, thus ensuring the stability of the electric screwdriver bit 101 throughout the entire process of tightening or loosening screws. When this negative pressure bolt assembly / disassembly mechanism is used to install screws, the screw can be fixed in advance by the annular suction head 303, thereby fixing the head of the screw and facilitating the electric screwdriver bit 101 to tighten the screw into the target position. In addition, the inner side of the annular suction head 303 and the outer wall of the electric screwdriver bit 101 extending out of the outlet 203 have a suction gap 5. This suction gap 5 ensures a small flow area at the negative pressure outlet, thereby ensuring sufficient negative pressure and improving the stability of negative pressure adsorption.

[0042] In one embodiment, reference is made to the appendix. Figure 5 The annular suction head 303 includes an inner cylinder 3031, a flexible deformable ring 3032 disposed on the outer side of the outer end of the inner cylinder 3031, and a connecting ring 3033 disposed on the inner side of the outer end of the inner cylinder 3031. The inner cylinder 3031 (with attached...) Figure 5The dotted line portion (in the middle) is used to connect the flexible deformable ring 3032 and the connecting ring 3033, and the inner wall of the inner cylinder 3031 is used to form a suction gap 5 with the electric screwdriver bit 101. The connecting ring 3033 is used to install the annular suction head 303 onto the sliding sleeve 301. The flexible deformable ring 3032 is made of a flexible deformable material; in this embodiment, by setting the flexible deformable ring 3032, during the process of adsorbing the screw head in the suction gap 5, the flexible deformable ring 3032 will deform, so that the flexible deformable ring 3032 fits tightly against the screw head, greatly improving the adsorption stability of the screw.

[0043] An avoidance slot 3034 is provided between the flexible deformable ring 3032 and the connecting ring 3033. The avoidance slot 3034 provides displacement space for the deformation of the flexible deformable ring 3032 and can save material of the annular suction head 303.

[0044] Preferably, the inner cylinder 3031, the flexible deformable ring 3032, and the connecting ring 3033 are all integrally molded from a flexible deformable material, which can further improve their deformation capacity and enhance their fit with the screw. In other embodiments, only the flexible deformable ring 3032 can be made of a flexible deformable material, while the inner cylinder 3031, the flexible deformable ring 3032, and the connecting ring 3033 are made of rigid materials, and the inner cylinder 3031, the flexible deformable ring 3032, and the connecting ring 3033 can also be assembled into a single unit.

[0045] In one embodiment, a flange ring 30331 is provided protruding from one end of the connecting ring 3033 away from the flexible deformable ring 3032;

[0046] The sliding sleeve 301 includes a main sleeve 3011 and a fastening sleeve 3012. The outer wall of the front end of the main sleeve 3011 is provided with an external thread I 30111, and a support ring 30112 is provided inward on the front end face. The inner wall of the fastening sleeve 3012 is provided with an internal thread I 30122 that mates with the external thread I 30111. A locking ring 30121 is provided inward on the outer end face of the fastening sleeve 3012.

[0047] When the main sleeve 3011 and the fastening sleeve 3012 are threadedly fastened together, the engaging ring 30121 and the support ring 30112 engage the flange ring 30331. In this embodiment, by setting the threaded fastening sleeve 3012, the ease of disassembly and assembly of the annular suction head 303 is greatly improved, facilitating the replacement and maintenance of the annular suction head 303.

[0048] In one embodiment, the inner wall of the main sleeve 3011 is a stepped hole structure, and the front end is a small hole, while the inner wall of the large hole at the rear end of the main sleeve 3011 is provided with an internal thread II 30113.

[0049] The sliding sleeve 301 also includes a sealing slip ring fastening sleeve 3013. The outer wall of the sealing slip ring fastening sleeve 3013 is provided with an external thread II 30131. After the external thread II 30131 is threadedly connected to the internal thread II 30113, the end of the sealing slip ring fastening sleeve 3013 abuts against one end of the sealing slip ring 302, and the other end of the sealing slip ring 302 abuts against the step of the stepped hole. In this embodiment, by providing a threaded sealing slip ring fastening sleeve 3013, the ease of disassembly and assembly of the sealing slip ring 302 is greatly improved, facilitating the replacement and maintenance of the entire sliding sleeve 3.

[0050] In one embodiment, the negative pressure bolt disassembly and assembly mechanism further includes an elastic reset member that drives the sliding sleeve 3 to always be in its extended limit state. By providing the elastic reset member, an elastic reset force can be provided for the linear movement of the sliding sleeve 3, thereby ensuring that the annular suction head 303 is always in contact with the end of the screw. When the entire negative pressure bolt disassembly and assembly mechanism is not in operation, the elastic reset member can drive the sliding sleeve 301 to cover most of the position of the electric screwdriver bit 101 extending from the outlet 203, providing physical protection and reducing the possibility and degree of injury from the electric screwdriver bit 101.

[0051] In one embodiment, the outer front end of the negative pressure sleeve 2 is a stepped shaft structure, and the front end is a small shaft, wherein the sealing slip ring 302 is in sliding sealing cooperation with the outer wall of the small shaft;

[0052] The elastic reset element is a spring 7, which is sleeved on the outside of the small shaft, with one end abutting against the sealing slip ring 302 and the other end abutting against the stepped surface of the stepped shaft. In this embodiment, by setting the negative pressure sleeve 2 as a stepped shaft structure, on the one hand, it can provide abutting position for one end of the spring 7, and on the other hand, it can reduce the outer diameter of the slip sleeve 301, ensuring structural compactness.

[0053] In one embodiment, the sliding sleeve 301 extends to the main shaft of the stepped shaft. This allows for the outer side of the spring 7 to be covered and enclosed, providing physical protection and shielding, thereby improving the aesthetics of the negative pressure bolt assembly / disassembly mechanism. Preferably, in an embodiment with a sealing slip ring fastening sleeve 3013, the sliding sleeve 301 extends to the main shaft of the stepped shaft via the sealing slip ring fastening sleeve 3013, and the inner diameter of the sealing slip ring fastening sleeve 3013 is larger than the outer diameter of the main shaft, allowing the sealing slip ring fastening sleeve 3013 to slide linearly on the outer side of the main shaft.

[0054] In one embodiment, the negative pressure bolt disassembly and assembly mechanism further includes an electric screwdriver mounting sleeve 8 that is fixedly connected to the inlet 202 side of the negative pressure sleeve 2;

[0055] The main body 102 of the electric screwdriver 1 is fixedly mounted on the electric screwdriver mounting sleeve 8.

[0056] Preferably, the electric screwdriver mounting sleeve 8 is threadedly connected to the negative pressure sleeve 2, which simplifies the assembly and disassembly process. Preferably, the side wall of the electric screwdriver mounting sleeve 8 is provided with an operation window 801, which corresponds to the torque adjustment knob 103 of the electric screwdriver 1, so that the torque of the electric screwdriver 1 can be adjusted by the user or the robotic arm 10.

[0057] This utility model also provides a maintenance robot, including a mobile robot 9, a mechanical arm 10 mounted on the mobile robot 9, and the aforementioned negative pressure bolt disassembly and assembly mechanism mounted on the mechanical arm 10.

[0058] The robotic arm 10 is fixedly connected to the negative pressure sleeve 2, while in the embodiment where an electric screwdriver mounting sleeve 8 is provided, the robotic arm 10 is fixedly connected to the electric screwdriver mounting sleeve 8.

[0059] The maintenance robot provided by this utility model can automate screw handling, saving manual labor. Preferably, the mobile robot 9 is also equipped with a vision system to provide data support for the movement of the mobile robot 9 and the robotic arm 10, so that the negative pressure bolt disassembly and assembly mechanism can operate directly on the screw.

[0060] In one embodiment, an elastic reset mechanism 6 is further provided between the robotic arm 10 and the negative pressure bolt disassembly / assembly mechanism. In this embodiment, the elastic reset mechanism 6 can provide pre-pressure to the negative pressure bolt disassembly / assembly mechanism. Simultaneously, when the mobile robot 9 and / or the robotic arm 10 moves excessively when driving the negative pressure bolt disassembly / assembly mechanism to contact the screw installation position, the elastic reset mechanism 6 can drive the negative pressure bolt disassembly / assembly mechanism to perform movement buffering, preventing damage caused by rigid mutual compression between the negative pressure bolt disassembly / assembly mechanism and the bolt installation position. Furthermore, in embodiments with an elastic reset component, the elastic reset mechanism 6 and the elastic reset component form a dual buffer system, which can further improve safety during use.

[0061] Preferably, the elastic reset mechanism 6 includes a guide rail slider mechanism 601 and a spring reset member 602. The guide rail of the guide rail slider mechanism 601 is fixed on the robotic arm 10, while the electric screwdriver mounting sleeve 8 is installed on the slider of the guide rail slider mechanism 601. One end of the spring reset member 602 is fixed on the robotic arm 10, and the other end is connected to the slider of the guide rail slider mechanism 601.

[0062] The above description is merely an embodiment and does not constitute any limitation on this utility model. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solution of this utility model without departing from its scope. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this utility model, without departing from its scope, should fall within the protection scope of this utility model.

Claims

1. A negative pressure bolt disassembly and assembly mechanism, characterized in that, Includes an electric screwdriver (1), a negative pressure sleeve (2), and a sliding sleeve (3); The negative pressure sleeve (2) has a hollow interior (201), and one end is provided with an inlet (202) that connects to the hollow interior (201), and the other end is provided with an outlet (203) that connects to the hollow interior (201). It also includes a negative pressure inlet (204) that connects to the hollow interior (201). The electric screwdriver bit (101) of the electric screwdriver (1) passes through the inlet (202) and the hollow (201) and extends out from the outlet (203). The outer wall of the electric screwdriver bit (101) and the inner wall of the hollow (201) have an air gap (4). The electric screwdriver bit (101) and the inlet (202) are rotated and sealed together. The sliding sleeve (3) includes a sliding sleeve (301), a sealing slip ring (302), and an annular suction head (303). The sliding sleeve (301) is disposed on the outlet (203) side of the negative pressure sleeve (2). The inner wall of the sealing slip ring (302) and the outer wall of the negative pressure sleeve (2) slide and seal together along the axial direction of the electric screwdriver bit (101). The outer wall of the sealing slip ring (302) is fixedly connected to the inner wall of the sliding sleeve (301). The outer side of the annular suction head (303) is engaged with the end of the sliding sleeve (301), and the inner side of the ring has a suction gap (5) with the outer wall of the electric screwdriver bit (101) extending out of the outlet (203).

2. The negative pressure bolt disassembly and assembly mechanism as described in claim 1, characterized in that, The annular suction head (303) includes an inner cylinder (3031), a flexible deformable ring (3032) disposed on the outer side of the outer end of the inner cylinder (3031), and a connecting ring (3033) disposed on the inner side of the outer end of the inner cylinder (3031). An avoidance ring gap (3034) is provided between the flexible deformable ring (3032) and the connecting ring (3033).

3. The negative pressure bolt disassembly and assembly mechanism as described in claim 2, characterized in that, A flange ring (30331) is provided on the end of the connecting ring (3033) that protrudes away from the flexible deformable ring (3032). The sliding sleeve (301) includes a main sleeve body (3011) and a fastening sleeve (3012). The outer wall of the front end of the main sleeve body (3011) is provided with an external thread I (30111), and a support ring (30112) is provided inward on the front end face. The inner wall of the fastening sleeve (3012) is provided with an internal thread I (30122) that mates with the external thread I (30111). The outer end face of the fastening sleeve (3012) is provided with a locking ring (30121). When the main sleeve (3011) and the fastening sleeve (3012) are threadedly fastened together, the engaging ring (30121) and the support ring (30112) engage the flange ring (30331).

4. The negative pressure bolt disassembly and assembly mechanism as described in claim 3, characterized in that, The inner wall of the main sleeve (3011) has a stepped hole structure, and the front end has a small hole. The inner wall of the large hole at the rear end of the main sleeve (3011) is provided with an internal thread II (30113). The sliding sleeve (301) also includes a sealing slip ring fastening sleeve (3013). The outer wall of the sealing slip ring fastening sleeve (3013) is provided with an external thread II (30131). After the external thread II (30131) is threadedly connected to the internal thread II (30113), the end of the sealing slip ring fastening sleeve (3013) abuts against one end of the sealing slip ring (302), and the other end of the sealing slip ring (302) abuts against the step of the stepped hole.

5. The negative pressure bolt disassembly and assembly mechanism as described in any one of claims 1-4, characterized in that, It also includes an elastic reset member that drives the sliding sleeve (3) to always be in the extended limit state.

6. The negative pressure bolt disassembly and assembly mechanism as described in claim 5, characterized in that, The outer front end of the negative pressure sleeve (2) is a stepped shaft structure, and the front end is a small shaft. The sealing slip ring (302) is in sliding sealing cooperation with the outer wall of the small shaft. The elastic reset component is a spring (7), which is sleeved on the outside of the small shaft, with one end abutting against the sealing slip ring (302) and the other end abutting against the stepped surface of the stepped shaft.

7. The negative pressure bolt disassembly and assembly mechanism as described in claim 6, characterized in that, The sliding sleeve (301) extends to the major axis of the stepped shaft.

8. The negative pressure bolt disassembly and assembly mechanism as described in any one of claims 1-4, 6, and 7, characterized in that, It also includes an electric screwdriver mounting sleeve (8) that is fixedly connected to the inlet (202) side of the negative pressure sleeve (2); The main body (102) of the electric screwdriver (1) is fixedly mounted on the electric screwdriver mounting sleeve (8).

9. A maintenance robot, characterized in that, It includes a mobile robot (9), a robotic arm (10) mounted on the mobile robot (9), and a negative pressure bolt disassembly and assembly mechanism as described in any one of claims 1-8 mounted on the robotic arm (10).

10. The maintenance robot as described in claim 9, characterized in that, An elastic reset mechanism (6) is also provided between the robotic arm (10) and the negative pressure bolt disassembly and assembly mechanism.

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