Bolt tightening device and climbing robot using same

Abstract

The present invention belongs to the technical field of climbing robots for power work, and specifically relates to a bolt tightening device and a climbing robot using the same. The bolt tightening device includes an extension arm and a working head fixed to the extension arm, the extension arm includes a bottom frame fixed to the body, and the bottom frame is equipped with a rotation assembly for driving the working head to rotate and a planar displacement assembly for driving the working head to perform fixed-point operation. The bolt tightening device can be installed on the body of a current conventional climbing robot, and can replace manual labor and meet the needs for high-precision and high-efficiency work at height. Another object of the present invention is to provide a suitable climbing robot that can ensure the safety of construction work by installing the bolt tightening device, and can better realize the online socket replacement function during high-altitude work, ultimately greatly reducing the cost of manual inspection, improving inspection efficiency, and ensuring the safe and reliable operation of the power transmission system.

Description

[Technical field]

[0001] The present invention relates to the technical field of climbing robots for power work, and more specifically to a bolt tightening device and a climbing robot using the same. [Background technology]

[0002] The stability and safety of power are the fundamental guarantee for promoting the development of various industries. In China, the power transmission angle towers shown in Figure 16 are numerous, widely distributed, and exposed to outdoor environments for a long period of time, and are also subject to harsh environments with dusty, strong winds and high humidity. Therefore, in the process of subsequent inspection and maintenance, the maintenance personnel need to work at height to tighten and stabilize the connecting bolts of the power transmission angle towers. In this case, not only is the risk coefficient high and the workload heavy, but the long time spent at high altitudes is also likely to cause excessive physical exhaustion of the workers, which will have a negative impact on the workers' health and obviously make the efficiency of the maintenance method very low. In recent years, it can be said that the development of a climbing robot for power transmission angle towers or other high-altitude work that can meet the needs of bolt tightening work in high-altitude environments is an urgent issue to be solved in this field. Summary of the Invention [Problem to be solved by the invention]

[0003] The present invention overcomes the drawbacks of the prior art and aims to provide a bolt tightening device that can be attached to the body of a current conventional climbing robot, replaces manual work, and meets the needs for high-altitude work with high precision and efficiency. Another aim of the present invention is to provide a suitable climbing robot to which the bolt tightening device is attached, which ensures the safety of construction, better realizes the online socket replacement function when working at high altitudes, and ultimately significantly reduces the cost of manual inspection, improves inspection efficiency, and ensures the safe and reliable operation of the power transmission system.

[0004] In order to achieve the above objectives, the present invention adopts the following technical solutions.

[0005] A bolt tightening device, comprising: an extension arm; and a working head fixed to the extension arm, the extension arm including a bottom frame fixed to a body, the bottom frame being provided with a rotation assembly for driving the working head to perform a rotational movement, and a planar displacement assembly for driving the working head to perform a fixed-point operation; The rotating assembly includes a rotating base capable of rotating on the bottom frame, the rotation axis of the rotating base is perpendicular to the length direction of the angle iron main member, and the rotation axis is located on a symmetry plane of the angle iron main member on which the ridge of the angle iron main member is located, and the rotating base is driven by a rotating power source to perform a specified movement; The planar displacement assembly includes an X-axis displacement mechanism and a Y-axis displacement mechanism whose displacement directions are perpendicular to each other, the X-axis displacement mechanism includes an X-axis frame and an X-axis movable block capable of performing reciprocating linear motion along the length direction of the X-axis frame, a 45 degree included angle is formed between the motion direction of the X-axis movable block and the rotation axis of the rotation base, and the opening of the included angle faces the main angle iron material, the Y-axis displacement mechanism includes a Y-axis frame and a Y-axis movable block performing reciprocating linear motion along the length direction of the Y-axis frame, the Y-axis frame and the X-axis movable block being fixed to each other, The working head includes an impact base and an impact anchor rod attached to a tip of the impact base for positioning and rotating the socket, the outer contour of the tip of the impact anchor rod corresponds to the shape contour of a pre-installed attachment / detachment hole in the socket, and the tip of the impact anchor rod and the attachment / detachment hole have a detachable elastic engagement relationship or screw-type relationship, the impact base is fixed to the Y-axis movable block, and an impact motor is disposed within the impact base to drive the impact anchor rod to rotate about the axis of the socket.

[0006] Preferably, the tip of the impact anchor rod has a rectangular prism shape corresponding to the outer shape of the attachment / detachment hole, a positioning pin hole is recessed in the side wall of the tip, and an elastic pin that can elastically expand and contract along the radial direction of the impact anchor rod is arranged in the positioning pin hole, so as to elastically engage with a notch in the wall of the attachment / detachment hole.

[0007] Preferably, an X-axis lead screw is rotatably engaged with the X-axis frame, an X-axis movable block is screwed into the X-axis lead screw, a Y-axis lead screw is rotatably engaged with the Y-axis frame, a Y-axis movable block is screwed into the Y-axis lead screw, and the X-axis lead screw and the Y-axis lead screw are respectively driven by a pair of synchronous motors to perform corresponding rotational movements.

[0008] Preferably, the rotary power source is a rotary motor, the rotary base is rotatably engaged with a positioning holder in the bottom frame, and is power-transmittingly engaged with a worm on an output shaft of the rotary motor by a worm wheel.

[0009] Preferably, the climbing robot using the bolt tightening device includes a main body and a running part that is driven by the main body to perform an ascending and descending operation along the angle iron main material, the main body is further provided with a socket exchange auxiliary box that facilitates high-altitude socket exchange operation between the main body and the work head, and the socket exchange auxiliary box and the bolt tightening device are both fixed to the tip of the main body, the socket exchange auxiliary box includes a box main body, the box main body is provided with an accommodating hole into which a single socket can be inserted, the accommodating hole is two or more sets and is arranged in sequence along a predetermined direction, the socket exchange auxiliary box further includes an unlock pull rod whose length direction is parallel to the radial direction of the accommodating hole, the box main body is provided with a guide cavity or guide rail that is in communication with the accommodating hole beside the accommodating hole, and the unlock pull rod is a guide rod that is in communication with the accommodating hole. The socket replacement auxiliary box further includes a power source for driving the unlock pull rod to perform the above-mentioned reciprocating movement, and a position limiting protrusion is protruding from one side of the unlock pull rod facing the hole cavity of the accommodating hole, and the position limiting protrusion is inserted into the hole cavity of the accommodating hole and engages with a pre-installed positioning recess in the socket to form a tongue-and-groove structure that limits the lifting movement of the socket, and when the unlock pull rod performs a reciprocating movement, only one set of position limiting protrusions and the corresponding positioning recess can be disengaged from each other at the same time, thereby unlocking the socket corresponding to the positioning recess.

[0010] Preferably, the box body is a rectangular block shape, the accommodating holes are uniformly distributed in sequence along the longitudinal direction of the box body, the unlocking pull rod is a rectangular rod shape, the rod body of the unlocking pull rod has a portion overlapping with the hole cavity of the accommodating hole, the unlocking pull rod is arranged with an escape arc groove corresponding to each socket to enable the formation of an ascending path for the socket, the position limiting protrusions are formed in the areas between each adjacent escape arc groove along the rod longitudinal direction of the unlocking pull rod, and the width of each position limiting protrusion increases or decreases in sequence to ensure that only one set of position limiting protrusions and their corresponding positioning recesses can disengage from each other at the same time.

[0011] Preferably, the box body includes a rectangular box-shaped housing and a mounting base arranged in the housing, the mounting base is arranged horizontally so as to divide the cavity of the housing into an upper cavity and a lower cavity, a mounting hole is arranged through the lid of the housing, the hole wall of the mounting hole constitutes the hole wall of the accommodating hole, and the upper plate surface of the mounting base constitutes the bottom of the accommodating hole, thus forming a countersunk accommodating hole, and the unlock pull rod extends into the upper cavity and engages with a corresponding socket in each accommodating hole by forming a tongue and groove structure.

[0012] Preferably, the power source is an electric push rod, the power source is fixed to the lower plate surface of the mounting base, and the telescopic shaft of the power source and the power end of the unlock pull rod are fixed to each other through a connecting block.

[0013] Preferably, the box body is cylindrical, the accommodating holes are uniformly distributed in sequence along the circumferential direction of the box body, the unlocking pull rod is C-shaped or annular, the rod body of the unlocking pull rod has a portion overlapping with the hole cavity of the accommodating hole, the inner rod surface of the unlocking pull rod is arranged with relief arc grooves corresponding to each socket to enable the formation of an ascending path for the socket, the position limiting protrusions are formed in the areas between each adjacent relief arc groove along the circumferential direction of the unlocking pull rod, and the width of each position limiting protrusion increases or decreases in sequence to ensure that only one set of position limiting protrusions and their corresponding positioning recesses can disengage from each other at the same time.

[0014] Preferably, sensing points are arranged on the unlock pull rod, the number of the sensing points corresponds to the number of the sockets, the distance between the sensing points is equal to the interval between adjacent sockets, a photoelectric switch for monitoring the position of the sensing point is arranged in the box body, and the sensing surface of the photoelectric switch is located on the displacement path of the sensing point. Effect of the Invention

[0015] The beneficial effects of the present invention are as follows:

[0016] 1) Due to the current situation that the number of bolts in the power transmission angle steel tower is large and the model numbers are various, it is obvious that it is difficult to realize the online socket replacement operation. For example, if a climbing robot with a different model number of socket is used every time, it is obvious that the cost performance cannot meet daily needs.

[0017] In view of this, the present invention provides a bolt tightening device that can be attached to the body of a current conventional climbing robot, whereby the working head can be positioned by the cooperation of the rotating assembly and the planar displacement assembly, and the bolt tightening function at any position can be realized by the impact motor located in the working head, and the socket provided on the impact anchor rod of the working head can be replaced online every time the bolt model is changed, thereby easily achieving the work objective of improving convenience and efficiency. Note that the rotation axis of the rotating assembly needs to be located on the symmetrical plane of the main angle iron material, where the ridge of the main angle iron material is located. In this way, it is possible to ensure that the X-axis displacement mechanism, which forms an angle of 45° with the rotation axis, always moves horizontally along the wall surface of one of the outer walls of the main angle iron material, and the Y-axis displacement mechanism allows the working head to move toward and away from the bolt to be tightened, thereby effectively ensuring both the operability and the accuracy of the work.

[0018] As is apparent from the above, according to the present invention, one device can be used for multiple purposes, so that it can be applied to various cases of bolt tightening of power transmission angle steel towers, while the drive of the extension arm makes the fixed-point operation of the working head extremely accurate and reliable, so that it can replace manual labor and meet the needs of high-precision and high-efficiency work at height.

[0019] 2) Another object of the present invention is to provide a suitable climbing robot that can be fitted with the above-mentioned bolt tightening device to ensure the safety of construction, while better realizing the online socket replacement function when working at height, ultimately significantly reducing the cost of manual inspection, improving inspection efficiency, and ensuring the safe and reliable operation of the power transmission system.

[0020] Specifically, taking into consideration the special high-altitude remote control operating environment of the power transmission angle tower, sudden falling objects from high places are very dangerous, so the safety of the work is the top priority. If the above-mentioned detachable structure of the working head is adopted and assembled on the ground, safety is ensured, but the work efficiency cannot be maximized. In the present invention, the assembly method on the ground is eliminated, a unique high-altitude assembly structure is adopted, and the locking characteristic of the unlock pull rod for the socket in the receiving hole is utilized to ensure that only one set of sockets that are exactly the socket model number required by the working head can be unlocked at the same time. In this way, the present invention can be fully applied to the conventional climbing robot during actual work, and by combining with the detachable working head, the function of online socket replacement during high-altitude work can be realized while ensuring the safety of the construction, and the work efficiency can also be maximized.

[0021] 3) During actual assembly, the unlocking pull rod can be regarded as a spring bolt, and the locking and unlocking action between the spring bolt and the positioning recess of the socket achieves the purpose of inserting and removing the socket in the specified receiving hole. Based on the above idea, the present invention provides the following two specific embodiments.

[0022] First, the box body is rectangular and is combined with a rectangular unlocking pull rod, and during operation, the unlocking pull rod is pulled linearly along the length of the rod to lock and unlock the position limiting protrusion and the positioning recess of the relief arc groove on the unlocking pull rod. When a linearly moving unlocking pull rod is used, a linear stroke power component such as a linear motor or an electric push rod can be used as the power source, thereby realizing an online driving function for the unlocking pull rod.

[0023] Secondly, the box body is cylindrical and is combined with the unlock pull rod in the shape of a C-shaped rod or a circular rod. During operation, the unlock pull rod rotates along the circumferential direction of the box body to lock and unlock the position limiting protrusion and the positioning recess of the relief arc groove on the unlock pull rod. When the unlock pull rod rotates along the circumferential direction of the box body, the unlock pull rod can be directly driven by a rotary motor coaxial with the unlock pull rod, or a rack can be arranged on the rod side of the unlock pull rod to mesh with the driving gear of the rotary motor. For example, when a swing arm motor such as a servo is adopted, the purpose of power transmission can be achieved by directly using a hinge connection means, and the description here is omitted.

[0024] 4) In actual operation, due to remote operation at high altitudes, it is necessary to add a sensing member to the present invention, which can achieve the effect of online sensing the position of the unlock pull rod and clarify which socket is currently in the unlocked state. The present invention adopts a method of combining a sensing point with a photoelectric switch, which has a simple and clear structure, as well as being more compact and reasonable, and is suitable for use in high altitude work environments. [Brief description of the drawings]

[0025] [Figure 1] FIG. 2 is an assembly schematic diagram of a bolt tightening device. [Diagram 2] FIG. 2 is a structural schematic diagram of a bolt tightening device. [Diagram 3] FIG. 2 is a perspective view showing a schematic structure of a rotating assembly. [Figure 4] FIG. 4 is an exploded view of the structure shown in FIG. [Diagram 5] FIG. 2 is a perspective view showing a schematic structure of an X-axis displacement assembly. [Figure 6] FIG. 6 is an exploded view of the structure shown in FIG. [Figure 7] FIG. 13 is a perspective view showing the assembly of a Y-axis displacement assembly and a working head. [Figure 8]FIG. 8 is an exploded view of the structure shown in FIG. [Figure 9] FIG. [Figure 10] FIG. 11 is a diagram showing the working state of the socket replacement auxiliary box. [Figure 11] 11 is a front view of the configuration shown in FIG. 10 with the housing removed. [Figure 12] FIG. 12 is a plan view of FIG. [Figure 13] FIG. 12 is a perspective view of FIG. [Figure 14] 13 is an operation flowchart of the unlocking pull rod. [Figure 15] 13 is an operation flowchart of the unlocking pull rod. [Figure 16] FIG. 1 is a schematic diagram of the structure of an angle steel tower for power transmission. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] For ease of understanding, the specific structure and operation method of the climbing robot of the present invention will be further described below with reference to FIGS.

[0027] The specific structure of the climbing robot of the present invention, as shown in FIG. 2, mainly includes a main body 30 having a running part 40 and a work kit on the main body 30. The main body functions as a mounting body for the work kit, and realizes the upward climbing function and downward running function on the power transmission angle steel tower as shown in FIG. 16. The work kit includes a socket replacement auxiliary box and a bolt retightening device. The bolt retightening device is a combination of an extension arm 11 and a work head 12, thereby realizing the online retightening function by the work kit for the bolts of the angle steel main material a located at the four corners of the power transmission angle steel tower and the bolts in the surrounding area. The socket replacement auxiliary box is an auxiliary device based on the bolt retightening device. Since there are multiple model numbers of bolts and nuts for fixing to the power transmission angle steel tower, it is possible that the sockets must be replaced at different times when retightening the bolts, and therefore the socket replacement auxiliary box is installed.

[0028] About the device Fig. 1 is a schematic diagram showing the assembled state of the main body 30, the running part, and the work kit. As shown in Fig. 1, the main body 30 and the running part 40 may actually be a conventional commercially available inchworm type robot or a wheeled robot, and the work purpose can be achieved by simply attaching the work kit at the time of work. Of course, if necessary, only the bolt tightening device may be attached instead of using it together with the socket exchange auxiliary box, but in this case, it is necessary to attach and detach it on the ground every time you want to replace the socket, which is less efficient than using it together with the socket exchange auxiliary box.

[0029] Bolt tightening device 2 to 9 are structural schematic diagrams of the bolt tightening device. As shown in each drawing, the bolt tightening device includes a bottom frame 111, a rotation assembly 112, a planar displacement assembly, and a working head 12, which are assembled in this order.

[0030] The bottom frame 111 is a general fixed frame structure for connecting the rotating assembly 112 and the tip of the main body 30, as shown in Fig. 2, and the description thereof is omitted here. As shown in Figs. 2 and 3, the rotating assembly 112 realizes the power transmission from the rotating motor 112b to the rotating base 112a by using a worm gear, thereby realizing the rotation of the rotating base 112a on the symmetrical plane of the angle iron main member, where the ridge of the angle iron main member is located. In other words, when only the rotating assembly 112 starts to operate, the swing angle of the working head 12 on the left side of the angle iron main member and the swing angle on the right side of the angle iron main member are consistent, thereby realizing the reference positioning and providing a basic guarantee for the subsequent tightening of the bolt at a fixed point of the working head.

[0031] Based on the above structure, the present invention also provides a planar displacement assembly including an X-axis displacement mechanism 113 and a Y-axis displacement mechanism 114, as shown in Figures 5 to 8. The X-axis displacement mechanism 113 and the Y-axis displacement mechanism 114 are driven by corresponding synchronous motors 115, respectively.

[0032] During assembly, the X-axis displacement mechanism 113 includes an X-axis frame 113a and an X-axis lead screw 113c rotatably fitted to the X-axis frame 113a, and the X-axis movable block 113b is further disposed on the X-axis lead screw 113c, so that the X-axis movable block 113b can linearly extend and retract along a direction that forms an angle of 45° with the rotation axis of the rotating base 112a. Since the angle iron main member is a 90° angle iron and the rotation axis of the rotating base 112a is located on the symmetrical plane of the angle iron main member, where the ridge of the angle iron main member is located, the movement direction of the axis of the X-axis movable block 113b is substantially parallel to one side wall of the angle iron main member, thus ensuring accurate positioning of the working head 12 with respect to the bolt and ensuring that the working head 12 does not interfere with the angle iron main member when it is operated, i.e., killing two birds with one stone. Similar to the X-axis displacement mechanism 113, the Y-axis displacement mechanism 114 includes a corresponding Y-axis frame 114a, Y-axis lead screw 114c, and Y-axis movable block 114b, and the Y-axis frame 114a is fixed to the X-axis movable block 113b to ensure linear movement of the striking base 12a fixed to the Y-axis movable block 114b.

[0033] As shown in Figs. 8 and 9, the work head 12 actually realizes the on-line rotational movement of the socket fixed to the impact anchor rod 12b by the impact motor 12d arranged coaxially and the impact anchor rod 12b located on the output shaft of the impact motor 12d. Like a socket wrench, the rotational movement of the socket b causes the bolt in the socket cavity to be tightened. This may be realized by the Y-axis displacement mechanism 114 each time the socket is inserted into or removed from the bolt, and may be realized by the cooperation of the rotation assembly 112 and the X-axis displacement mechanism 113 each time the relative position between the socket and the bolt is accurately positioned.

[0034] About the socket replacement support box 10 to 15 are structural schematic diagrams of a specific embodiment of the socket replacement auxiliary box, that is, diagrams showing a specific embodiment structure in the case where the box body 21 is a rectangular parallelepiped. As shown in FIGS. 10 to 15, the box body 21 includes a housing 21a having a hollow cavity, and a horizontal plate-like mounting board 21b is arranged in the cavity of the housing 21a to divide the cavity of the housing 21a into two parts, an upper cavity and a lower cavity. As shown in FIG. 10, three receiving holes 211 are arranged penetrating the cover of the housing 21a, and the three receiving holes 211 correspond to the M16 socket, the M18 socket, and the M20 socket, respectively. Each socket has a positioning recess b1 recessed in the outer wall coaxially with each socket. An elongated guide cavity communicating with the receiving hole 211 in the upper cavity is formed inside the housing 21a. The unlock pull rod 22 moves in the guide cavity, and the portion of the unlock pull rod 22 inserted into the receiving hole 211 has a rectangular sawtooth shape with one side protruding, that is, a position limiting protrusion is formed, as shown in Fig. 12 and Fig. 14 to Fig. 15. In other words, the portion of the unlock pull rod 22 inserted into the receiving hole 211 has an isosceles trapezoidal relief arc groove 22a with one side recessed, and the above-mentioned position limiting protrusion is formed between adjacent relief arc grooves 22a. The end of the portion of the unlock pull rod 22 extending from the receiving hole 211, that is, the power end, is fixed to the telescopic shaft of the power source 23 via the connection block 24, and the power source 23 is an electric push rod. The electric push rod is fixed to the lower surface of the mounting board 21b, and the telescopic shaft moves horizontally with the output of the electric push rod to move the unlock pull rod 22 horizontally.

[0035] 12, three equally spaced protruding rectangular sawtooths are further arranged on the other side of the unlock pull rod 22 to serve as sensing points 22b, and each of the three protruding sensing points 22b can contact a photoelectric switch 25. When the output of the electric push rod stops, the unlock pull rod 22 stops, and the sensing points 22b operate the photoelectric switch 25, thereby detecting the current position of the unlock pull rod 22.

[0036] When the electric push rods are retracted to the minimum position, one side of each of the unlock pull rods 22 is engaged with the positioning recesses b1 of the sockets, restricting the movement of all the sockets.

[0037] 11-13, when the unlock pull rod 22 first stops, the M20 socket corresponds to the rightmost relief arc groove 22a of the unlock pull rod 22, the unlock pull rod 22 does not exert a limiting effect on the M20 socket, and the M20 socket can be taken out, and the remaining two sockets correspond to the straight sides (position limiting protrusions) of the unlock pull rod 22. Similarly, as shown in Figs. 14-15, the M16 socket and the M18 socket can be unlocked in sequence, which ensures that only one socket can be unlocked and taken out at a time.

[0038] When the bolt needs to be tightened, first, the necessary socket b is unlocked according to the usage situation, and then the working head 12 of the extension arm 11 is aligned with the attachment / detachment hole b2 at the rear of the socket b, and inserted into the attachment / detachment hole b2 while rotating slowly. An elastic pin 12c is provided on the side of the working head 12, and a notch is recessed in the hole wall of the attachment / detachment hole b2. After the elastic pin 12c is inserted into the notch, the rotation of the working head 12 is stopped, and the extension arm 11 drives the working head 12 to remove the current socket b from the receiving hole 211 of the box body 21, and the work is performed.

[0039] When the used socket is returned, the extension arm drives the working head to align the socket provided thereon with the corresponding receiving hole 211 of the box body 21. The unlock pull rod 22 moves until the position of the corresponding relief arc groove 22a coincides with the position of the corresponding receiving hole 211 to clear the storage path. After the socket is inserted into the corresponding receiving hole 211 along the storage path, the unlock pull rod 22 is moved until the corresponding receiving hole 211 is locked again.

[0040] Of course, those skilled in the art will appreciate that the present invention is not limited to the details of the illustrative examples described above, but includes the same or similar configurations that can be embodied in other specific forms without departing from the spirit or essential characteristics of the present invention. The embodiments are therefore to be considered in all respects as illustrative and not restrictive, and the scope of the present invention is limited not by the above description but by the appended claims, and all changes that come within the meaning and range of equivalence of the claims are therefore intended to be embraced therein. Any reference signs in the claims should not be construed as limiting the scope of the associated claims.

[0041] In addition, although the present specification is described according to embodiments, each embodiment does not include only independent technical solutions, and such description in the specification is merely for clarity, and a person skilled in the art should understand that the specification should be used as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by a person skilled in the art.

[0042] Any techniques, shapes, or structural parts not described in detail in the present invention are known in the art. [Explanation of symbols]

[0043] a: Main material of angle steel b: socket b1: Positioning recess b2: Hole for attachment / detachment 11: Extension arm 111: Bottom frame 112: Rotating Assembly 112a: Rotating base 112b: Rotary motor 113: X-axis displacement mechanism 113a: X-axis frame 113b: X-axis movable block 113c: X-axis lead screw 114: Y-axis displacement mechanism 114a: Y-axis frame 114b: Y-axis movable block 114c: Y-axis lead screw 115: Synchronous motor 12: Working head 12a: Striking base 12b: Impact anchor rod 12c: Elastic pin 12d: Impact motor 21: Box body 211: Storage hole 21a: Cabinet 21b: Mounting board 22: Unlock pull rod 22a: Relief arc groove 22b: Sensing point 23: Power source 24: Connection block 25: Photoelectric switch 30: Main body 40: Running part

Claims

1. A bolt tightening device including an extension arm (11) and a working head (12) fixed to the extension arm (11), The extension arm (11) includes a bottom frame (111) fixed to the body (30), and a rotation assembly (112) for driving the working head (12) to perform a rotational movement and a planar displacement assembly for driving the working head (12) to perform a fixed-point operation are mounted on the bottom frame (111); The rotating assembly (112) includes a rotating base (112a) that can perform a rotating motion on the bottom frame (111), and the rotation axis of the rotating base (112a) is perpendicular to the length direction of the angle iron main member, and the rotation axis is located on a symmetry plane of the angle iron main member where the ridge line of the angle iron main member is located, and the rotating base (112a) is driven by a rotating power source to perform a specified motion; The planar displacement assembly includes an X-axis displacement mechanism (113) and a Y-axis displacement mechanism (114) whose displacement directions are perpendicular to each other, the X-axis displacement mechanism (113) includes an X-axis frame (113a) and an X-axis movable block (113b) capable of reciprocating linear motion along the length direction of the X-axis frame (113a), a 45-degree included angle is formed between the movement direction of the X-axis movable block (113b) and the rotation axis of the rotation base (112a), and the opening of the included angle faces the main angle iron material, the Y-axis displacement mechanism (114) includes a Y-axis frame (114a) and a Y-axis movable block (114b) capable of reciprocating linear motion along the length direction of the Y-axis frame (114a), the Y-axis frame (114a) and the X-axis movable block (113b) are fixed to each other, a work head (12) including an impact base (12a) and an impact anchor rod (12b) attached to a tip of the impact base (12a) for positioning and rotating the socket, an outer contour of the tip of the impact anchor rod (12b) corresponds to a shape contour of a pre-installed attachment / detachment hole in the socket, and the tip of the impact anchor rod (12b) and the attachment / detachment hole have a detachable elastic engagement relationship or a screw-type relationship, the impact base (12a) is fixed to a Y-axis movable block (114b), and an impact motor (12d) is disposed in the impact base (12a) to drive the impact anchor rod (12b) to rotate about the axis of the socket.

2. 2. The bolt tightening device as described in claim 1, characterized in that the tip of the impact anchor rod (12b) has a rectangular prism shape corresponding to the shape of the attachment / detachment hole, a positioning pin hole is recessed in the side wall of the tip, and an elastic pin (12c) that can elastically expand and contract along the radial direction of the impact anchor rod (12b) is arranged in the positioning pin hole, thereby elastically engaging with a notch in the hole wall of the attachment / detachment hole.

3. 3. The bolt tightening device according to claim 2, wherein an X-axis lead screw (113c) is rotatably engaged with the X-axis frame (113a), an X-axis movable block (113b) is screwed into the X-axis lead screw (113c), a Y-axis lead screw (114c) is rotatably engaged with the Y-axis frame (114a), a Y-axis movable block (114b) is screwed into the Y-axis lead screw (114c), and the X-axis lead screw (113c) and the Y-axis lead screw (114c) are each driven by a pair of synchronous motors (115) to perform corresponding rotational movements.

4. The bolt tightening device of claim 2, characterized in that the rotational power source is a rotational motor (112b), the rotational base (112a) is rotatably engaged with a positioning holder in the bottom frame (111) and is power-transmittingly engaged with a worm on the output shaft of the rotational motor (112b) by a worm wheel.

5. A climbing robot comprising the bolt tightening device according to any one of claims 1 to 4, further comprising a main body (30) and a running unit (40) driven by the main body (30) to perform an ascending and descending operation along an angle iron main member, The main body (30) is further provided with a socket replacement auxiliary box for facilitating high-altitude socket replacement operation between the work head (12), and both the socket replacement auxiliary box and the bolt tightening device are fixed to the front end of the main body (30). The socket replacement auxiliary box includes a box body (21), and the box body (21) is provided with an accommodating hole (211) into which a single socket can be inserted, and the accommodating holes (211) are in two or more sets and are arranged in sequence along a predetermined direction. The socket replacement auxiliary box further includes an unlocking pull rod (22) whose length direction is parallel to the radial direction of the accommodating hole (211). The box body (21) is provided with a guide cavity or guide rail beside the accommodating hole (211) and communicating with the accommodating hole (211), and the unlocking pull rod (22) is located in the guide cavity or guide rail, thereby accommodating the socket. a socket replacement auxiliary box for connecting the unlock pull rod (22) to the socket replacement auxiliary box, the socket replacement auxiliary box further including a power source (23) for driving the unlock pull rod (22) to perform the reciprocating movement along the arrangement direction of the accommodating hole (211), the unlock pull rod (22) having a position limiting protrusion protruding from one side facing the hole cavity of the accommodating hole (211), the position limiting protrusion being inserted into the hole cavity of the accommodating hole (211) and engaging with a pre-installed positioning recess in the socket to form a tongue-and-groove structure that limits the lifting movement of the socket, and when the unlock pull rod (22) performs a reciprocating movement, only one set of the position limiting protrusion and the corresponding positioning recess can be disengaged from each other at the same time, thereby unlocking the socket corresponding to the positioning recess.

6. 6. The climbing robot according to claim 5, wherein the box body (21) is in the shape of a rectangular block, the accommodating holes (211) are uniformly distributed in sequence along the length direction of the box body (21), the unlocking pull rod (22) is in the shape of a rectangular rod, and the rod body of the unlocking pull rod (22) has a portion overlapping with the hole cavity of the accommodating hole (211), the unlocking pull rod (22) is provided with escape arc grooves (22a) corresponding to each socket to enable the formation of an ascending path for the socket, the position limiting protrusions are formed in the areas between the adjacent escape arc grooves (22a) along the rod length direction of the unlocking pull rod (22), and the widths of the position limiting protrusions increase or decrease in sequence to ensure that only one pair of position limiting protrusions and their corresponding positioning recesses can separate from each other at the same time.

7. 7. The climbing robot according to claim 6, wherein the box body (21) includes a rectangular box-shaped housing (21a) and a mounting base (21b) arranged in the housing (21a), the mounting base (21b) is arranged horizontally so as to divide the cavity of the housing (21a) into an upper cavity and a lower cavity, a mounting hole is arranged through the lid of the housing (21a), the hole wall of the mounting hole forms the hole wall of the accommodating hole (211), and the upper plate surface of the mounting base (21b) forms the bottom of the accommodating hole (211), thus forming a countersunk accommodating hole (211), and the unlock pull rod (22) extends into the upper cavity and engages with a corresponding socket in each accommodating hole (211) by forming a tongue-and-groove structure.

8. The climbing robot according to claim 7, characterized in that the power source (23) is an electric push rod, the power source (23) is fixed to the lower plate surface of the mounting base (21b), and the telescopic shaft of the power source (23) and the power end of the unlock pull rod (22) are fixed to each other via a connection block (24).

9. 6. The climbing robot according to claim 5, wherein the box body (21) is cylindrical, the accommodating holes (211) are uniformly distributed in sequence along the circumferential direction of the box body (21), the unlocking pull rod (22) is C-shaped rod-shaped or annular rod-shaped, and the rod body of the unlocking pull rod (22) has a portion overlapping with the hole cavity of the accommodating hole (211), the inner rod surface of the unlocking pull rod (22) is provided with escape arc grooves (22a) corresponding to each socket to enable the formation of an ascending path for the socket, the position limiting protrusions are formed in the areas between the adjacent escape arc grooves (22a) along the circumferential direction of the unlocking pull rod (22), and the widths of the position limiting protrusions increase or decrease in sequence to ensure that only one pair of position limiting protrusions and their corresponding positioning recesses can be separated from each other at the same time.

10. The climbing robot of claim 5, characterized in that: sensing points (22b) are arranged on the unlocking pull rod (22), the number of the sensing points (22b) corresponds to the number of sockets, the distance between the sensing points (22b) is equal to the interval between adjacent sockets, a photoelectric switch (25) for monitoring the position of the sensing point (22b) is arranged in the box body (21), and the sensing surface of the photoelectric switch (25) is located on the displacement path of the sensing point (22b).

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