Automatic coating robot for surface functional materials of high-voltage overhead transmission line of power system

Abstract

The application discloses a kind of electric power system high-voltage overhead transmission line surface functional material automatic coating robot, electric power system high-voltage overhead transmission line surface functional material automatic coating robot includes walking component, coating component and feeding component, coating component is located in the front side or rear side of walking component, walking component includes connected walking wheel group and first drive mechanism, coating component includes positioning wheel and coating part, feeding component includes storage container and feeding pipe, one end of feeding pipe is connected with coating part, and the other end is connected with storage container.The first drive mechanism of the application drives walking wheel group to move on cable, at this time, coating part is coated to cable, and storage container provides coating to coating part, i.e.the electric power system high-voltage overhead transmission line surface functional material automatic coating robot of the application automatically coats coating on the surface of cable, and the whole process does not need manual help, saves manpower, does not need power-off and reduces the electric shock accident rate of maintenance personnel.

Description

TECHNICAL FIELD

[0001] The present application belongs to the research field of power maintenance equipment design, and particularly relates to an automatic coating robot for surface functional materials of a high-voltage overhead power transmission line of a power system. BACKGROUND

[0002] There are a large number of high-voltage overhead conductors in the power distribution network in China, some of which are bare conductors. The high-voltage overhead power transmission lines in the power distribution network often span water areas, vegetation and densely populated areas, and these locations are prone to electric shock injury incidents, which become a high-risk hidden danger threatening people's production and life and seriously affect the operation reliability of the power distribution network. In order to reduce electric shock injury incidents, the insulation transformation of the power grid is imminent. In order to carry out the insulation transformation of the overhead power transmission line, the traditional method is to replace the entire conductor with an insulated conductor, but this transformation method has a huge construction investment, and during the replacement construction process, the line must be powered off, which will also bring additional economic losses to normal production and life. Therefore, coating the bare conductor with insulating glue is the least economic loss.

[0003] In addition, every winter, the power transmission line will appear icing phenomenon, which will cause line failure and cause long-time power outage. In order to ensure power supply safety, line deicing work is essential. At present, the deicing methods of the power grid are basically as follows: in the early stage, the maintenance personnel basically climbed to the power pole to manually remove the ice with a hammer or other tools. This method is not only low in efficiency, but also very dangerous; with the progress of technology, gradually began to use to smear antifreeze oil on the cable.

[0004] The problem of the prior art is that the cable is coated with insulating glue or antifreeze oil and other coatings by manual operation, which is time-consuming and has a great impact on people's life if the cable is coated with the coating material while powered off. If the cable is coated with the coating material without being powered off, the electric shock accident rate is high. SUMMARY

[0005] In order to solve the problems of the prior art, the application provides an automatic coating robot for surface functional materials of high-voltage overhead transmission lines of a power system, which is applied to coating paint on the surface of a cable, and comprises a walking assembly, a paint assembly and a feeding assembly, the paint assembly is located on the front side or the rear side of the walking assembly, the walking assembly comprises a walking wheel set and a first driving mechanism connected with each other, the paint assembly comprises a positioning wheel and a paint part, the feeding assembly comprises a storage container and a feeding pipe, one end of the feeding pipe is connected with the paint part, and the other end of the feeding pipe is connected with the storage container.The first driving mechanism drives the walking wheel set to move on the cable, at this time, the paint part coats the cable, and the storage container provides paint for the paint part, that is, the automatic coating robot for surface functional materials of high-voltage overhead transmission lines of the power system automatically coats paint on the surface of the cable, the whole process does not need manual help, saves manpower, does not need power-off and reduces the electric shock accident rate of maintenance personnel.

[0006] The technical effects achieved by the application are realized through the following scheme:

[0007] An automatic coating robot for surface functional materials of high-voltage overhead transmission lines of a power system, which is applied to coating paint on the surface of a cable, and comprises a walking assembly, a paint assembly and a feeding assembly, the paint assembly is located on the front side or the rear side of the walking assembly, the walking assembly comprises a walking wheel set and a first driving mechanism connected with each other, the paint assembly comprises a positioning wheel and a paint part, the feeding assembly comprises a storage container and a feeding pipe, one end of the feeding pipe is connected with the paint part, and the other end of the feeding pipe is connected with the storage container.

[0008] Further, the paint assembly comprises a first guide rail and a second driving mechanism, the paint part comprises a first sub-paint part and a second sub-paint part, the second sub-paint part is movably arranged on the first guide rail, the second sub-paint part is connected with the second driving mechanism, and the second driving mechanism drives the second sub-paint part to move on the first guide rail, so that the second sub-paint part is connected with or separated from the first sub-paint part.

[0009] Further, the first sub-paint part comprises a first paint half-ring, the first paint half-ring is provided with a first opening, the second sub-paint part is provided with a second paint half-ring, the second paint half-ring is provided with a second opening, the first sub-paint part and the second sub-paint part are connected to combine the first paint half-ring and the second paint half-ring into a paint ring, a paint hole combined by the first opening and the second opening is formed in the paint ring, and the cable can be installed in the paint hole for coating.

[0010] Further, one end of the feeding pipe is connected to the storage container, and the other end is connected to the second sub-coating part.

[0011] One end of the feeding pipe is connected to the storage container, and the other end is connected to the first sub-coating part.

[0012] Further, the walking assembly comprises a support body, a first cover body and a second cover body, the first cover body is arranged at the upper end of the support body, the second cover body and the support body are arranged in position opposition, and the second cover body is arranged in interval with the support body to form a cavity accommodating the walking wheel set, and the cavity has a mounting opening facing downward.

[0013] Further, the upper end of the first cover body is provided with a lifting support, the lifting support comprises a connecting rod and a lifting plate, one end of the connecting rod is connected to the middle part of the lifting plate, and clamping plates are arranged on both sides of the lifting plate.

[0014] Further, the power system high-voltage overhead transmission line surface functional material automatic coating robot is provided with support arms, the number of the support arms is 2, one end of each support arm is connected to the support body, and the other end is connected to the feeding assembly; the support arm comprises a first connecting part, a second connecting part and a third connecting part connected in sequence, the first connecting part is connected to the support body, the third connecting part is connected to the feeding assembly, one end of the second connecting part is connected to the first connecting part, and the other end is connected to the third connecting part; the second cover body is provided with a first inclined surface, the first inclined surface is arranged towards the second connecting part, the second connecting part is provided with a second inclined surface, the first inclined surface and the second inclined surface are parallel to form a guide channel communicating with the mounting opening.

[0015] Further, the support body is provided with a second guide rail, a third driving mechanism and a mounting part movably arranged on the second guide rail, the third driving mechanism is connected to the mounting part and can drive the mounting part to move on the second guide rail, the mounting part is provided with a limiting wheel, and the second guide rail extends along the lower end of the support body towards the walking wheel set.

[0016] Further, the walking wheel set comprises a first walking wheel, a second walking wheel and a transmission mechanism, the first walking wheel is provided with a first transmission rod, the second walking wheel is provided with a second transmission rod, one end of the first transmission rod is connected to the first driving mechanism, and the other end is connected to the transmission mechanism, one end of the second transmission rod is rotatably connected to the support body, and the other end is connected to the transmission mechanism; the transmission mechanism comprises two rollers and a belt, the two rollers are fixedly connected to the first transmission rod and the second transmission rod respectively, and the two ends of the belt are connected to the two rollers respectively.

[0017] Further, the walking wheel comprises a first end and a second end, the first end is connected with the second end, the first end is closer to the second end, the cross-sectional area of the first end is smaller, the second end is closer to the first end, the cross-sectional area of the second end is smaller, so that the walking wheel forms a V-shaped groove.

[0018] Further, the feeding assembly comprises a fourth driving mechanism, the fourth driving mechanism comprises a cylinder, a push rod and a push plate, one end of the push rod is connected with the cylinder, the other end of the push rod is connected with the push plate, the push plate is arranged in the storage container and can move in the storage container to extrude the paint of the storage container.

[0019] Further, the power system high-voltage overhead transmission line surface functional material automatic coating robot is provided with a camera, and the camera is arranged on the walking assembly and / or the paint assembly.

[0020] The application has the following advantages:

[0021] The application discloses a power system high-voltage overhead transmission line surface functional material automatic coating robot which is applied to coating paint on the surface of a cable. The power system high-voltage overhead transmission line surface functional material automatic coating robot comprises a walking assembly, a paint assembly and a feeding assembly. The paint assembly is located on the front side or the rear side of the walking assembly. The walking assembly comprises a walking wheel set and a first driving mechanism. The paint assembly comprises a positioning wheel and a paint part. The feeding assembly comprises a storage container and a feeding pipe. One end of the feeding pipe is connected with the paint part, and the other end of the feeding pipe is connected with the storage container. The first driving mechanism drives the walking wheel set to move on the cable. At this time, the paint part coats the cable, and the storage container provides paint for the paint part. That is, the power system high-voltage overhead transmission line surface functional material automatic coating robot automatically coats paint on the surface of the cable. The whole process does not need manual help, saves manpower, does not need power-off and reduces the electric shock accident rate of maintenance personnel. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating laborious work.

[0023] Figure 1 It is a front view of the power system high-voltage overhead transmission line surface functional material automatic coating robot in an embodiment of the present application.

[0024] Figure 2 This is a left view of the automatic coating robot for functional materials on the surface of high-voltage overhead transmission lines in a power system, as described in one embodiment of the present invention.

[0025] Figure 3 This is a three-dimensional assembly drawing of the automatic coating robot for functional materials on the surface of high-voltage overhead transmission lines in a power system, as described in one embodiment of the present invention.

[0026] Figure 4 This is another three-dimensional assembly drawing of the automatic coating robot for functional materials on the surface of high-voltage overhead transmission lines in the power system, as described in one embodiment of the present invention.

[0027] Figure 5 for Figure 4 A magnified view of a section at point A in the middle;

[0028] Figure 6 for Figure 4 A magnified view of a section at point B in the middle;

[0029] Figure 7 This is another three-dimensional assembly drawing of the automatic coating robot for functional materials on the surface of high-voltage overhead transmission lines in the power system, as described in one embodiment of the present invention.

[0030] Figure 8 This is a schematic diagram of the structure of the first traveling wheel in one embodiment of the present invention;

[0031] Figure 9 This is a three-dimensional assembly view of the feeding assembly according to one embodiment of the present invention.

[0032] Explanation of reference numerals: 1, walking assembly; 11, walking wheel set; 111, first walking wheel; 1111, first transmission rod; 1112, first end portion; 1113, second end portion; 112, second walking wheel; 1121, second transmission rod; 113, transmission mechanism; 1131, roller; 1132, belt; 13, support main body; 131, second guide rail; 1311, mounting portion; 13111, limiting wheel; 14, first cover body; 15, second cover body; 151, first inclined surface; 16, cavity; 17, mounting opening; 18, hoisting support; 181, connecting rod; 182, hoisting plate; 1821, clamping plate; 19, support arm; 191, first connecting portion; 192, second connecting portion; 1921, second inclined surface; 193, third connecting portion; 2, coating assembly; 21, positioning wheel; 22, coating portion; 221, first sub-coating portion; 2211, first coating half ring; 222, second sub-coating portion; 2221, second coating half ring; 223, coating hole; 23, first guide rail; 3, feeding assembly; 31, storage container; 32, feeding pipe; 33, fourth driving mechanism; 331, air cylinder; 332, push rod; 333, push plate; 4, cable; 5, guide channel; 6, camera. DETAILED DESCRIPTION

[0033] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in connection with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0034] In order to coat the cable surface with insulating glue or coat the cable with antifreeze oil and other coatings, the cable surface is usually coated with coatings by the cable maintenance personnel in the prior art, and if necessary, the power supply needs to be stopped for coating operation. The work of coating the cable surface requires a large amount of manual work, and the power-off operation affects the power supply and causes an impact on the operation of the society. When the power is not off, the maintenance personnel have the risk of electric shock. In view of the above situation, the application provides a power system high-voltage overhead transmission line surface functional material automatic coating robot applied to coating the cable surface with coatings, which comprises a walking assembly, a coating assembly and a feeding assembly, the coating assembly is located on the front side or rear side of the walking assembly, the walking assembly comprises a walking wheel set and a first driving mechanism connected with each other, the coating assembly comprises a positioning wheel and a coating part, the feeding assembly comprises a storage container and a feeding pipe, one end of the feeding pipe is connected with the coating part, and the other end is connected with the storage container. The first driving mechanism drives the walking wheel set to move on the cable, at this time the coating part coats the cable, and the storage container provides coatings for the coating part, that is, the power system high-voltage overhead transmission line surface functional material automatic coating robot of the application automatically coats the cable surface with coatings, the whole process does not need manual help, saves manpower, does not need power-off and reduces the electric shock accident rate of maintenance personnel.

[0035] The various non-limiting embodiments of the application will be described in detail below with reference to the accompanying drawings.

[0036] As shown in the accompanying drawings Figures 1-2, show the front view and left view of the power system high-voltage overhead transmission line surface functional material automatic coating robot in an embodiment of the application, the power system high-voltage overhead transmission line surface functional material automatic coating robot in this embodiment is applied to coating paint on the surface of the cable 4, and comprises a walking assembly 1, a paint assembly 2 and a feeding assembly 3. The paint assembly 2 is located on the front side or rear side of the walking assembly 1. The walking assembly 1 comprises a walking wheel set 11 and a first driving mechanism (not shown in the figure). The paint assembly 2 comprises a positioning wheel 21 and a paint part 22. The feeding assembly 3 comprises a storage container 31 and a feeding pipe 32. One end of the feeding pipe 32 is connected to the paint part 22, and the other end is connected to the storage container 31. The walking wheel set 11 can walk on the cable 4 under the drive of the first driving mechanism, that is, the power system high-voltage overhead transmission line surface functional material automatic coating robot can move on the cable 4, at this time, the paint part 22 can coat paint on the cable 4, and the positioning wheel 21 positions the cable 4, so as to facilitate the positioning of the cable 4 for the paint part 22 and avoid the walking displacement of the cable 4. The first driving mechanism comprises a motor and an output shaft. One end of the output shaft is connected to the motor, and the other end is connected to the walking wheel set 11. The application does not limit the specific composition of the first driving mechanism, as long as the purpose of the application can be achieved. The storage container 31 stores paint, which is supplied to the paint part 22 in real time when the paint part 22 coats paint on the cable 4. The walking assembly 1 walks on the cable 4, and the walking assembly 1 also has a certain positioning effect on the cable 4. After the cable 4 is positioned, the paint assembly 2 can coat paint on the surface of the cable 4. The paint assembly 2 and the walking wheel set 11 are connected through a rod, so as to fix the positions of the paint assembly 2 and the walking wheel set 11. The power system high-voltage overhead transmission line surface functional material automatic coating robot can automatically walk on the cable 4 and automatically coat material on the surface of the cable 4. The whole process does not need manual assistance, saves manpower, does not need to be powered off, and reduces the electric shock accident rate of maintenance personnel.

[0037] As shown in the accompanying drawings Figure 3As shown, in the embodiment, the coating assembly 2 comprises a first guide rail 23 and a second driving mechanism (not labeled in the figure), the coating part 22 comprises a first sub-coating part 221 and a second sub-coating part 222, the second sub-coating part 222 is movably arranged on the first guide rail 23, and the second sub-coating part 222 is connected with the second driving mechanism, the second driving mechanism drives the second sub-coating part 222 to move on the first guide rail 23, so as to make the second sub-coating part 222 engage with or separate from the first sub-coating part 221. When the surface of the cable 4 is coated with the coating, the coating part 22 will wrap the circumference of the cable 4, the cable 4 is hung on the telegraph pole, and the cable 4 cannot be directly inserted through the coating part 22, the coating part 22 comprises the first sub-coating part 221 and the second sub-coating part 222, the first sub-coating part and the second sub-coating part 222 can be separated and connected to form the coating part 22. When it is needed to install the cable 4 to the coating part 22 for coating, the second driving mechanism drives the second sub-coating part 222 to move on the first guide rail 23 in a direction away from the first sub-coating part 221, so as to make the second sub-coating part 222 separate from the first sub-coating part 221, the cable 4 can be inserted into the first sub-coating part 221, then the second driving mechanism drives the second sub-coating part 222 to move on the first guide rail 23 in a direction close to the first sub-coating part 221, so as to make the second sub-coating part 222 engage with the first sub-coating part 221, facilitating the installation of the cable 4 to the coating part 22 for coating, without the need to remove the cable 4 at a high place. In the embodiment, the unmanned aerial vehicle hoists the power system high-voltage overhead transmission line surface functional material automatic coating robot to one side of the cable 4, the second driving mechanism drives the second sub-coating part 222 to move along the first guide rail 23, so as to make the second sub-coating part 222 separate from the first sub-coating part 221, the power system high-voltage overhead transmission line surface functional material automatic coating robot is moved again, so as to make the cable 4 installed on the first sub-coating part 221, then the second driving mechanism drives the second sub-coating part 222 to move in a direction close to the first sub-coating part 221 again, until the second sub-coating part 222 engages with the first sub-coating part 221. In the embodiment, the second driving mechanism comprises a motor and a screw rod, or the second driving mechanism comprises a cylinder and a driving rod, the present application does not limit the specific composition of the second driving mechanism, as long as the purpose of the present application can be achieved.

[0038] Further, on the basis of the design that the coating assembly 2 comprises a first guide rail 23 and a second driving mechanism, and the coating part 22 comprises a first sub-coating part 221 and a second sub-coating part 222, as shown in FIG. 2, the second sub-coating part 222 is movably arranged on the first guide rail 23, and the second sub-coating part 222 is connected with the second driving mechanism, the second driving mechanism drives the second sub-coating part 222 to move on the first guide rail 23, so as to make the second sub-coating part 222 engage with or separate from the first sub-coating part 221. Figures 4-5As shown, the first sub-coating part 221 comprises a first coating half-ring 2211 provided with a first opening, the second sub-coating part 222 is provided with a second coating half-ring 2221 provided with a second opening, the first sub-coating part 221 and the second sub-coating part 222 are joined to combine the first coating half-ring 2211 and the second coating half-ring 2221 into a coating ring, a coating hole 223 is formed in the coating ring combined by the first opening and the second opening, and the cable 4 can be installed in the coating hole 223 for coating. The first coating half-ring 2211 and the second coating half-ring 2221 are semicircular, which facilitates combination and separation of the first coating half-ring 2211 and the second coating half-ring 2221, and facilitates the flow of the coating along the arc-shaped wall of the circle when feeding. The cable 4 is circular, the first coating half-ring 2211 is provided with a first opening, the second coating half-ring 2221 is provided with a second opening, a coating hole 223 is formed in the coating ring combined by the first opening and the second opening, the cable 4 is installed in the coating hole 223 for coating, and the coating hole 223 and the cable 4 are matched in shape. In an example, the inner wall of the coating hole 223 is provided with a plurality of feeding ports uniformly distributed, the feeding ports are connected with the feeding pipe 32, the feeding pipe 32 transports the coating of the coating assembly 2 to the feeding ports, and since the inner wall of the coating hole 223 is in contact with the cable 4, the coating can be coated on the surface of the cable 4.

[0039] In an example of the embodiment, one end of the feeding pipe 32 is connected with the storage container 31, and the other end is connected with the second sub-coating part 222. The feeding pipe 32 moves along the second sub-coating part 222 on the first guide rail 23, which does not hinder the cable 4 from being placed on the first sub-coating part 22 first, and facilitates installation of the cable 4.

[0040] In another example of the embodiment, the feeding pipe 32 is connected to the storage container 31 at one end and to the first sub-coating part 221 at the other end, away from the direction in which the cable 4 is installed. The feeding pipe 32 is connected to the first sub-coating part 221, and because the first coating part 22 is arranged above the second sub-coating part 222 and the storage container 31 is arranged below the coating assembly 2, the feeding pipe 32 connecting the first sub-coating part 221 and the storage container 31 would block the opening formed between the second sub-coating part 222 and the first sub-coating part 221, preventing the installation of the cable 4. In order not to block the installation of the cable 4 onto the coating part 22, the feeding pipe 32 is connected to the storage container 31 at one end and to the first sub-coating part 221 at the other end, away from the direction in which the cable 4 is installed. The direction in which the cable 4 is installed refers to the direction in which the cable 4 is installed onto the first sub-coating part 221. In an example, the first guide rail 23 is arranged on one side of the coating part 22, and when the first sub-coating part 221 and the second sub-coating part 222 are separated, the first guide rail 23 would block the installation of the cable 4 onto the first sub-coating part 221, i.e. the direction in which the cable 4 is installed would not be the side of the first sub-coating part 221 closer to the first guide rail 23, and the feeding pipe 32 is installed on the side of the first sub-coating part 221 closer to the first guide rail 23.

[0041] In an embodiment, the walking assembly 1 comprises a bracket body 13, a first cover 14 and a second cover 15, the first cover 14 is arranged at the upper end of the bracket body 13, the second cover 15 and the bracket body 13 are oppositely arranged, and the second cover 15 is spaced apart from the bracket body 13 to form a cavity 16 accommodating the walking wheel set 11, the cavity 16 has a mounting opening 17 facing downward, and the walking wheel set 11 is connected to one end of the bracket body 13 and the other end of the second cover 15. The walking wheel set 11 is installed in the cavity 16, and when the cable 4 is installed on the walking wheel set 11, the power system high-voltage overhead transmission line surface functional material automatic coating robot is moved to make the cable 4 enter the cavity 16 from the mounting opening 17 and be installed on the walking wheel set 11. The power system high-voltage overhead transmission line surface functional material automatic coating robot is hoisted by a drone to the cable 4, and after hoisting is completed, the drone lowers the power system high-voltage overhead transmission line surface functional material automatic coating robot, and under the action of gravity, the walking wheel set 11 is pressed on the cable 4, the first driving mechanism drives the walking wheel set 11 to move along the cable 4, and the cavity 16 formed by the bracket body 13, the first cover 14 and the second cover 15 limits the cable 4 when the walking wheel set 11 walks on the cable 4, so that the cable 4 is not easy to come out of the cavity 16, and the power system high-voltage overhead transmission line surface functional material automatic coating robot is prevented from falling from the cable 4.

[0042] In order to facilitate the drone to hoist the power system high-voltage overhead transmission line surface functional material automatic coating robot, the first cover 14 is provided with a hoisting bracket 18 at the upper end, the hoisting bracket 18 comprises a connecting rod 181 and a hoisting plate 182, one end of the connecting rod 181 is connected to the middle of the hoisting plate 182, and clamping plates 1821 are arranged on both sides of the hoisting plate 182. Two hoisting lines of the drone can be wound on both sides of the hoisting plate 182, and when the drone hoists the power system high-voltage overhead transmission line surface functional material automatic coating robot, the clamping plates 1821 prevent the hoisting lines from slipping out, so that the power system high-voltage overhead transmission line surface functional material automatic coating robot is prevented from being thrown down from a high place. In another example, the drone can also use other hoisting settings to fix the power system high-voltage overhead transmission line surface functional material automatic coating robot, which is not necessarily a hoisting line. Regardless of the hoisting equipment, the hoisting bracket 18 is easy to be fixed and connected.

[0043] The power system high-voltage overhead transmission line surface functional material automatic coating robot is provided with a support arm 19, the number of the support arm 19 is 2, one end of the support arm 19 is connected with the support body 13, and the other end is connected with the feeding assembly 3; the support arm 19 comprises a first connecting part 191, a second connecting part 192 and a third connecting part 193 which are connected in sequence, the first connecting part 191 is connected with the support body 13, the third connecting part 193 is connected with the feeding assembly 3, one end of the second connecting part 192 is connected with the first connecting part 191, and the other end is connected with the third connecting part 193; the second cover body 15 is provided with a first inclined surface 151, the first inclined surface 151 is arranged towards the second connecting part 192, the second connecting part 192 is provided with a second inclined surface 1921, the first inclined surface 151 and the second inclined surface 1921 are parallel to form a guide channel 5 which communicates with the mounting opening 17. The support arm 19 connects the support body 13 and the feeding assembly 3, and reinforces the stability of the power system high-voltage overhead transmission line surface functional material automatic coating robot, the first connecting part 191, the second connecting part 192 and the third connecting part 193 form a general Z type, which facilitates the connection of the support body 13 with the front end of the feeding assembly 3, and the second connecting part 192 is inclined and provided with a second inclined surface 1921, the second inclined surface 1921 and the first inclined surface 151 form an inclined guide channel 5, which facilitates the unmanned aerial vehicle to hoist the power system high-voltage overhead transmission line surface functional material automatic coating robot, so that the cable 4 enters the cavity 16 from the guide channel 5 and is installed on the walking wheel set 11. Since the power system high-voltage overhead transmission line surface functional material automatic coating robot is hoisted by an unmanned aerial vehicle, the cable 4 is installed on the walking wheel set 11, and the flexibility is relatively low, and the first inclined surface 151 and the second inclined surface 1921 limit the cable 4, so that the cable 4 enters the cavity 16 along the inclined guide channel 5 and is installed on the walking wheel set 11, thereby reducing the installation difficulty of the cable 4.

[0044] In order to enable the walking wheel set 11 to stably walk on the cable 4 and avoid the cable 4 from slipping off the walking wheel set 11, as shown in the accompanying drawings, Figure 6As shown, the support body 13 is provided with a second guide rail 131, a third driving mechanism (not labeled in the drawing), and a mounting portion 1311 movably arranged on the second guide rail 131. The third driving mechanism is connected with the mounting portion 1311 and can drive the mounting portion 1311 to move on the second guide rail 131. The mounting portion 1311 is provided with a limiting wheel 13111. The second guide rail 131 extends along the lower end of the support body 13 to the walking wheel set 11. When the power system high-voltage overhead transmission line surface functional material automatic coating robot needs to be hoisted to the cable 4, the mounting portion 1311 is located at the lower end of the second guide rail 131. When the walking wheel set 11 is installed on the cable 4, the third driving mechanism drives the mounting portion 1311 to move towards the walking wheel set 11, so that the limiting wheel 13111 is located below the cable 4. At this time, the walking wheel set 11 is above the cable 4, the cable 4 is limited between the limiting wheel 13111 and the walking wheel set 11, so as to avoid the cable 4 from slipping out of the walking wheel set 11, thereby affecting the movement of the power system high-voltage overhead transmission line surface functional material automatic coating robot on the cable 4. In the embodiment, the third driving mechanism includes a motor and a screw rod, or the third driving mechanism includes a cylinder and a driving rod. The present application does not limit the specific composition of the third driving mechanism, as long as the purpose of the present application can be achieved.

[0045] In the embodiment, as shown in FIG. 2, the second guide rail 131 is provided with a plurality of limiting grooves 13112, and the mounting portion 1311 is provided with a plurality of limiting protrusions 13113 corresponding to the limiting grooves 13112. When the mounting portion 1311 moves on the second guide rail 131, the limiting protrusions 13113 are matched with the limiting grooves 13112, so as to limit the movement of the mounting portion 1311 on the second guide rail 131. Figure 7As shown, the walking wheel set 11 comprises a first walking wheel 111, a second walking wheel 112 and a transmission mechanism 113, the first walking wheel 111 is provided with a first transmission rod 1111, the second walking wheel 112 is provided with a second transmission rod 1121, one end of the first transmission rod 1111 is connected with the first driving mechanism, the other end is connected with the transmission mechanism 113, one end of the second transmission rod 1121 is rotatably connected with the support body 13, the other end is connected with the transmission mechanism 113; the transmission mechanism 113 comprises two rollers 1131 and a belt 1132, the two rollers 1131 are respectively fixedly connected with the first transmission rod 1111 and the second transmission rod 1121, and the two ends of the belt 1132 are respectively connected with the two rollers 1131. Two walking wheels are used to walk on the cable 4, and the walking is more stable. The first driving mechanism drives the first walking wheel 111 to rotate to move on the cable 4, the first walking wheel 111 rotates to drive the belt 1132 to rotate, and the belt 1132 drives the second walking wheel 112 to rotate. The first transmission rod 1111 is provided with bearings on both sides of the first walking wheel 111, one side bearing is used to be connected with the roller 1131, and the other side bearing is used to be connected with the first driving mechanism, the first transmission rod 1111 is provided with a gasket on both sides of the first walking wheel 111, and the gasket can enhance the stability of the connection between the bearing and the roller 1131 or the bearing and the first driving mechanism. Similarly, the second transmission rod 1121 is provided with bearings on both sides of the second walking wheel 112, one side bearing is used to be connected with the roller 1131, and the other side bearing is used to be connected with the support body 13, the second transmission rod 1121 is provided with a gasket on both sides of the second walking wheel 112, and the gasket can enhance the stability of the connection between the bearing and the roller 1131 or the bearing and the support body 13.

[0046] In the embodiment, as shown in the accompanying drawings Figure 8 As shown, the first walking wheel 111 comprises a first end 1112 and a second end 1113, the first end 1112 is connected with the second end 1113; the closer the first end 1112 is to the second end 1113, the smaller the cross-sectional area of the first end 1112 is, and the closer the second end 1113 is to the first end 1112, the smaller the cross-sectional area of the second end 1113 is, so that the walking wheel forms a V-shaped groove. The V-shaped groove is convenient for accommodating the cable 4 and positioning the cable 4, facilitating the first walking wheel 111 to walk on the cable 4, and the cable 4 is not easy to slip off the first walking wheel 111, which can ensure that the power system high-voltage overhead transmission line surface functional material automatic coating robot moves on the cable 4. Similarly, the shape of the second walking wheel 112 is the same as that of the first walking wheel 111.

[0047] In this embodiment, as shown in the appendix Figure 9 As shown, the feeding assembly 3 includes a fourth drive mechanism 33, which includes a cylinder 331, a push rod 332, and a push plate 333. One end of the push rod 332 is connected to the cylinder 331, and the other end is connected to the push plate 333. The push plate 333 is disposed inside the storage container 31 and can move within the storage container 31 to squeeze the coating material in the storage container 31. The fourth drive mechanism 33 drives the push plate 333 to squeeze the coating material from one end of the storage container 31 to the other end. Under the pushing action of the push plate 333, the coating material in the storage container 31 reaches the coating assembly 2 along the feeding pipe 32. The feeding assembly 3 can automatically feed the coating assembly 2, with a high degree of automation. The storage container 31 can store a certain amount of coating material, enabling the automatic coating robot for the surface functional materials of high-voltage overhead transmission lines in the power system to coat long cables 4.

[0048] To monitor in real time the completion of coating on cable 4 by the automated coating robot for functional materials on the surface of high-voltage overhead transmission lines in the power system, a camera 6 is installed to monitor the condition of cable 4. In one example, the exposed condition of cable 4 can be monitored, and coating is applied to cable 4 based on the exposed condition. When the walking device is positioned in front of the coating device, the camera 6 is positioned at the front or rear of the walking device, or the camera 6 is positioned at the front of the coating assembly 2. When the camera 6 detects any damage to cable 4, the coating device applies coating to the damaged area of ​​cable 4. In another example, the coating application status of cable 4 can be monitored, and based on the coating application status, it can be determined whether the feeding assembly 3 is short of material, whether the coating assembly 2 is malfunctioning, or whether the coating application to cable 4 needs to be repeated. When the walking device is positioned in front of the coating device, the camera 6 is positioned at the rear of the coating assembly 2. In one example, the exposed state of the cable 4 and the coating state of the cable 4 can be monitored. When the walking device is located in front of the coating device, a camera 6 is located at the front or rear end of the walking device, or the camera 6 is located at the front end of the coating component 2 and the camera 6 is located at the rear end of the coating component 2. Here, the directional terms "front" and "rear" are relative. "Front" and "rear" are relative to the front and rear of the automatic coating material when it is walking. That is, when the automatic coating material is walking, the part in front of the automatic coating material is the front end, and the part behind the automatic coating material is the rear end.

[0049] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the embodiments of the present application, but not to limit them. Although the embodiments of the present application are described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the embodiments of the present application can be modified or replaced equivalently, and these modifications or equivalent replacements should not make the modified technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A power system high-voltage overhead transmission line surface functional material automatic coating robot, applied to coating paint on the surface of a cable (4), characterized in that, The automatic coating robot for surface functional materials of high-voltage overhead transmission line of power system comprises a walking assembly (1), a coating assembly (2) and a feeding assembly (3), the coating assembly (2) is located at the front side or the rear side of the walking assembly (1), the walking assembly (1) comprises a walking wheel set (11) and a first driving mechanism connected with each other, the coating assembly (2) comprises a positioning wheel (21) and a coating part (22), and the feeding assembly (3) comprises a storage container (31) and a feeding pipe (32), one end of the feeding pipe (32) is connected with the coating part (22), and the other end of the feeding pipe (32) is connected with the storage container (31). The walking assembly (1) comprises a support body (13), a first cover body (14) and a second cover body (15), the first cover body (14) is arranged at the upper end of the support body (13), the second cover body (15) is arranged opposite to the support body (13), and the second cover body (15) is arranged in a spaced mode with the support body (13) to form a cavity (16) for accommodating the walking wheel set (11), the cavity (16) has an installation opening (17) facing downward, one end of the walking wheel set (11) is connected with the support body (13), and the other end of the walking wheel set (11) is connected with the second cover body (15), the automatic coating robot for surface functional materials of high-voltage overhead transmission line of power system is provided with support arms (19), the number of the support arms (19) is two, one end of the support arm (19) is connected with the support body (13), and the other end of the support arm (19) is connected with the feeding assembly (3). The support arm (19) comprises a first connecting part (191), a second connecting part (192) and a third connecting part (193) connected in sequence, the first connecting part (191) is connected with the support body (13), the third connecting part (193) is connected with the feeding assembly (3), one end of the second connecting part (192) is connected with the first connecting part (191), and the other end of the second connecting part (192) is connected with the third connecting part (193), the second cover body (15) is provided with a first inclined surface (151), the first inclined surface (151) is arranged towards the second connecting part (192), the second connecting part (192) is provided with a second inclined surface (1921), the first inclined surface (151) and the second inclined surface (1921) are parallel to form a guide channel (5) communicating with the installation opening (17), The automatic coating robot for surface functional materials of high-voltage overhead transmission line of power system is provided with a camera (6), and the camera (6) is arranged on the walking assembly (1) and / or the coating assembly (2).

2. The electric power system high voltage overhead transmission line surface functional material automatic coating robot according to claim 1, characterized in that, The coating assembly (2) comprises a first guide rail (23) and a second driving mechanism, the coating part (22) comprises a first sub-coating part (221) and a second sub-coating part (222), the second sub-coating part (222) is movably arranged on the first guide rail (23), and the second sub-coating part (222) is connected with the second driving mechanism, the second driving mechanism drives the second sub-coating part (222) to move on the first guide rail (23), so that the second sub-coating part (222) is engaged with or separated from the first sub-coating part (221).

3. The electric power system high voltage overhead transmission line surface functional material automatic coating robot according to claim 2, characterized in that, The first sub-coating part (221) comprises a first coating half ring (2211) provided with a first opening, the second sub-coating part (222) is provided with a second coating half ring (2221) provided with a second opening, the first sub-coating part (221) and the second sub-coating part (222) are engaged to combine the first coating half ring (2211) and the second coating half ring (2221) into a coating ring, a coating hole (223) combined by the first opening and the second opening is formed in the coating ring, and the cable (4) can be installed in the coating hole (223) for coating.

4. The electric power system high voltage overhead transmission line surface functional material automatic coating robot according to claim 2, characterized in that, One end of the feeding pipe (32) is connected with the storage container (31), and the other end is connected with the second sub-coating part (222); or One end of the feeding pipe (32) is connected with the storage container (31), and the other end is connected with one end of the first sub-coating part (221) away from the installation direction of the cable (4).

5. The electric power system high voltage overhead transmission line surface functional material automatic coating robot according to claim 1, characterized in that, The first cover body (14) is provided with a lifting support (18) at the upper end, the lifting support (18) comprises a connecting rod (181) and a lifting plate (182), one end of the connecting rod (181) is connected to the middle part of the lifting plate (182), and the lifting plate (182) is provided with clamping plates (1821) on both sides.

6. The electric power system high voltage overhead transmission line surface functional material automatic coating robot according to claim 1, characterized in that, The support body (13) is provided with a second guide rail (131), a third driving mechanism, and a mounting part (1311) movably arranged on the second guide rail (131), the third driving mechanism is connected with the mounting part (1311) and can drive the mounting part (1311) to move on the second guide rail (131), the mounting part (1311) is provided with a limiting wheel (13111), and the second guide rail (131) extends to the walking wheel set (11) along the lower end of the support body (13).

7. The electric power system high voltage overhead transmission line surface functional material automatic coating robot according to claim 1, characterized in that, The walking wheel set (11) comprises a first walking wheel (111), a second walking wheel (112) and a transmission mechanism (113), the first walking wheel (111) is provided with a first transmission rod (1111), the second walking wheel (112) is provided with a second transmission rod (1121), one end of the first transmission rod (1111) is connected with the first driving mechanism, the other end is connected with the transmission mechanism (113), one end of the second transmission rod (1121) is rotatably connected with the support main body (13), the other end is connected with the transmission mechanism (113); the transmission mechanism (113) comprises two rollers (1131) and a belt (1132), the two rollers (1131) are respectively fixedly connected with the first transmission rod (1111) and the second transmission rod (1121), and the belt (1132) is connected with the two rollers (1131) at two ends.

8. The electric power system high voltage overhead transmission line surface functional material automatic coating robot according to claim 7, characterized by, The first walking wheel (111) comprises a first end (1112) and a second end (1113), the first end (1112) is connected with the second end (1113); the closer the first end (1112) is to the second end (1113), the smaller the cross-sectional area of the first end (1112) is, the closer the second end (1113) is to the first end (1112), the smaller the cross-sectional area of the second end (1113) is, so that the walking wheel is formed with a V-shaped groove.

9. The electric power system high voltage overhead transmission line surface functional material automatic coating robot according to claim 1, characterized in that, The feeding assembly (3) comprises a fourth driving mechanism (33), the fourth driving mechanism (33) comprises a cylinder (331), a push rod (332) and a push plate (333), one end of the push rod (332) is connected with the cylinder (331), the other end is connected with the push plate (333), the push plate (333) is arranged in the storage container (31) and can move in the storage container (31) to extrude paint of the storage container (31).

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