CN210101827U

CN210101827U - Transformer overhaul robot

Info

Publication number: CN210101827U
Application number: CN201920960063.XU
Authority: CN
Inventors: 迟景文; 钱亮; 赵晨; 丛森; 吕超; 田骐玮; 单吉琛; 吴新方; 刘洋; 刘晓菁
Original assignee: Longkou Power Supply Co of State Grid Shandong Electric Power Co Ltd
Current assignee: Longkou Power Supply Co of State Grid Shandong Electric Power Co Ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-02-21
Anticipated expiration: 2029-06-25

Abstract

The utility model discloses a transformer overhauls robot, including turning to platform, straight going dolly, escalator frame, carrying platform, manipulator and control box, the straight going dolly is installed to the downside that turns to the platform, and the escalator frame is installed to the upside that turns to the platform, installs carrying platform on the escalator frame, and carrying platform's upside installs the manipulator. The utility model discloses compact structure, have the manifold characteristics of function, when specifically using, it is responsible for turning to and supporting to turn to platform and craspedodrome car, the staircase frame then is used for adjusting the height of carrying the platform, the manipulator is used for overhauing equipment and transporting the apparatus, realize the remote monitoring operation through control box and camera, it obtains the guarantee to overhaul the security, this transformer overhauls the robot and both can overhaul high altitude transformer substation, also can regard as high altitude transportation device to use, can also make things convenient for artifical maintenance and fault handling, the equipment maintenance provides very big convenience in the transformer substation.

Description

Transformer overhaul robot

Technical Field

The utility model relates to a robot, in particular to transformer overhaul robot belongs to the robotechnology field.

Background

The robot is a machine device for automatically executing work, can receive human commands, can run a pre-arranged program, can perform movements according to principles formulated by artificial intelligence technology, has the task of assisting or replacing the work of human work, is widely applied in the production industry and the construction industry, the existing transformer equipment maintenance is manual operation, maintenance personnel ascend and work in a high-voltage environment, the safety is extremely low, and the research and development of the transformer maintenance robot become the requirement of the era.

Disclosure of Invention

The utility model aims at providing a transformer overhauls robot just in order to solve above-mentioned problem, has solved the problem that prior art exists.

In order to solve the technical problem, the utility model provides a following technical scheme:

the utility model relates to a transformer overhauls robot, including turning to platform, straight going dolly, escalator frame, carrying platform, manipulator and control box, the straight going dolly is installed to the downside that turns to the platform, the escalator frame is installed to the upside that turns to the platform, the escalator shelf location has the carrying platform, the manipulator is installed to the upside that carries on the platform, turn to platform, straight going dolly, escalator frame, carrying platform, manipulator and all pass through transmission line and control box electric connection.

As preferred, turn to the platform including extension platform, hydraulic prop, spike, battery, a hydraulic power unit and turn to the motor, the four corners of extension platform all inlays and is equipped with the hydraulic prop, the equal fixedly connected with spike in bottom of hydraulic prop, battery and a hydraulic power unit, four are installed to the upside of extension platform the hydraulic prop all is connected with a hydraulic power unit through the pipeline, the upside middle part screw fixation of extension platform has the motor that turns to.

As preferred, the straight-moving dolly includes frame, double-end motor, rotation axis, tire, a steering seat and steering spindle, double-end motor is all installed to the inside at both ends around the frame, the equal fixedly connected with rotation axis of two outputs of double-end motor, the one end that double-end motor was kept away from to the rotation axis all passes the outside and the fixedly connected with tire that the lateral wall of frame extended to the frame, four the rotation axis all is connected through bearing and frame rotation, the frame is close to the steering seat of one side fixedly connected with of extension platform, the middle part of a steering seat is fixed to be inserted and is equipped with the steering spindle, the output that turns to the motor passes the top fixed connection of extension platform and steering spindle.

Preferably, the escalator frame comprises upright columns, a driven shaft, a driving chain wheel, a driven chain wheel, a speed reducing motor, a cross bar, a protective guard and a chain, wherein the two upright columns are fixedly connected to the upper side of the extension table, the driven shaft and the driving shaft are arranged between the two upright columns, the two ends of the driven shaft and the driving shaft are respectively and rotatably connected with the two upright posts through bearings, two driving sprockets are fixedly sleeved on the outer side of the driving shaft, two driven sprockets are fixedly sleeved on the outer side of the driven shaft, chains are in transmission connection between the driving sprocket and the driven sprocket on the same side, a plurality of cross rods are arranged between the driven shaft and the driving shaft, two ends of the cross rods are respectively and fixedly connected with the two upright posts, the middle parts of the cross rods are respectively and fixedly connected with guard rails, one side screw fixation of one of them stand has gear motor, gear motor's output passes stand and driving shaft fixed connection.

Preferably, the carrying platform comprises a connecting plate, an object stage, storage tanks, a classification plate, slots, sliding sleeves and two hydraulic pump stations, the upper side and the lower side of the two ends of the connecting plate are hinged to the two ends of the two chains respectively, one side of the connecting plate is fixedly connected with the object stage, the two storage tanks are fixedly connected to the upper side of the object stage, one of the storage tanks is provided with the classification plate at the opening, a plurality of slots and two slots are arranged in the classification plate, the storage tanks are fixed by upper side screws of the object stage, the mechanical arms and the two hydraulic pump stations are fixed by the upper side screws of the object stage, the two sliding sleeves are fixedly connected to the two sides of the connecting plate, and.

Preferably, the manipulator comprises an equipment box, a second steering seat, a first hydraulic rod, a connector, a second hydraulic rod, a steering chuck, a small motor, a steering plate, a hydraulic two-jaw clamp, a fixed sleeve and a camera, the equipment box is fixed on the upper side of the objective table through screws, a driving motor is arranged in the equipment box, the upper side of the equipment box is connected with the second steering seat in a rotating manner, the first hydraulic rod is fixedly connected with the upper side of the second steering seat, the output end of the driving motor in the equipment box penetrates through the top wall of the equipment box and is fixedly connected with the lower side of the second steering seat, the top end of the first hydraulic rod is fixedly connected with the connector, the second hydraulic rod is fixedly connected with the second hydraulic rod on one side of the connector, the second hydraulic rod is far away from the one end of the connector and is fixedly connected with the steering chuck, the steering plate is rotatably connected with the steering chuck, and, the utility model discloses a hydraulic pressure angle adjusting plate, including angle adjusting plate, steering chuck, hydraulic pressure pump station, splint, small-size motor's output, the lateral wall that turns to the chuck is passed to the output and the pivot fixed connection of angle adjusting plate, the two claw clamps of end fixedly connected with hydraulic pressure of angle adjusting plate, hydraulic pressure pole, No. two hydraulic pressure poles and the two claw clamps of hydraulic pressure all are connected with No. two hydraulic power unit through the pipeline, two clamp all welds of the two claw clamps of hydraulic pressure have splint, the double-layered groove has all been seted up to the end of splint, the fixed cover of one side fixedly connected with.

Preferably, the control box comprises a display screen and a control panel, and the display screen in the control box is electrically connected with the camera.

Preferably, a plurality of the cross bars are arranged at equal intervals, and the distance between two adjacent cross bars is not more than thirty centimeters.

Preferably, the bottom end of the angle adjusting plate is of an inverted T-shaped structure, and a rotating shaft of the angle adjusting plate is rotatably connected with the steering chuck through a bearing.

Preferably, the clamping grooves are of semicircular structures, and the two clamping plates are symmetrically arranged.

The utility model discloses the beneficial effect who reaches is: the utility model discloses compact structure, have the manifold characteristics of function, when specifically using, it is responsible for turning to and supporting to turn to platform and craspedodrome car, the staircase frame then is used for adjusting the height of carrying the platform, the manipulator is used for overhauing equipment and transporting the apparatus, realize the remote monitoring operation through control box and camera, it obtains the guarantee to overhaul the security, this transformer overhauls the robot and both can overhaul high altitude transformer substation, also can regard as high altitude transportation device to use, can also make things convenient for artifical maintenance and fault handling, the equipment maintenance provides very big convenience in the transformer substation.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic structural view of the carrying platform of the present invention;

FIG. 3 is a schematic view of the installation position of the hydraulic two-jaw clamp according to the present invention;

FIG. 4 is a schematic view of the structure of the straight-moving cart of the present invention;

fig. 5 is a schematic structural view of the splint of the present invention;

fig. 6 is a schematic structural view of the classification plate of the present invention.

In the figure: 1-steering platform, 11-extension table, 12-hydraulic prop, 13-supporting foot, 14-storage battery, 15-first hydraulic pump station, 16-steering motor, 2-straight trolley, 21-frame, 22-double-head motor, 23-rotating shaft, 24-tire, 25-first steering seat, 26-steering shaft, 3-ladder support, 31-upright post, 32-driven shaft, 33-driving shaft, 34-driving chain wheel, 35-driven chain wheel, 36-speed reducing motor, 37-cross bar, 38-protective guard, 39-chain, 4-carrying platform, 41-connecting plate, 42-carrying table, 43-storage tank, 44-classification plate, 45-slot, 46-sliding sleeve, 47-second hydraulic pump station, 5-mechanical arm, 51-equipment box, 52-second steering seat, 53-first hydraulic rod, 54-connector, 55-second hydraulic rod, 56-steering chuck, 57-small motor, 58-angle adjusting plate, 581-hydraulic two-jaw clamp, 582-clamp plate, 583-clamp groove, 59-fixing sleeve, 591-camera, 6-control box and 61-transmission line.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example (b): as shown in fig. 1-6, the utility model relates to a transformer overhauls robot, including steering platform 1, straight travelling car 2, staircase frame 3, carry on platform 4, manipulator 5 and control box 6, its characterized in that, straight travelling car 2 is installed to steering platform 1's downside, the handrail frame 3 is installed to steering platform 1's upside, install on the handrail frame 3 and carry on platform 4, manipulator 5 is installed to the upside that carries on platform 4, steering platform 1, straight travelling car 2, staircase frame 3, carry on platform 4, manipulator 5 all through

transmission line

61 and 6 electric connection of control box.

Wherein, turn to platform 1 including extending platform 11, hydraulic prop 12, spike 13, battery 14, a hydraulic power unit 15 and steering motor 16, the four corners of extending platform 11 all inlays and is equipped with hydraulic prop 12, the equal fixedly connected with spike 13 in bottom of hydraulic prop 12, battery 14 and a hydraulic power unit 15 are installed to the upside of extending platform 11, four hydraulic prop 12 all are connected with a hydraulic power unit 15 through the pipeline, the upside middle part screw fixation of extending platform 11 has steering motor 16.

Wherein, the dolly 2 of moving straightly includes frame 21, double-end motor 22, rotation axis 23, tire 24, a steering seat 25 and steering spindle 26, double-end motor 22 is all installed to the inside at both ends around frame 21, the equal fixedly connected with rotation axis 23 of two outputs of double-end motor 22, the one end that double-end motor 22 was kept away from to rotation axis 23 all passes the outside and the fixedly connected with tire 24 that the lateral wall of frame 21 extended to frame 21, four rotation axes 23 all rotate through bearing and frame 21 and are connected, frame 21 is close to one side fixedly connected with steering seat 25 of extension platform 11, the middle part of a steering seat 25 is fixed to be inserted and is equipped with steering spindle 26, the output that turns to motor 16 passes the top fixed connection of extension platform 11 and steering spindle 26.

Wherein, the staircase frame 3 comprises upright posts 31, a driven shaft 32, a driving shaft 33, driving chain wheels 34, driven chain wheels 35, a speed reducing motor 36, cross rods 37, guard rails 38 and chains 39, two upright posts 31 are both fixedly connected on the upper side of the extension table 11, the driven shaft 32 and the driving shaft 33 are arranged between the two upright posts 31, both ends of the driven shaft 32 and the driving shaft 33 are respectively rotatably connected with the two upright posts 31 through bearings, two driving chain wheels 34 are fixedly sleeved on the outer side of the driving shaft 33, two driven chain wheels 35 are fixedly sleeved on the outer side of the driven shaft 32, the chains 39 are respectively in transmission connection between the driving chain wheels 34 and the driven chain wheels 35 on the same side, a plurality of cross rods 37 are arranged between the driven shaft 32 and the driving shaft 33, both ends of the plurality of cross rods 37 are respectively fixedly connected with the two upright posts 31, the guard rails 38 are, the output end of the speed reducing motor 36 passes through the upright column 31 and is fixedly connected with the driving shaft 33.

Wherein, the carrying platform 4 includes a connecting plate 41, an objective table 42, storage tanks 43, classification plate 44, slot 45, sliding sleeve 46 and No. two hydraulic power unit 47, the upper and lower both sides at connecting plate 41 both ends are articulated with the both ends of two chains 39 respectively, one side fixedly connected with objective table 42 of connecting plate 41, two storage tanks 43 of upside fixedly connected with of objective table 42, classification plate 44 has been put to the opening part of one of them storage tanks 43, be equipped with a plurality of slots 45 in the classification plate 44, the upside screw fixation that just is located objective table 42 between two storage tanks 43 has manipulator 5 and No. two hydraulic power unit 47, two sliding sleeve 46 of equal fixedly connected with in both sides of connecting plate 41, sliding sleeve 46 sliding sleeve establishes the outside at the stand 31 that corresponds.

Wherein, the manipulator 5 comprises an equipment box 51, a second steering seat 52, a first hydraulic rod 53, a connector 54, a second hydraulic rod 55, a steering chuck 56, a small motor 57, an angle adjusting plate 58, a hydraulic two-jaw clamp 581, a fixed sleeve 59 and a camera 591, the equipment box 51 is fixed on the upper side of the objective table 42 by screws, a driving motor is arranged in the equipment box 51, the upper side of the equipment box 51 is connected with the second steering seat 52 in a rotating way, the upper side of the second steering seat 52 is fixedly connected with the first hydraulic rod 53, the output end of the driving motor in the equipment box 51 passes through the top wall of the equipment box 51 and is fixedly connected with the lower side of the second steering seat 52, the top end of the first hydraulic rod 53 is fixedly connected with the connector 54, one side of the connector 54 is fixedly connected with the second hydraulic rod 55, one end of the second hydraulic rod 55 far away from the connector 54 is fixedly connected with the steering chuck 56, a small motor 57 is fixed on one side of the steering chuck 56 through a screw, the output end of the small motor 57 penetrates through the side wall of the steering chuck 56 and is fixedly connected with a rotating shaft of the angle adjusting plate 58, two hydraulic claw clamps 581 are fixedly connected with the end of the angle adjusting plate 58, the first hydraulic rod 53, the second hydraulic rod 55 and the two hydraulic claw clamps 581 are connected with the second hydraulic pump station 47 through pipelines, clamping plates 582 are welded on the two hydraulic claw clamps 581, clamping grooves 583 are formed in the end of the clamping plates 582, a fixing sleeve 59 is fixedly connected with one side of the angle adjusting plate 58, and a camera 591 is fixedly connected in the fixing sleeve 59.

The control box 6 comprises a display screen and a control panel, and the display screen in the control box 6 is electrically connected with the camera 591.

Wherein, a plurality of horizontal poles 37 equidistance setting and the interval between two adjacent horizontal poles 37 is not more than thirty centimetres.

Wherein, the bottom of angle modulation board 58 is the structure of "T" font of falling, and the pivot of angle modulation board 58 is connected with the steering chuck 56 through the bearing rotation.

Wherein, the clamp groove 583 is a semicircular structure, and the two clamp plates 582 are symmetrically arranged.

Specifically, the utility model discloses during the use, operation control box 6 control robot operation, battery 14 provides the electric energy, camera 591 and display screen realize remote monitoring, No. two hydraulic power unit 47 adjustment hydraulic stem 53 and No. two hydraulic stem 55's length, driving motor control hydraulic stem 53 in the equipment box 51 rotates, can make No. two hydraulic stem 55 swings, the length variation of No. two hydraulic stem 55 adds, can move to the chuck 56 and overhaul the station just to the position, the chuck is located storage tank 43 directly over, storage tank 43 is used for depositing substation equipment, if: after the classification plate 44 is filled at the upper port of the storage tank 43, maintenance tools such as a test pencil and a welding gun are placed into the slot 45, so that the hydraulic two-jaw clamp 581 can clamp the end of the maintenance tool for operation, the hydraulic two-jaw clamp 581 is connected with a second hydraulic pump station 47 through a pipeline, after the ends of the two clamp plates 582 are combined, the semicircular clamp grooves 583 are matched with each other to clamp the end of the maintenance tool, so that the hydraulic two-jaw clamp 581 can clamp devices and tools, the length of a first hydraulic rod 53 can be changed, the height of the hydraulic two-jaw clamp 581 can be controlled, the hydraulic two-jaw clamp 581 can be operated at the maintenance position conveniently, the output end of the small motor 57 rotates, the angle of the hydraulic two-jaw clamp 581 can be adjusted, the driving motor, the second hydraulic pump station 47 and the small motor 57 are matched with each other, and the omnibearing adjustment of the positions of the hydraulic two-jaw clamp, an operator remotely operates the manipulator 5 to operate, the maintenance safety is guaranteed, the reduction motor 36 drives the driving shaft 33 and the driving sprocket 34 to rotate, the driving sprocket 34 drives the connecting plate 41 to move up and down through the chain 39, the height of the objective table 42 is further adjusted, the high-altitude substation is convenient to maintain, the robot can also be used as a high-altitude transportation device, ground personnel can climb to a high place through the cross rod 37, manual maintenance and fault treatment are convenient, the guard rail 38 guarantees the safety of the personnel, the straight trolley 2 adopts a four-wheel drive mode, the power is strong, during steering, the first hydraulic pump station 15 controls the hydraulic support 12 to extend, the output end of the steering motor 16 rotates to drive the straight trolley 2 to steer, the robot can conveniently move in a narrow space, before the robot works, the hydraulic support 12 needs to be adjusted to the extension state, the supporting feet 13 support the ground, the gravity center of the robot can be stable.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a transformer overhaul robot, includes to turn to platform (1), straight travelling car (2), staircase frame (3), carries on platform (4), manipulator (5) and control box (6), its characterized in that, straight travelling car (2) are installed to the downside that turns to platform (1), the escalator frame (3) is installed to the upside that turns to platform (1), install on escalator frame (3) and carry on platform (4), manipulator (5) are installed to the upside that carries on platform (4), turn to platform (1), straight travelling car (2), staircase frame (3), carry on platform (4), manipulator (5) all through transmission line (61) and control box (6) electric connection.

2. A transformer maintenance robot according to claim 1, characterized in that, turn to platform (1) including extension platform (11), hydraulic prop (12), spike (13), battery (14), hydraulic power unit (15) and turn to motor (16), hydraulic prop (12) are all inlayed in the four corners of extension platform (11), the equal fixedly connected with spike (13) in bottom of hydraulic prop (12), battery (14) and hydraulic power unit (15) are installed to the upside of extension platform (11), four hydraulic prop (12) all are connected with hydraulic power unit (15) through the pipeline, the upside middle part screw fixation of extension platform (11) has turn to motor (16).

3. The power transformation maintenance robot as claimed in claim 2, wherein the straight trolley (2) comprises a frame (21), a double-end motor (22), a rotating shaft (23), tires (24), a first steering seat (25) and a steering shaft (26), the double-end motor (22) is mounted inside the front end and the rear end of the frame (21), the rotating shaft (23) is fixedly connected to two output ends of the double-end motor (22), one end, far away from the double-end motor (22), of the rotating shaft (23) penetrates through the side wall of the frame (21) to extend to the outside of the frame (21) and is fixedly connected with the tires (24), the four rotating shafts (23) are rotatably connected with the frame (21) through bearings, the first steering seat (25) is fixedly connected to one side, close to the extension table (11), of the first steering seat (25) is fixedly inserted with the steering shaft (26), the output end of the steering motor (16) passes through the extension table (11) and is fixedly connected with the top end of the steering shaft (26).

4. The power transformation maintenance robot as claimed in claim 3, wherein the ladder support (3) comprises two upright columns (31), a driven shaft (32), a driving shaft (33), a driving sprocket (34), a driven sprocket (35), a speed reduction motor (36), a cross bar (37), a guard rail (38) and a chain (39), the two upright columns (31) are fixedly connected to the upper side of the extension table (11), the driven shaft (32) and the driving shaft (33) are arranged between the two upright columns (31), two ends of the driven shaft (32) and two ends of the driving shaft (33) are respectively and rotatably connected with the two upright columns (31) through bearings, the two driving sprockets (34) are fixedly sleeved on the outer side of the driving shaft (33), the two driven sprockets (35) are fixedly sleeved on the outer side of the driven shaft (32), and the chain (39) is respectively and rotatably connected between the driving sprocket (34) and the driven sprocket (35) on the same side, be equipped with a plurality of horizontal poles (37) between driven shaft (32) and driving shaft (33), a plurality of the both ends of horizontal pole (37) respectively with two stand (31) fixed connection, the equal fixedly connected with rail guard (38) in middle part of horizontal pole (37), one of them one side screw fixation of stand (31) has gear motor (36), the output of gear motor (36) passes stand (31) and driving shaft (33) fixed connection.

5. A power transformation maintenance robot according to claim 4, wherein the carrying platform (4) comprises a connecting plate (41), an object stage (42), storage tanks (43), a classification plate (44), slots (45), sliding sleeves (46) and two hydraulic pump stations (47), the upper side and the lower side of the two ends of the connecting plate (41) are hinged to the two ends of the two chains (39) respectively, the object stage (42) is fixedly connected to one side of the connecting plate (41), the two storage tanks (43) are fixedly connected to the upper side of the object stage (42), the classification plate (44) is arranged at an opening of one of the storage tanks (43), a plurality of slots (45) are arranged in the classification plate (44), a manipulator (5) and two hydraulic pump stations (47) are fixed between the two storage tanks (43) and positioned on the upper side of the object stage (42), and the two sliding sleeves (46) are fixedly connected to both sides of the connecting plate (41), the sliding sleeve (46) is sleeved on the outer side of the corresponding upright post (31) in a sliding manner.

6. A transformation maintenance robot as claimed in claim 5, wherein the manipulator (5) comprises an equipment box (51), a second steering seat (52), a first hydraulic rod (53), a connector (54), a second hydraulic rod (55), a steering chuck (56), a small motor (57), an angle adjusting plate (58), a hydraulic two-jaw clamp (581), a fixed sleeve (59) and a camera (591), the equipment box (51) is fixed on the upper side of the objective table (42) through screws, a driving motor is arranged in the equipment box (51), the upper side of the equipment box (51) is rotatably connected with the second steering seat (52), the upper side of the second steering seat (52) is fixedly connected with the first hydraulic rod (53), and the output end of the driving motor in the equipment box (51) penetrates through the top wall of the equipment box (51) and is fixedly connected with the lower side of the second steering seat (52), the top fixedly connected with connector (54) of a hydraulic stem (53), No. two hydraulic stems (55) of one side fixedly connected with of connector (54), the one end fixedly connected with that connector (54) were kept away from to No. two hydraulic stems (55) turns to chuck (56), turn to and rotate on chuck (56) and be connected with transfer scute (58), one side screw fixation that turns to chuck (56) has micro-motor (57), the output of micro-motor (57) passes the lateral wall that turns to chuck (56) and the pivot fixed connection of angle modulation board (58), transfer two claw clamps (581) of end fixedly connected with hydraulic pressure of scute (58), No. one hydraulic stem (53), No. two hydraulic stem (55) and two hydraulic pressure claw clamp (581) all are connected with No. two hydraulic pump station (47) through the pipeline, splint (582) have all welded to two clamps of two hydraulic pressure claw clamp (581), the end of splint (582) has all been seted up and has been pressed from both sides groove (583), one side fixedly connected with fixed cover (59) of accent angle board (58), fixedly connected with camera (591) in fixed cover (59).

7. A transformation maintenance robot as claimed in claim 6, wherein the control box (6) comprises a display screen and a control panel, and the display screen in the control box (6) is electrically connected with the camera (591).

8. A transformation service robot as claimed in claim 4, wherein a plurality of said cross bars (37) are arranged equidistantly and the distance between two adjacent cross bars (37) is not more than thirty centimeters.

9. A transformation maintenance robot as claimed in claim 6, characterized in that the bottom end of the angle adjusting plate (58) is in an inverted T-shaped structure, and the rotating shaft of the angle adjusting plate (58) is rotatably connected with the steering chuck (56) through a bearing.

10. A transformation service robot as claimed in claim 6, wherein said clamping grooves (583) are all semi-circular structures, and two clamping plates (582) are symmetrically arranged.