CN115588930A

CN115588930A - Modularization live working robot body

Info

Publication number: CN115588930A
Application number: CN202211262169.5A
Authority: CN
Inventors: 刘兰兰; 乔晓光; 乔明明; 肖俊; 梅文建; 陈坚平; 邹兴邦; 夏红宝; 李稳; 徐玉蓉; 牛荃
Original assignee: Super High Voltage Transmission Co Of State Grid Hunan Electric Power Co ltd; State Grid Corp of China SGCC; State Grid Hunan Electric Power Co Ltd
Current assignee: Super High Voltage Transmission Co Of State Grid Hunan Electric Power Co ltd; State Grid Corp of China SGCC; State Grid Hunan Electric Power Co Ltd
Priority date: 2022-10-14
Filing date: 2022-10-14
Publication date: 2023-01-10

Abstract

The invention discloses a modularized live working robot body, which mainly comprises a walking arm module and a case module; the walking arm modules are divided into two groups, each group comprises an arm body, a lifting device, a walking wheel assembly, a pinch wheel assembly and a rotary driving 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 pinch wheel assembly is installed on the lifting device, and the rotary driving device is connected to the lower end of the arm body; the case module comprises a case, and a plurality of mounting seats and aviation plugs which extend out of a top plate of the case, wherein the mounting seats are respectively used for mounting the operation mechanical arm and the camera; the rotary driving devices of the two groups of walking arm modules are detachably connected to two ends of the case in the length direction respectively, so that stable walking on the wires is realized. Can be independently placed and transported, and can be quickly assembled on site. The chassis module is provided with a plurality of reserved structures to realize function expansion and provide a foundation for the robot to have various operation functions and automatically go on and off the line.

Description

Modularization live working robot body

The technical field is as follows:

the invention relates to the field of automatic hot-line work of high-voltage transmission lines, in particular to a modular hot-line work robot body.

Background art:

because the transmission line is exposed to the natural environment for a long time and is damaged, the hardware on the line is easy to have defects, such as wire breakage, bolt loosening, insulator fouling and the like, which threaten the safety of the line. If the power transmission line is not found and processed in time, the running stability of the power transmission line can be damaged, and great inconvenience is brought to industrial and agricultural production and people's life due to regional power failure. Regular and irregular line patrols and maintenance work therefore become a routine task for the power sector.

In the past, the inspection and maintenance work of the power transmission line is carried out by manually climbing a tower and going on the line, a large amount of manpower and material resources are consumed, and particularly great threats are brought to the safety of operating personnel. Along with the continuous promotion of intelligent power transmission network operation and maintenance management automation level, transmission line robot to various live working tasks comes about in recent years, and all need make the robot accomplish through various modes before the robot operation and go on the line, need transport the robot back to ground after its operation is accomplished, and traditional robot is gone up and down the line and is many realized through artifical hoist and mount mode, there are the inefficiency and poor reliability scheduling problem, the promotion of serious restriction robot practicality level to become an important bottleneck technical problem that transmission line live working robot needs to break through urgently.

In addition, the robot is transported to an application site by an integral structure, the integral structure causes less functions of the robot, in addition, the integral structure causes inconvenience for field transportation, and the robot is easy to damage.

Disclosure of Invention

The invention aims to provide a modular live working robot body which can be rapidly assembled on site and has expanded functions.

The invention provides a modularized live working robot body, which mainly comprises a walking arm module and a case module; the walking arm modules are divided into two groups, each group comprises an arm body, a lifting device, a walking wheel assembly, a pinch wheel assembly and a rotary driving device, the walking wheel assemblies are detachably connected to the upper end of the arm body, the lifting device is installed on the arm body, the pinch wheel assembly is installed on the lifting device, and the rotary driving device is connected to the lower end of the arm body; the case module comprises a case, and a plurality of mounting seats and aviation plugs which extend out of a top plate of the case, wherein the mounting seats are respectively used for mounting the operation mechanical arm and the camera; the rotary driving devices of the two groups of walking arm modules are detachably connected to two ends of the case in the length direction respectively.

In one of the above technical solutions, the arm body is a square hollow column, the lifting device is a lead screw slider device, a driving motor of the lifting device is a direct current servo motor and is fixed at the lower end of the arm body, the lead screw is arranged at the central position of the arm body, the lower end is connected with an output shaft of the driving motor through a coupler, and a slider stroke groove is formed in the side wall of the arm body.

In one of the above-mentioned technical scheme's an above-mentioned mode, the lead screw slider is connected with the square sliding sleeve that overlaps outside the arm, is provided with the slide rail outside the arm body, and square sliding sleeve inner wall is provided with the slider that matches with the slide rail.

In one of the above manners of the above technical scheme, the walking wheel assembly comprises a driving motor and a walking wheel driven by the driving motor, a protective cover is arranged above the walking wheel, and a machine base of the driving motor is fixed at the upper end of the arm body.

In one above-mentioned mode of above-mentioned technical scheme, the pinch roller subassembly includes pinch roller, equipotential wheel, wheel seat, damper and baffle subassembly, and pinch roller and equipotential wheel are located the left and right sides of wheel seat respectively, and spring damper is connected respectively to their shaft both ends, and the left and right ends symmetry of wheel seat is equipped with the elastic baffle subassembly, and the centre is equipped with the brake block.

In one of the above manners of the above technical scheme, the wheel seat is connected with the square sliding sleeve.

In one of the above manners of the above technical scheme, the rotation driving device includes a worm gear device and a square sleeve, the worm gear is disposed in the housing, a wheel shaft of the worm gear extends out, one end of the worm gear is perpendicularly connected with the square sleeve, the other end of the worm gear is connected with the bearing, the bearing is externally connected with the end cover, the end cover is fixed on the housing, the motor connected with the worm gear works to enable the worm gear to drive the worm gear to rotate, and the wheel shaft of the worm gear drives the arm body to rotate on the vertical surface through the square sleeve.

In one of the above manners of the above technical scheme, the inner cavity of the case is provided with two square tubes symmetrically arranged with respect to the center plane of the case in the width direction, and is further provided with two vertical wear-resistant tubes for installing the insulating rope.

In one of the above technical schemes, the housing is connected with an installation rack, and the installation rack is provided with an aluminum square tube installation sleeve.

In one of the above manners of the above technical solutions, the mounting seat for mounting the mechanical working arm includes a base fixed on the square pipe and a top seat on the top surface of the base, and the inclination angle of the mounting surface of the top seat is 45-60 °.

The walking arm modules are detachably connected to the two ends of the case respectively through the rotary driving devices, and the walking arm modules and the case modules can be independently placed and transported and can be quickly assembled on site. The chassis module is provided with a plurality of reserved structures such as mounting seats, aviation connectors and wear-resistant pipes, the functions of the reserved structures can be expanded, a mechanical operation arm is installed, a camera and a robot on-line and off-line system are installed, and the basis is provided for the robot to have various operation functions and automatically go on and off the line. The walking arm module adopts the structure of vertical two pinch rollers and the form that the walking wheel formed centre gripping transmission line to walk on the transmission line, and the interval that can self-adaptation change between the two-wheeled changes when meetting the obstacle patrols and examines makes its robot can stabilize effectual obstacles such as strideing across stockbridge damper, suspension clamp, conductor spacer, has improved the robot and has patrolled and examined the efficiency of operation.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is an enlarged structural schematic diagram of the walking arm module.

Fig. 3 is a schematic structural diagram of the walking arm module without the walking wheel assembly, the pinch roller assembly and the rotary drive.

Fig. 4 is an enlarged schematic view of the pinch wheel assembly.

Fig. 5 is a top schematic view of a chassis module (with the chassis top panel removed).

Fig. 6 is an enlarged schematic view of the mechanical work arm mount.

Fig. 7 is an enlarged structural schematic view of a clamping jaw device matched with the chassis module.

Fig. 8 is an assembly diagram of the modular robot formed by the present embodiment, the mechanical working arm, the end platform and the electric winching device.

Fig. 9 to 24 are schematic diagrams of an application process of the modular robot after the modular robot goes online through the unmanned aerial vehicle-assisted online and offline system.

Detailed Description

As shown in fig. 1 to 6, the present embodiment discloses a modular live working robot body, which mainly includes a walking arm module a and a chassis module B.

Walking arm module A has two sets ofly, and every group includes the arm body A1, elevating gear A2, walking wheel subassembly A3, pinch roller subassembly A4 and rotation driving device A5, and walking wheel subassembly A3 can be dismantled and connect in the upper end of arm body A1, and elevating gear A2 installs on the arm body, and pinch roller subassembly A3 installs on elevating gear A2, and rotation driving device A5 connects in the lower extreme of arm body A1.

The case module B comprises a case B1, a mechanical operation arm mounting seat B2, an aviation plug B3 and a camera mounting seat B7, wherein the mechanical operation arm mounting seat B2 extends out of a top plate of the case, and a pad foot B8 is arranged on the bottom surface of the case. The rotation driving devices A5 of the two groups of walking arm modules A are detachably connected to two ends of the length direction of the case B1 respectively.

The arm body A1 is a square hollow column.

The lifting device A2 is a screw rod sliding block device, a driving motor of the lifting device A2 adopts a direct current servo motor and is fixed at the lower end of the arm body A1, a screw rod A21 is arranged at the central position of the arm body, the lower end of the screw rod A is connected with an output shaft of the driving motor through a coupler, and a sliding block stroke groove A11 is formed in the side wall of the arm body.

The lead screw slider is connected with the square sliding sleeve A21 that overlaps outside the arm body, is provided with slide rail A22 outside the arm body, and square sliding sleeve inner wall is provided with the slider that matches with the slide rail.

The walking wheel component A3 comprises a driving motor and a walking wheel driven by the driving motor, a protective cover is arranged above the walking wheel, and a machine base of the driving motor is fixed at the upper end of the arm body.

The pinch roller assembly A4 comprises pinch rollers A41, a roller seat A42, a damping assembly A43, a baffle assembly A44 and brake pads A45, the pinch rollers A41 are respectively arranged on the left side and the right side of the roller seat A42, the two ends of a wheel shaft of each pinch roller are respectively connected with the damping assembly A43, the left end and the right end of the roller seat are symmetrically provided with the elastic baffle assemblies A44, and the middle of each pinch roller is provided with the brake pads A45.

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

The rotation driving device A5 comprises a worm gear device A51 and a square sleeve A52, the worm gear is arranged in a housing A53, a wheel shaft of the worm gear extends out, one end of the worm gear is vertically connected with the square sleeve A52, the other end of the worm gear is connected with a bearing, the bearing is externally connected with an end cover A54, and the end cover is fixed on the housing A53. The motor connected with the worm wheel works to enable the worm to drive the worm wheel to rotate, and the wheel shaft of the worm wheel drives the arm body A1 to rotate on the vertical surface through the square sleeve A52.

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

Two aluminum square tubes B5 which are symmetrically arranged relative to the central plane of the case in the width direction are arranged in the inner cavity of the case B1.

Clamping jaw devices B4 can be symmetrically arranged in a case of the case module B, the upper and lower positions of the openable clamping jaw of each clamping jaw device can be adjusted, and a yielding hole is formed in the bottom surface of the case corresponding to the position of the clamping jaw.

As shown in fig. 7, the gripper apparatus B4 includes a hanger B41, a screw B42, a slider, a lower synchronizing wheel B43 and a gripper assembly, the hanger B41 is horizontally disposed, the screw B42 is vertically connected to a central position of the hanger, the slider is connected to the screw, and the lower synchronizing wheel B43 is connected to a lower end of the screw. The clamping jaw assembly comprises a slider seat B44, a link arm B45 and a clamping jaw B46, wherein the slider seat B44 is fixedly sleeved outside the slider, the link arm B45 is symmetrically hinged on two sides of the slider seat, and the clamping jaw B46 is hinged at the tail end of the link arm.

One of the clamping jaw devices further comprises a driving device, the driving device comprises a servo motor B47 and an upper synchronizing wheel B48 connected with an output shaft at the upper end of the servo motor B47, the servo motor B47 is fixed on a hanging bracket B41, the upper end of a screw rod of the clamping jaw device penetrates through the hanging bracket and then is connected with the upper synchronizing wheel B48, a synchronous belt TBD is connected between the two upper synchronizing wheels, and a synchronous belt TBD is connected between the lower synchronizing wheels of the two sets of clamping jaw devices.

The top surface of left side gallows sets up two risers, and the upper end of riser is fixed in the bottom surface of aluminium side's pipe respectively. The top surface of right side gallows sets up two rectangle covers, and the rectangle cover is overlapped respectively on aluminium square pipe B5.

The rotary driving device A5 is sleeved on the aluminum square tube B5 through a mounting frame A55.

The working principle of the clamping jaw device is as follows: a servo motor B47 of the right clamping jaw device works, a synchronous belt connected with an upper synchronous wheel drives a screw rod B42 to rotate, a sliding block on the screw rod drives a sliding block seat B44 to move up and down along the screw rod, the sliding block seat realizes the up-and-down position change of the inner end of a link arm B45, and therefore the clamping jaw B46 rotates around the hinged position of the clamping jaw B46 and the link arm to realize opening and closing.

As shown in fig. 8, the terminal platform C carried by the body of the modular live working robot includes a main body support C1, a plurality of embedded quick-change devices C2 and a working terminal C3, the plurality of embedded quick-change devices are respectively connected to the main body support, and each embedded quick-change device is respectively connected to a working terminal with different functions.

The main body support C1 of the tail end platform C is clamped and fixed through the clamping jaws, the number of the embedded quick-change devices C2 is determined according to the number of required operation tail ends, the operation tail ends need to comprise two clamping type paw devices, and the pin assembling operation tail ends, the bolt fastening operation tail ends, the foreign matter removing operation tail ends and the like can be configured according to hardware fittings on a routing inspection line.

A mechanical arm mounting seat B2 of the body is detachably provided with a mechanical operation arm D with six degrees of freedom through a fastener, and the mechanical operation arm D can automatically grab an operation tail end and return the operation tail end to the embedded quick-change device.

Two ends of a main body bracket C1 of the tail end platform C are symmetrically connected with T-shaped plates, and clamping jaws B46 of the clamping jaw device C4 extend out of the bottom surface of the machine box to clamp the wider parts of the T-shaped plates.

The operation arm mounting seat B2 comprises a base B21 fixed on the aluminum square tube B5 and a top seat B22 on the top surface of the base, and the inclination angle of the mounting surface of the top seat is 45-60 degrees.

As can be seen from fig. 8 to 24, the robot wire loading and unloading system matched with the robot mainly includes an unmanned aerial vehicle E, an insulating rope suspension assembly F and an insulating rope winding and unwinding device G.

The insulating rope winding and unwinding device G is an electric winching device and is arranged on the lower side of the main body support C1, and an insulating rope at the lower end of the insulating rope suspension assembly F penetrates through the case module B and then is fixed on a winch of the electric winching device G.

Specifically, the method comprises the following steps:

unmanned aerial vehicle E is a four-rotor aircraft.

Insulating rope suspends subassembly F in midair includes insulating rope F1, cross F2 and couple subassembly F3, and on each rotor installation arm that unmanned aerial vehicle was fixed in respectively to the upper end of four insulating ropes, the middle part was connected through a cross, and the lower extreme is connected on another cross, and the central point of cross puts downside elasticity and can dismantle connection couple subassembly F3. The hook assembly comprises a connecting block F31, a cavity and cavity cover F32, a movable pin F33, a spring shaft pin F34, a spring F35, a movable block F36 and a pulley F37, wherein the cavity and cavity cover F32 is connected with the connecting block, and the movable pin moves up and down along a guide groove on the cavity to enable the connecting block to be separated and locked; the pulley and the movable block are positioned on the same horizontal plane and arranged on two sides of the main body. One side of the bottom end of the hook main body part is an outward-expanding bending plate, and the other side of the bottom end of the hook main body part is a circular truncated cone-shaped bending plate used for connecting an insulating rope F1 below. Get in touch the top promptly and set up locking mechanism, through the flexible and locking and the separation of realization couple and connecting block of movable block and wire on the couple, can guarantee that unmanned aerial vehicle effectively breaks away from and gets back the couple.

The electric winching device comprises a box body G1 and a planetary gear transmission assembly G3 symmetrically driven by a double-output-shaft motor G2 arranged in the box body G1. The box G1 is fixed on the lower side of the main body support C1, the output shaft of the planetary gear transmission assembly G3 is respectively connected with the wire-leakage-preventing winches G4, and the wire-leakage-preventing winches are respectively fixed on the outer walls of the two ends of the box G1.

The planetary gear assembly comprises a planetary gear (referred to as a three-line planetary gear) formed by three identical planetary pinions arranged in a rotating manner around a sun gear and a planetary gear (referred to as a four-line planetary gear) formed by four identical planetary pinions arranged in a rotating manner around the sun gear; one end of the three-system planetary gear is connected with the motor, the other end of the three-system planetary gear is connected with the four-system planetary gear, and the other end of the four-system planetary gear is connected with the rope coiling disk.

And guide pipes B6 are symmetrically arranged at two ends of the case module B in the length direction, and an insulating rope connected with the lower end of the hook penetrates through the guide pipes and then is fixed on the winch. The guide tube is a wear-resistant tube, and bosses for positioning and fixing the guide tube are arranged at the tail ends of the narrow sections of the T-shaped plates at the two ends of the limb support C1.

In order to facilitate the installation of the operation end of the robot and prevent the operation end from touching the bottom surface after being assembled, a support frame H is connected to the lower side of the limb support to protect the operation end. In addition, the support frame is convenient for the robot to carry.

According to the structure of the robot, the modules are detachably connected, field assembly is convenient, the insulating rope suspension assembly of the on-site accessible robot on-line and off-line system is detachably connected with the hook assembly, so that the unmanned aerial vehicle can be automatically connected with the hook assembly to realize suspension of the hook on a target wire, and after the hook is hung, the unmanned aerial vehicle can automatically separate from the hook to return.

The steps when the modularized live working robot system is formed are as follows:

1. modular robot online

(1) The upper ends of four insulating ropes of the insulating rope suspension assembly are fixed with the unmanned aerial vehicle, and the lower end of the hook is connected with another insulating rope for connecting a winch;

(2) The unmanned aerial vehicle carries an insulating rope suspension assembly to lift off, and a hook is hung on a target conductor;

(3) Repeating the steps (1) and (2) to hang the second hook on the target conductor;

(4) Ground workers pull the insulating ropes connected with 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 pipes on the case module, and the two insulating ropes respectively penetrate through the guide pipes and then are fixed on corresponding winches;

(5) Enabling a double-output-shaft motor of the electric winch device to work in a positive direction, and enabling the length of an insulating rope connected with a hook to be shortened to drive the modular robot to ascend to a specified height;

(6) The rotary driving device of the two walking arm modules drives the arm body to deflect a designated angle;

(7) A double-output-shaft motor of the electric winching device continues to work positively until the lower surface of a traveling wheel at the upper end of the arm body exceeds the specified height of a target wire;

(8) The rotary driving devices of the two walking arm modules drive the arm bodies to return to the vertical state;

(9) The double-output-shaft motor of the electric winching device works reversely to enable the lower edge of the wheel groove of the travelling wheel to fall on a target conductor, and a camera on the case is used for shooting the contact condition of the travelling wheel groove and the conductor;

(10) A servo motor of a lead screw sliding block device of the walking arm module works to enable a lead screw sliding block to drive a pinch roller assembly to move upwards through a square sliding block until the upper edge of a wheel groove of a pinch roller is contacted with a target lead, and the modular live working robot is finished online at the moment;

(11) The hooks are taken down from a target lead by the tail ends of clamping type claws which are assembled at the tail ends of two mechanical working arms of the modular industrial robot respectively, and a double-output shaft motor of the electric winching device works to shorten an insulating rope connected with the hooks until the bottoms of the hooks are inserted into a guide pipe on the case module. The above process is illustrated in fig. 14 to 24.

2. Live working of modular robot

(1) The modular robot is driven by the travelling wheels to travel on a target conductor, and a camera carried by the operation tail end of the mechanical operation arm is used for shooting the condition of tools on the conductor;

(2) According to the shooting condition, determining that the mechanical working arm is inserted and assembled from a corresponding embedded quick-change device on the tail end platform to take down a corresponding working tail end for working;

(3) When the obstacle crossing is carried out on the lead in the walking process, a servo motor of a lead screw sliding block device of the front walking arm module works successively, a pressing wheel of the front walking arm module moves downwards to loosen the lead, the front walking wheel and the rear walking wheel walk forwards until the front walking wheel crosses the obstacle, the front pressing wheel is lifted to reset, then the pressing wheel of the rear walking arm module loosens the lead downwards, and the pressing wheel rises to reset after crossing the obstacle;

(4) When a suspension clamp on a wire is over-obstructed in the traveling process, the rear traveling arm module is kept on the wire, the front pressing wheel is enabled to loosen the wire downwards, the mechanical working arm clamps a hook close to the front traveling arm module through the tail end of the clamping type paw and hangs the hook on the wire, the front traveling wheel is enabled to be separated from the wire, then the front traveling arm module is enabled to deflect outwards from the wire through the rotary driving device, the rear traveling arm module is enabled to travel on the wire until the front traveling arm module crosses the suspension clamp, the front traveling arm module resets to clamp the wire, and the hook is taken down; and then obstacle crossing of the rear walking arm module is carried out, so that the front walking arm module and the rear walking arm module avoid the suspension clamp.

3. Modular robot downline

After the inspection and maintenance operation is completed, the mechanical operation arm is hung on the guide wire through the two hooks at the tail end of the clamping type paw, so that the double-output-shaft motor of the electric winching device reversely works, the insulating rope connected with the hooks is paid off, and the modular robot gradually descends and returns along with the paying off of the insulating rope.

In conclusion, the robot adopts a modular design, and each module can be separated independently and assembled quickly in field application, so that the unit weight of the robot in a field transportation environment can be effectively reduced. The robot body has assembled clamping jaw device, mechanical arm seat, aviation joint and wear-resisting pipe etc. and has reserved interface arrangement, and terminal platform has been assembled again to these interfaces of accessible, has expanded transmission line mobile robot's operation kind and has promoted the practicality level of robot. The robot body adopts the structure of vertical two pinch rollers and the form of walking wheel formation centre gripping transmission line to walk on the transmission line, and its damping spring can change the distance between pinch roller and the walking wheel, and its robot patrols and examines and can self-adaptation change the interval change between the two-wheeled when meetting the obstacle, makes its robot can stabilize effectual stridees across obstacles such as stockbridge damper, suspension clamp, conductor spacer, has improved the robot and has patrolled and examined the efficiency of operation.

Can cooperate the robot to go up and down the line system and adopt unmanned aerial vehicle to hang the couple on the wire, the insulating rope that the couple is connected realizes receiving and releasing through electronic hank grinds the device, through receiving and releasing of insulating rope realize the lift of robot to realize the autonomic upper and lower line of robot, improved the operating efficiency of robot by a wide margin, reduced the energy loss that personnel pulled the insulating rope. The robot can independently change the operation end on line according to the operation object, does not need to be offline and manually change the operation end, and the online operable object is not single any more, so that the operation range, the operation efficiency and the economic benefit of the robot are improved, and the energy loss of personnel is reduced. The mechanical arm seat of the robot body can improve the stability of the mechanical arm base, after the mechanical arm is provided with different operation ends, the functions of the robot can be expanded, so that the robot can not only perform line patrol and obstacle crossing operations, but also perform maintenance tasks of various hardware fittings, and the robot is multipurpose. Unmanned aerial vehicle hangs the couple on the wire, then realizes the automation of robot through insulating rope winding and unwinding devices and goes up, rolls off the production line, and the operation personnel need not to climb the tower and also need not drag the robot of hoist and mount, only controls unmanned aerial vehicle and robot on ground and just can accomplish the technique of going up and down the production line, has effectively improved workman's intensity of labour, has improved live working safety nature. Unmanned aerial vehicle flies at every turn and carries a couple to go on the line, has reduced unmanned aerial vehicle load and has guaranteed that unmanned aerial vehicle can steadily fly, and two insulating ropes can guarantee the stable lift of robot moreover.

Claims

1. A modularization live working robot body which characterized in that: the device mainly comprises a walking arm module and a case module;

the walking arm modules are divided into two groups, each group comprises an arm body, a lifting device, a walking wheel assembly, a pinch wheel assembly and a rotary driving 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 pinch wheel assembly is installed on the lifting device, and the rotary driving device is connected to the lower end of the arm body;

the case module comprises a case, and a plurality of mounting seats and aviation plugs which extend out of a top plate of the case, wherein the mounting seats are respectively used for mounting the operation mechanical arm and the camera;

the rotary driving devices of the two groups of walking arm modules are detachably connected to two ends of the case in the length direction respectively.

2. The modular live working robot body according to claim 1, characterized in that: the arm body is a square hollow column, the lifting device is a lead screw sliding block device, a driving motor of the lifting device adopts a direct-current servo motor and is fixed at the lower end of the arm body, a lead screw is arranged at the central position of the arm body, the lower end of the lead screw is connected with an output shaft of the driving motor through a coupler, and a sliding block stroke groove is formed in the side wall of the arm body.

3. The modular live working robot body according to claim 2, characterized in that: the lead screw slider is connected with the square sliding sleeve that overlaps outside the arm body, is provided with the slide rail outside the arm body, and square sliding sleeve inner wall is provided with the slider that matches with the slide rail.

4. The modular live working robot body according to claim 2, characterized in that: the walking wheel assembly comprises a driving motor and a walking wheel driven by the driving motor, a protective cover is arranged above the walking wheel, and a machine base of the driving motor is fixed at the upper end of the arm body.

5. The modular live working robot body according to claim 3, characterized in that: the pinch roller assembly comprises a pinch roller, an equipotential wheel, a wheel seat, a damping assembly and a baffle assembly, the pinch roller and the equipotential wheel are respectively arranged on the left side and the right side of the wheel seat, two ends of a wheel shaft of the pinch roller and the equipotential wheel are respectively connected with the spring damping assembly, the elastic baffle assembly is symmetrically arranged at the left end and the right end of the wheel seat, and a brake pad is arranged in the middle of the elastic baffle assembly.

6. The modular live working robot body according to claim 5, characterized in that: the wheel seat is connected with the square sliding sleeve.

7. The modular live working robot body according to claim 2, characterized in that: the rotary driving device comprises a worm and gear device and a square sleeve, the worm and gear device is arranged in the housing, a wheel shaft of the worm gear extends out, one end of the wheel shaft is perpendicularly connected with the square sleeve, the other end of the wheel shaft is connected with the bearing, the bearing is externally connected with an end cover, the end cover is fixed on the housing, a motor connected with the worm gear works to enable the worm to drive the worm gear to rotate, and the wheel shaft of the worm gear drives the arm body to rotate on the vertical surface through the square sleeve.

8. A modular live working robot as claimed in claim 7, characterized by: two square tubes symmetrically arranged relative to the center plane of the case in the width direction are arranged in the inner cavity of the case, and two vertical wear-resistant tubes are arranged for installing insulating ropes.

9. The modular live working robot body according to claim 8, characterized in that: the housing is connected with a mounting rack, and the mounting rack is provided with a square tube mounting sleeve.

10. The modular live working robot body according to claim 8, characterized in that: the mounting seat for mounting the mechanical operating arm comprises a base fixed on the square tube and a top seat on the top surface of the base, and the inclination angle of the mounting surface of the top seat is 45-60 degrees.