CN115582846B - Modularized live working robot - Google Patents

Abstract

The present invention discloses a modular live-working robot, which mainly includes a walking arm module, a chassis module, an end platform and a mechanical working arm, and each component is detachably connected. Two groups of walking arm modules are detachably connected to the two ends of the chassis module, and can be deflected to the outside of the conductor, and walking on the conductor is realized through the walking wheel assembly and the clamping wheel assembly at the upper end of the arm body. The end platform can carry a variety of working terminals to achieve diversified functions, and the mechanical arm can automatically take and put the working terminal, which can be used for multiple purposes. Each module can be separated separately and quickly assembled during on-site application, which can effectively improve the safety and convenience in the field transportation environment. The structure of the vertical double clamping wheel and the walking wheel form a form of clamping the transmission line to walk on the transmission line. When encountering obstacles during inspection, the spacing between the two wheels can be adaptively changed, so that the robot can stably and effectively cross obstacles such as shock-absorbing hammers, suspension wire clamps, and spacer bars, thereby improving the efficiency of the robot's inspection operation.

Description

A modular live-line working robot

Technical Field

The invention relates to the field of automated live-line working on high-voltage power transmission lines, and in particular to a modular live-line working robot.

Background technique

Since power transmission lines are exposed to the natural environment for a long time and are damaged, defects are very likely to occur in the hardware on the lines, such as broken wires, loose bolts, dirty insulators, and other problems that threaten the safety of the lines. If not discovered and handled in time, it will undermine the stability of the operation of the power transmission lines, causing regional power outages and bringing great inconvenience to industrial and agricultural production and people's lives. Therefore, regular and irregular line inspections and maintenance operations have become routine tasks for the power sector.

In the past, the inspection and maintenance of transmission lines were all done manually by climbing towers and going online to perform live operations, which consumed a lot of manpower and material resources, and posed a great threat to the safety of operators. With the continuous improvement of the automation level of intelligent transmission network operation and maintenance management, transmission line robots for various live operation tasks have emerged in recent years. Before the robot can operate, it needs to be put online by various means, and after the operation is completed, the robot needs to be transported back to the ground. Traditional robots are mostly put online and offline by manual lifting, which has problems such as low efficiency and poor reliability, which seriously restricts the improvement of the practical level of robots and has become an important bottleneck technical problem that needs to be broken through for live operation robots on transmission lines.

In addition, the robot is transported to the application site with an integral structure. The integral structure causes the robot to have fewer functions. In addition, the integral structure causes inconvenience in field transportation and is prone to damage to the robot.

Summary of the invention

The object of the present invention is to provide a modular live-working robot which can be quickly assembled on site and has diversified functions.

The modular live-working robot adopted by the present invention mainly includes a walking arm module, a chassis module, an end platform and a mechanical working arm; the walking arm modules have two groups, each group includes an arm body, a lifting device, a walking wheel assembly, a clamping wheel assembly and a rotating drive device, the walking wheel assembly is detachably connected to the upper end of the arm body, the lifting device is installed on the arm body, the clamping wheel assembly is installed on the lifting device, and the rotating drive device is connected to the lower end of the arm body; the chassis module includes a chassis and a plurality of mounting seats and aviation plugs extending out of the top plate of the chassis, and the mounting seats are respectively used to install the working mechanical arm and the camera; the rotating drive devices of the two groups of walking arm modules are respectively detachably connected to the two ends of the chassis in the length direction ; The chassis module also includes a clamping device symmetrically arranged at both ends of the length direction of the chassis inner cavity, the upper and lower positions of the openable and closable clamping jaws of the clamping device are adjustable, and a clearance hole is set on the bottom surface of the chassis corresponding to the clamping jaw position; the end platform includes a main bracket, an embedded quick-change device and an operating end, the support frame is connected to the lower side of the main bracket, and a plurality of embedded quick-change devices are respectively connected to the main bracket, and each embedded quick-change device is respectively connected to an operating end with different functions; the main bracket of the end platform is clamped and fixed by a clamping jaw; the mechanical working arm is a six-degree-of-freedom arm, which can be detachably fixed to the corresponding mounting seat by fasteners, and can automatically grasp the operating end and return the operating end to the embedded quick-change device.

In one embodiment of the above robot, the arm body is a square hollow column, the lifting device is a screw slider device, the driving motor is a DC servo motor, fixed to the lower end of the arm body, the screw is arranged at the center of the arm body, the lower end is connected to the output shaft of the driving motor through a coupling, and a slider travel groove is provided on the side wall of the arm body;

In one embodiment of the robot, the lead screw slider is connected to a square sliding sleeve sleeved outside the arm body, a sliding rail is arranged outside the arm body, and a slider matching the sliding rail is arranged on the inner wall of the square sliding sleeve.

In one embodiment of the robot, the walking wheel assembly includes a driving motor and a walking wheel driven by the driving motor, a protective cover is provided above the walking wheel, and a base of the driving motor is fixed to the upper end of the arm body.

In one embodiment of the above-mentioned robot, the pressure wheel assembly includes a pressure wheel, an equipotential wheel, a wheel seat, a shock absorbing assembly and a baffle assembly. The pressure wheel and the equipotential wheel are respectively arranged on the left and right sides of the wheel seat, and their two ends of the wheel axle are respectively connected to the spring shock absorbing assembly. Elastic baffle assemblies are symmetrically arranged on the left and right ends of the wheel seat, and a brake pad is arranged in the middle; the wheel seat is connected to the square sleeve.

In one embodiment of the above-mentioned robot, the rotation drive device includes a worm gear device and a square sleeve, the worm gear is arranged in a cover shell, the axle of the worm wheel extends out, one end is vertically connected to the square sleeve, and the other end is connected to the bearing, the bearing is connected to the end cover, and the end cover is fixed on the cover shell, and the motor connected to the worm gear works to make the worm drive the worm wheel to rotate, and the axle of the worm wheel drives the arm body to rotate in the vertical plane through the square sleeve; the cover shell is connected to a mounting frame.

In one embodiment of the robot, the clamping device comprises a hanger, a screw, a slider, a lower synchronous wheel and a clamping claw assembly, the hanger is arranged horizontally, the screw is vertically connected to the center of the hanger, the slider is connected to the screw, the lower synchronous wheel is connected to the lower end of the screw, the clamping claw comprises a slider seat, a connecting rod arm and a clamping claw, the slider seat sleeve is fixed to the outside of the slider, the two sides of the slider seat are symmetrically hinged to the connecting rod arm, and the end of the connecting rod arm is hinged to the clamping claw;

In one embodiment of the above-mentioned robot, one of the gripper devices also includes a driving device, which includes a servo motor and an upper synchronous wheel connected to its upper output shaft, the servo motor is fixed on the hanger, the upper end of the lead screw of the gripper device passes through the hanger and is connected to the upper synchronous wheel, a synchronous belt is connected between the two upper synchronous wheels, and a synchronous belt is connected between the lower synchronous wheels of the two sets of gripper devices.

In one embodiment of the robot, two square tubes symmetrically arranged about a center plane in a width direction of the chassis are provided in the inner cavity of the chassis, and the mounting frame and the hanger are respectively mounted/fixed by the square tubes.

In one embodiment of the robot, the working arm mounting seat includes a base fixed on the square tube and a top seat on the top surface of the base, and the mounting surface of the top seat has an inclination angle of 45-60°.

The present invention adopts modular design, each module can be separated separately, and can be quickly assembled when applied on site, which can effectively improve the safety and convenience in field transportation environment. The robot body is equipped with reserved interface devices such as a clamping device, a mechanical arm seat, an aviation joint and a wear-resistant pipe, and the terminal platform and the mechanical working arm can be assembled through these interfaces, which expands the types of operations of the power transmission line mobile robot and improves the practical level of the robot. The robot body adopts a vertical double clamping wheel structure and a walking wheel to form a form of clamping the power transmission line and walk on the power transmission line. Its shock-absorbing spring can change the distance between the clamping wheel and the walking wheel. When the robot encounters obstacles during inspection, it can adaptively change the spacing between the two wheels, so that the robot can stably and effectively cross obstacles such as shock-proof hammers, suspension wire clamps, and spacer bars, thereby improving the efficiency of the robot inspection operation. The mechanical arm seat of the robot body can improve the stability of the mechanical arm base. After its mechanical arm is equipped with different operating ends, the function of the robot can be expanded so that it can not only perform line inspection and obstacle crossing operations, but also perform various hardware maintenance tasks, realizing "one machine for multiple uses".

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of an embodiment of the present invention.

FIG. 2 is a schematic diagram of the assembly of the walking arm module and the chassis module.

FIG. 3 is a schematic diagram of the assembly of the end platform and the electric capstan device.

FIG. 4 is an enlarged structural schematic diagram of the walking arm module.

FIG5 is a schematic diagram of the structure of the walking arm module without the walking wheel assembly, the clamping wheel assembly and the rotary drive.

FIG. 6 is an enlarged structural schematic diagram of the pressure wheel assembly.

FIG. 7 is a schematic top view of the chassis module (without the chassis top plate).

FIG. 8 is an enlarged structural diagram of the clamping device of the chassis module.

FIG. 9 is an enlarged structural schematic diagram of the mechanical working arm mounting base.

10 to 24 are schematic diagrams of the structure of the robot on-line and off-line system of this embodiment and schematic diagrams of the application process of the robot.

Detailed ways

As shown in Figures 1 to 9, the modular live-working robot disclosed in this embodiment mainly includes a walking arm module A, a chassis module B, an end platform C and a mechanical working arm D. There are two groups of walking arm modules A, each group includes an arm body A1, a lifting device A2, a walking wheel assembly A3, a clamping wheel assembly A4 and a rotating drive device A5, the walking wheel assembly A3 is detachably connected to the upper end of the arm body A1, the lifting device A2 is installed on the arm body, the clamping wheel assembly A3 is installed on the lifting device A2, and the rotating drive device A5 is connected to the lower end of the arm body A1.

The chassis module B includes a chassis B1 and a mechanical working arm mounting seat B2 and an aviation plug B3 extending out of the chassis top plate and a camera mounting seat. The rotation drive devices A5 of the two walking arm modules A are detachably connected to the two ends of the length direction of the chassis B1. The chassis module B also includes a clamping device B4 symmetrically arranged at the two ends of the length direction of the chassis inner cavity. The upper and lower positions of the openable and closable clamping devices of the clamping device are adjustable, and a clearance hole is arranged on the bottom surface of the chassis at the corresponding clamping position.

The terminal platform C includes a main frame C1, an embedded quick-change device C2 and an operating terminal C3. A plurality of embedded quick-change devices are respectively connected to the main frame, and each embedded quick-change device is respectively connected to an operating terminal with different functions.

The main support C1 of the end platform C is clamped and fixed by claws. The number of embedded quick-change devices C2 is determined according to the number of working ends required. The working end must include two clamping hand claw devices. It can also be equipped with a pin-replacing working end, a bolt-tightening working end and a foreign body removal working end according to the needs of the hardware on the inspection line.

The robotic working arm D is a six-degree-of-freedom arm, which can be detachably fixed to the robotic arm mounting base B2 by fasteners, and can automatically grasp the working end and return the working end to the embedded quick-change device.

Specifically:

The arm body A1 is a square hollow column.

The lifting device A2 is a screw slider device, and its driving motor is a DC servo motor, which is fixed to the lower end of the arm body A1. The screw A21 is arranged at the center of the arm body, and the lower end is connected to the output shaft of the driving motor through a coupling. A slider travel groove A11 is set on the side wall of the arm body.

The lead screw slider is connected with a square sliding sleeve A21 which is sleeved on the arm body. A sliding rail A22 is arranged outside the arm body. A slider matching the sliding rail is arranged on the inner wall of the square sliding sleeve.

The travel wheel assembly A3 includes a driving motor and a travel wheel driven by the driving motor. A protective cover is provided above the travel wheel. The base of the driving motor is fixed to the upper end of the arm body.

The pressure wheel assembly A4 includes a pressure wheel A41, a wheel seat A42, a shock absorbing assembly A43, a baffle assembly A44 and a brake pad A45. The pressure wheel A41 is arranged on the left and right sides of the wheel seat A42, and the two ends of their wheel axles are respectively connected to the shock absorbing assembly A43. Elastic baffle assemblies A44 are symmetrically arranged on the left and right ends of the wheel seat, and a brake pad A45 is arranged in the middle.

The wheel seat A42 is connected to the square sliding sleeve A21.

The rotary drive device A5 includes a worm gear device A51 and a square sleeve A52. The worm gear is arranged in a housing A53. The axle of the worm wheel extends out, one end of which is vertically connected to the square sleeve A52, and the other end is connected to a bearing. The bearing is externally connected to an end cover A54, and the end cover is fixed to the housing A53. When the motor connected to the worm wheel works, the worm gear drives the worm wheel to rotate, and the axle of the worm wheel drives the arm body A1 to rotate in a vertical plane through the square sleeve A52.

The outer wall of the cover A53 is connected with a mounting frame A55.

Two aluminum square tubes B5 are arranged symmetrically about the center plane in the width direction of the chassis in the inner cavity of the chassis B1. Foot pads are arranged at both ends of the chassis.

The clamping device B4 includes a hanger B41, a screw rod B42, a slider, a lower synchronous wheel B43 and a clamping claw assembly. The hanger B41 is arranged horizontally, the screw rod B42 is vertically connected to the center of the hanger, the slider is connected to the screw rod, and the lower synchronous wheel B43 is connected to the lower end of the screw rod. The clamping claw assembly includes a slider seat B44, a connecting rod arm B45 and a clamping claw B46. The slider seat B44 is fixed to the outside of the slider, and the two sides of the slider seat are symmetrically hinged to the connecting rod arm B45, and the end of the connecting rod arm is hinged to the clamping claw B46.

One of the clamping devices also includes a driving device, which includes a servo motor B47 and an upper synchronous wheel B48 connected to its upper output shaft. The servo motor B47 is fixed on the hanger B41. The upper end of the screw rod of the clamping device passes through the hanger and is connected to the upper synchronous wheel B48. A synchronous belt TBD is connected between the two upper synchronous wheels, and a synchronous belt TBD is connected between the lower synchronous wheels of the two sets of clamping devices.

Two vertical plates are arranged on the top surface of the left hanger, and the upper ends of the vertical plates are respectively fixed to the bottom surface of the aluminum square tube. Two rectangular sleeves are arranged on the top surface of the right hanger, and the rectangular sleeves are respectively sleeved on the aluminum square tube B5.

The rotary drive device A5 is installed on the aluminum square tube B5 through its mounting frame A55.

The working principle of the clamping device is as follows: the servo motor B47 of the right clamping device works, and the synchronous belt connected to the upper synchronous wheel drives the screw rod B42 to rotate. The slider on the screw rod moves the slider seat B44 up and down along the screw rod, and the slider seat realizes the change of the upper and lower position of the inner end of the connecting rod arm B45, so that the clamping jaw B46 rotates around the hinge between it and the connecting rod arm to realize opening and closing.

The two ends of the main support C1 of the end platform C are symmetrically connected to the T-shaped plate, and the clamping claw B46 of the clamping claw device C4 extends from the bottom surface of the chassis to clamp the wider part of the T-shaped plate.

There are two mechanical working arms D, both of which have six degrees of freedom. The working arm mounting seat B2 includes a base B21 fixed on the aluminum square tube B5 and a top seat B22 on the top surface of the base, and the mounting surface of the top seat has an inclination angle of 45-60°.

From Figures 10 to 24, it can be seen that the robot online and offline system supporting the above-mentioned robot mainly includes a drone E, an insulating rope suspension assembly F and an insulating rope retracting device G.

The insulating rope retracting device G is an electric capstan device, which is installed on the lower side of the main support C1. The insulating rope at the lower end of the insulating rope suspension assembly F passes through the chassis module B and is fixed on the capstan of the electric capstan device G.

Specifically:

Drone E is a quadrotor.

The insulating rope suspension assembly F includes an insulating rope F1, a cross F2 and a hook assembly F3. The upper ends of the four insulating ropes are respectively fixed to the rotor mounting arms of the drone, the middle part is connected by a cross, and the lower end is connected to another cross. The lower side of the center position of the cross is elastically detachably connected to the hook assembly F3. The hook assembly includes a connecting block F31, a cavity and a cavity cover F32, a movable pin F33, a spring shaft pin F34, a spring F35, a movable block F36, and a pulley F37. The cavity and the cavity cover F32 are connected to the connecting block. The movable pin moves up and down along the guide groove on the cavity to separate and lock the connecting block; the pulley and the movable block are located on the same horizontal plane and are arranged on both sides of the main body. One side of the bottom end of the hook main body is an outward-expanding bending plate, and the other side is a truncated cone shape for connecting the insulating rope F1 below. That is, a locking mechanism is set above the hook. Through the extension and contraction of the movable block and the wire on the hook and the locking and separation of the hook and the connecting block, the drone can be effectively detached and retrieved.

The electric capstan device includes a housing G1 and a planetary gear transmission assembly G3 symmetrically driven by a dual-output shaft motor G2 disposed therein. The housing G1 is fixed to the lower side of the main support C1, and the output shafts of the planetary gear transmission assembly G3 are respectively connected to the anti-runaway winch G4, which are respectively fixed to the outer walls of both ends of the housing G1.

The planetary gear transmission assembly includes a planetary gear composed of three identical planetary pinions arranged to rotate around the sun gear (referred to as the three-series planetary gear) and a planetary gear composed of four identical planetary pinions arranged to rotate around the sun gear (referred to as the four-series planetary gear); one end of the three-series planetary gear is connected to the motor and the other end is connected to the four-series planetary gear, and the other end of the four-series planetary gear is connected to the rope reel.

The guide tubes B6 are symmetrically arranged at both ends of the chassis module B in the length direction, and the insulating rope connected to the lower end of the hook passes through the guide tube and is fixed on the winch. The guide tube is made of wear-resistant tube, and the narrower end of the T-shaped plate at both ends of the limb bracket C1 is provided with a boss for positioning and fixing the guide tube.

In order to facilitate the installation of the robot end and prevent the end of the operation from touching the bottom surface after assembly, a support frame H is connected to the lower side of the limb support to protect the end of the operation. In addition, the support frame also facilitates the transportation of the robot.

It can be seen from the structure of the above robot that the modules are detachably connected, which makes on-site assembly convenient. The insulating rope suspension component and the hook component of the robot's up and down line system are detachably connected on-site, so that the drone can automatically connect to the hook component to achieve suspension on the target wire. After the hook is hung, the drone can automatically detach from the hook and return.

The steps for applying the above modular live working robot system are as follows:

1. Modular robots are launched

(1) Fix the upper ends of the four insulating ropes of the insulating rope suspension assembly to the drone, and connect the lower end of the hook to another insulating rope used to connect the winch;

(2) The drone carries the insulated rope suspension assembly and takes off into the air, hanging the hook on the target wire;

(3) Repeat steps (1) and (2) to hang the second hook on the target wire;

(4) The ground staff pulls the insulating rope connecting the two hooks to adjust the distance between the two hooks so that the distance between the two hooks is consistent with the distance between the two guide tubes on the chassis module, and then passes the two insulating ropes through the guide tubes and fixes them on the corresponding winches;

(5) Make the dual output shaft motor of the electric winch device work in the forward direction, shorten the length of the insulating rope connected to the hook, and lift the modular robot to the specified height;

(6) The rotation drive devices of the two walking arm modules drive the arm bodies to deflect at a specified angle;

(7) The dual output shaft motor of the electric capstan continues to work in the forward direction until the lower surface of the running wheel at the upper end of the arm exceeds the specified height of the target conductor;

(8) The rotation drive device of the two walking arm modules drives the arm body back to the vertical state;

(9) The dual output shaft motor of the electric capstan works in reverse to make the lower edge of the wheel groove of the traveling wheel fall on the target conductor, and the contact between the wheel groove of the traveling wheel and the conductor is photographed through the camera on the chassis;

(10) The servo motor of the lead screw slider device of the walking arm module works, so that the lead screw slider drives the clamping wheel assembly to move upward through the square slider until the upper edge of the wheel groove of the clamping wheel contacts the target wire. At this time, the modular live working robot is online.

(11) The clamping claws installed at the ends of the two mechanical working arms of the modular working robot remove the hooks from the target wires respectively, and the dual output shaft motors of the electric capstan work to shorten the insulating rope connected to the hooks until the bottom of the hook is inserted into the guide tube on the chassis module. The above process is shown in Figures 14 to 24.

2. Modular Robot Live Working

(1) The modular robot moves on the target conductor using its wheels, and the camera at the end of the mechanical working arm captures the status of the tools on the conductor.

(2) According to the shooting situation, the mechanical working arm is determined to be plugged in and assembled from the corresponding embedded quick-change device on the end platform, and the corresponding working end is removed to perform the operation;

(3) When crossing an obstacle on the conductor during walking, the servo motor of the screw slider device of the front walking arm module works in sequence, causing the clamping wheel of the front walking arm module to move downward to release the conductor, and the front and rear walking wheels move forward until the front walking wheel passes the obstacle, causing the front clamping wheel to rise and reset, and then causing the clamping wheel of the rear walking arm module to move downward to release the conductor, and then rise and reset after passing the obstacle;

(4) When overcoming obstacles such as the hanging wire clamp on the conductor during walking, keep the rear walking arm module on the conductor, move the front clamping wheel downward to loosen the conductor, and the mechanical operating arm clamps the hook of the front walking arm module through the end of the clamping claw and hangs it on the conductor, so that the front walking wheel is separated from the conductor. Then, the front walking arm module is deflected outward from the conductor through the rotating drive device, so that the rear walking arm module moves on the conductor until the front walking arm module passes the hanging wire clamp. The front walking arm module is reset to clamp the conductor and the hook is removed. Then, the rear walking arm module is overcoming obstacles so that the front and rear walking arm modules avoid the hanging wire clamp.

3. Modular robots come off the production line

After the inspection and maintenance work is completed, the mechanical working arm is hung on the conductor through the two hooks at the end of the clamping claw, so that the dual output shaft motor of the electric capstan device works in reverse, so that the insulating rope connected to the hook is released, and the modular robot gradually descends and returns as the insulating rope is released.

In summary, the present invention adopts a modular design, each module can be separated separately, and can be quickly assembled when used on site, which can effectively reduce the unit weight of the robot in a field transportation environment. The robot body is equipped with reserved interface devices such as a clamping claw device, a mechanical arm seat, an aviation joint and a wear-resistant pipe, and the terminal platform can be assembled through these interfaces, which expands the types of operations of the power transmission line mobile robot and improves the practical level of the robot. The robot body adopts a vertical double clamping wheel structure and a walking wheel to form a form of clamping the transmission line and walk on the transmission line. Its shock-absorbing spring can change the distance between the clamping wheel and the walking wheel. When the robot encounters obstacles during inspection, it can adaptively change the distance between the two wheels, so that the robot can stably and effectively cross obstacles such as shock-absorbing hammers, suspension wire clamps, and spacer bars, thereby improving the efficiency of the robot's inspection operation.

The robot can be used in conjunction with the robot's on-line system to hang a hook on the wire. The insulating rope connected to the hook is retracted and released through an electric capstan. The robot is lifted and lowered by the retracted and released insulating rope, thereby realizing the robot's autonomous on-line and off-line operation, greatly improving the robot's operating efficiency and reducing the energy loss of personnel pulling the insulating rope. The robot can autonomously change the operating end according to the operating object online, and no longer needs to go offline to manually change the operating end. The operating object online is no longer single, which improves the robot's operating range, operating efficiency and economic benefits, and reduces personnel energy loss. The robot's mechanical arm seat can improve the stability of the mechanical arm base. After its mechanical arm is equipped with different operating ends, the robot's function can be expanded so that it can not only patrol the line and overcome obstacles, but also perform a variety of hardware maintenance tasks, realizing "one machine for multiple uses". The drone hangs the hook on the wire, and then realizes the robot's automatic on-line and off-line operation through the insulating rope retracting and releasing device. The operator does not need to climb the tower or pull the hoisted robot. The on-line and off-line technology can be completed by controlling the drone and robot on the ground, which effectively improves the labor intensity of the workers and improves the safety of live-line operations. The drone carries a hook on the line every time it flies, which reduces the drone's load and ensures that the drone can fly smoothly, and two insulating ropes can ensure the stable lifting and lowering of the robot.

Claims (10)

1. A modular live-working robot, characterized in that it mainly includes a walking arm module, a chassis module, an end platform and a mechanical working arm; There are two groups of walking arm modules, each group includes an arm body, a lifting device, a walking wheel assembly, a clamping wheel assembly and a rotating drive device. The walking wheel assembly is detachably connected to the upper end of the arm body, the lifting device is installed on the arm body, the clamping wheel assembly is installed on the lifting device, and the rotating drive device is connected to the lower end of the arm body; The chassis module includes a chassis and a plurality of mounting seats and aviation plugs extending out of the top plate of the chassis, wherein the mounting seats are used to install the operating robot arm and the camera respectively; The rotation drive devices of the two sets of walking arm modules are detachably connected to the two ends of the chassis in the length direction; The chassis module also includes a clamping device symmetrically arranged at both ends of the length direction of the chassis inner cavity, the upper and lower positions of the openable and closable clamping jaws of the clamping device are adjustable, and a clearance hole is arranged on the bottom surface of the chassis corresponding to the position of the clamping jaw; The terminal platform includes a main frame, an embedded quick-change device and an operating terminal. The support frame is connected to the lower side of the main frame, and a plurality of embedded quick-change devices are respectively connected to the main frame, and each embedded quick-change device is respectively connected to an operating terminal with different functions; The main support of the end platform is clamped and fixed by clamping claws; The mechanical working arm is a six-degree-of-freedom arm, which can be detachably fixed to the corresponding mounting seat by fasteners. It can automatically grasp the working end and return the working end to the embedded quick-change device. 2. The modular live-working robot as described in claim 1 is characterized in that: the arm body is a square hollow column, the lifting device is a screw slider device, and its driving motor adopts a DC servo motor, which is fixed to the lower end of the arm body, the screw is arranged at the center position of the arm body, and the lower end is connected to the output shaft of the driving motor through a coupling, and a slider travel groove is set on the side wall of the arm body. 3. The modular live-working robot as described in claim 2 is characterized in that: the screw slider is connected to a square sliding sleeve that is sleeved on the arm body, a sliding rail is arranged outside the arm body, and a slider matching the sliding rail is arranged on the inner wall of the square sliding sleeve. 4. The modular live-working robot as described in claim 3 is characterized in that: the walking wheel assembly includes a driving motor and a walking wheel driven by the driving motor, a protective cover is provided above the walking wheel, and the base of the driving motor is fixed to the upper end of the arm body. 5. The modular live-working robot as described in claim 4 is characterized in that: the pressure wheel assembly includes a pressure wheel, a wheel seat, a shock absorbing assembly and a baffle assembly, the pressure wheels are arranged on the left and right sides of the wheel seat, and their two ends of the wheel axle are respectively connected to the spring shock absorbing assembly, the left and right ends of the wheel seat are symmetrically provided with elastic baffle assemblies, and a brake pad is provided in the middle; the wheel seat is connected to the square sleeve. 6. The modular live-working robot as described in claim 2 is characterized in that: the rotation drive device includes a worm gear device and a square sleeve, the worm gear is arranged in the cover shell, the axle of the worm wheel extends out, one end is vertically connected to the square sleeve, and the other end is connected to the bearing, the bearing is connected to the end cover, the end cover is fixed on the cover shell, the motor connected to the worm wheel works, so that the worm drives the worm wheel to rotate, and the axle of the worm wheel drives the arm body to rotate in the vertical plane through the square sleeve; the cover shell is connected to a mounting frame. 7. The modular live-working robot as described in claim 6 is characterized in that: the clamping device includes a hanger, a screw, a slider, a lower synchronous wheel and a clamping claw assembly, the hanger is arranged horizontally, the screw is vertically connected to the center position of the hanger, the slider is connected to the screw, the lower synchronous wheel is connected to the lower end of the screw, the clamping claw includes a slider seat, a connecting rod arm and a clamping claw, the slider seat is fixed to the outside of the slider, the two sides of the slider seat are symmetrically hinged to the connecting rod arms, and the end of the connecting rod arm is hinged to the clamping claw. 8. The modular live-working robot as described in claim 7 is characterized in that: one of the gripper devices also includes a driving device, the driving device includes a servo motor and an upper synchronous wheel connected to its upper output shaft, the servo motor is fixed on the hanger, the upper end of the lead screw of the gripper device passes through the hanger and is connected to the upper synchronous wheel, a synchronous belt is connected between the two upper synchronous wheels, and a synchronous belt is connected between the lower synchronous wheels of the two sets of gripper devices. 9. The modular live-working robot as described in claim 7 is characterized in that: two square tubes symmetrically arranged about the center plane in the width direction of the chassis are provided in the inner cavity of the chassis, and the mounting frame and the hanger are respectively installed/fixed by the square tubes. 10. The modular live-working robot as described in claim 9 is characterized in that: the mechanical working arm mounting seat includes a base fixed on the square tube and a top seat on the top surface of the base, and the mounting surface inclination angle of the top seat is 45-60°.