A new power distribution network line insulation coating robot

Abstract

The present application belongs to the technical field of power distribution network line insulation coating operation, and particularly relates to a novel power distribution network line insulation coating robot. The robot comprises an insulation coating device, a walking mechanism, a cleaning mechanism and a control box. The walking mechanism and the cleaning mechanism are arranged on the top of the control box, the walking mechanism is used for walking on the wire, the cleaning mechanism is used for cleaning the outer surface of the wire, and the insulation coating device is arranged at one end of the control box and is used for coating paint on the outer surface of the wire. The present application has the advantages of light structure, quality meeting the overhead line bearing capacity, braking capacity, climbing capacity and anti-skid capacity, and the coating thickness of the robot reaches the insulation effect, so that the damage caused by sagging due to the excessive thickness of the insulation paint during the coating process is avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of power distribution network line insulation coating operation, and particularly relates to a novel power distribution network line insulation coating robot. BACKGROUND

[0002] The rural power distribution network transmission line has been the main way of rural power transmission, and plays a crucial role in protecting people's normal production and life. But the transmission line in the rural power distribution network is still in a direct exposure state. Facing the complex rural environment, they are easy to be worn and corroded by the outside world, and easy to leak. These problems lead to poor stability of the power transmission and distribution network, easy tripping accidents, affect life and production, and threaten people's life and property safety.

[0003] In order to improve the stability of the whole rural power transmission and distribution network system, the State Grid has put forward two solutions: one is to lay the power transmission and distribution line with thermal insulation layer. But at present, the rural power transmission and distribution network is very large, and the line is complex. Therefore, this method has many problems, such as high cost, great construction difficulty, large workload, and inconvenience to people's normal life, so it cannot be implemented. Secondly, the insulation material is coated on the existing power transmission and distribution pipe network wire. But if this method is used, there are many problems such as high risk, difficult operation, high work intensity, and poor coating uniformity. Therefore, it is of great significance to use a robot to propose a method of automatically coating insulation paint on the power distribution network wire to solve the above problems. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide a novel power distribution network line insulation coating robot to solve the problems of high risk, difficult operation, high work intensity, and poor coating uniformity of the existing insulation material coating method.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0006] A novel power distribution network line insulation coating robot, comprising an insulation coating device, a walking mechanism, a cleaning mechanism and a control box, wherein the walking mechanism and the cleaning mechanism are arranged on the top of the control box, the walking mechanism is used for walking on the wire; the cleaning mechanism is used for cleaning the outer surface of the wire; the insulation coating device is arranged at one end of the control box, and is used for coating paint on the outer surface of the wire.

[0007] The control box comprises a box body and a paint pump and an insulation glue barrel arranged in the box body, wherein the insulation glue barrel is placed at the bottom of the box body, the paint pump is arranged above the insulation glue barrel, the inlet of the paint pump is communicated with the insulation glue barrel, and the outlet is connected with the insulation coating device through a paint conveying pipe.

[0008] The insulating coating device comprises a coating brush, a coating brush baffle, a spray head, a spraying ball and a coating support rack, wherein the coating support rack is arranged on the top of the control box, the coating brush is arranged on the coating support rack, the coating brush has a circular structure and is sleeved on the outside of the wire, the coating brush is provided with the spray head, and the spray head is connected with the coating conveying pipe;

[0009] The coating brush baffle has a circular ring structure and is arranged at the front end of the coating brush, a plurality of spraying balls are arranged on the coating brush baffle in the circumferential direction, and the plurality of spraying balls are in contact with the wire.

[0010] The coating brush has a split structure and comprises an upper coating brush and a lower coating brush which are both semicircular structures, and the upper coating brush and the lower coating brush are connected through bolts after being buckled.

[0011] The cleaning mechanism comprises a descaling wheel assembly, a brake assembly and a linkage mechanism, wherein the brake assembly is connected with the descaling wheel assembly through the linkage mechanism, and the brake assembly is used for braking; and the descaling wheel assembly is used for cleaning the surface of the wire.

[0012] The descaling wheel assembly comprises a descaling wheel side connecting plate, a descaling wheel support plate, a descaling wheel shaft and a descaling wheel, wherein the lower end of the descaling wheel support plate is hinged to the control box, the upper end of the descaling wheel support plate is obliquely provided with the descaling wheel side connecting plate, the descaling wheel shaft is arranged on the descaling wheel side connecting plate, and the descaling wheel is rotatably installed on the descaling wheel shaft.

[0013] The descaling wheel assembly is symmetrical and arranged in two groups; and two descaling wheels in the two groups of the descaling wheel assembly are clamped on both sides of the wire.

[0014] The brake assembly comprises a clamping wheel, a brake wheel shaft, a brake motor seat, a brake motor and a brake lever, wherein the brake motor seat is arranged on the top of the control box, the brake motor is installed on the brake motor seat, the brake motor shaft of the brake motor is connected with the brake lever perpendicularly, and the clamping wheel is arranged at the end of the brake lever.

[0015] The linkage mechanism comprises a sliding block I, a sliding block connecting rod I, a sliding block connecting rod II, a push rod I, a sliding block II, a push rod II, a guide rail I and a guide rail II, wherein the guide rail I is arranged in the vertical direction and located between the two groups of the descaling wheel assembly, the guide rail II is horizontally arranged between the descaling wheel assembly and the brake assembly, the sliding block I and the sliding block II are respectively slidably matched with the guide rail I and the guide rail II, one end of the sliding block connecting rod I and the sliding block connecting rod II is hinged with the sliding block I, and the other end is respectively hinged with the descaling wheel support plate in the two groups of the descaling wheel assembly.

[0016] One end of the push rod I and the push rod II is hinged with the sliding block II, the other end of the push rod I is hinged with the sliding block I, and the other end of the push rod II is hinged with the brake lever.

[0017] When the brake motor drives the clamping wheel upward through the brake lever, the clamping wheel is in frictional contact with the wire, realizing the braking function, and meanwhile, the linkage mechanism drives the two groups of the scale removal wheels to swing in opposite directions, so that the scale removal wheels are disengaged from the wire.

[0018] When the brake motor drives the clamping wheel downward through the brake lever, the clamping wheel is disengaged from the wire, and meanwhile, the linkage mechanism drives the two groups of the scale removal wheels to swing towards each other, so that the scale removal wheels are passively rotated on both sides of the wire, realizing the cleaning purpose.

[0019] The walking mechanism comprises a walking wheel, a walking wheel shaft, a speed reducer, a motor fixing frame and a walking motor, wherein the motor fixing frame is arranged on the top of the control box, the walking motor is arranged in the motor fixing frame, and the output end is connected with the walking wheel shaft through the speed reducer, and the walking wheel is arranged on the walking wheel shaft.

[0020] The walking mechanism is two groups and is arranged on both sides of the cleaning mechanism.

[0021] The advantages and beneficial effects of the present application are that the robot can stably and reliably move on the overhead line through the cooperation of the driving wheel and the clamping wheel, and has the braking ability, the climbing ability and the anti-skid ability.

[0022] The insulation coating device assembly of the present application adopts an upper and lower occlusion structure around each conductor to form a closed space around the conductor, which can effectively avoid the influence of wind load on the coating work. The coating thickness of the robot reaches the insulation effect, avoiding the damage caused by sagging due to the excessive thickness of the insulating paint during the coating process.

[0023] The scale removal wheel and the clamping wheel of the present application share one motor through the linkage mechanism, the robot structure is light and the quality requirement meets the carrying capacity of the overhead line. The liquid pump motor and the driving wheel motor can maintain stable operation when the external force changes, can control the operation process of the robot in real time, and can observe the operation state in real time. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structural schematic view of the novel power distribution network line insulation coating robot of the present application;

[0025] Figure 2 It is a front view of the novel power distribution network line insulation coating robot of the present application;

[0026] Figure 3 It is a top view of the novel power distribution network line insulation coating robot of the present application;

[0027] Figure 4 It is a structural schematic view of the walking mechanism in the present application;

[0028] Figure 5 is a cross-sectional view of the walking mechanism in the present application;

[0029] Figure 6 is a structural schematic view of the descaling clamping mechanism in the present application;

[0030] Figure 7 is a top view of the descaling clamping mechanism in the present application;

[0031] Figure 8 is a front view of the descaling device in the present application;

[0032] Figure 9 is a cross-sectional view of the descaling wheel in the present application;

[0033] Figure 10 is a cross-sectional view of the insulation coating device in the present application;

[0034] In the figure: 1 is a descaling wheel side connecting plate, 2 is a descaling wheel support plate, 3 is a descaling wheel shaft, 4 is a descaling wheel, 5 is a descaling wheel shaft sleeve, 6 is a descaling connecting plate support, 7 is a deep groove ball bearing, 8 is a connecting column, 9 is a sliding block I, 10 is a sliding block connecting rod I, 11 is a sliding block connecting rod II, 12 is a push rod I, 13 is a sliding block II, 14 is a push rod II, 15 is a brake lever, 16 is a guide wire, 17 is an upper coating brush, 18 is a coating brush baffle, 19 is a lower coating brush, 20 is a spray head, 21 is a spray ball, 22 is a coating brush connecting rod, 23 is a coating brush support rod, 24 is a clamping wheel, 25 is a brake wheel shaft, 26 is an upper cover plate, 27 is a descaling support shaft, 28 is a descaling support, 29 is a guide rail I, 30 is a guide rail II, 31 is an upper frame of a box body, 32 is a box body connecting rod, 33 is a lower frame of the box body, 34 is a box body bottom plate, 35 is a support base, 36 is a coating pump, 37 is an insulating glue barrel, 38 is a brake motor seat, 39 is a brake motor, 40 is a brake motor shaft, 41 is a box body side plate, 42 is a walking wheel hub, 43 is a walking wheel bearing seat, 44 is a walking wheel shaft, 45 is a speed reducer, 46 is an angular contact ball bearing, 47 is a motor fixing frame, 48 is a walking motor, 49 is a walking tire, 50 is a walking wheel bearing sleeve, and 52 is a coating delivery pipe. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is described in detail below in combination with the drawings and specific embodiments.

[0036] As Figures 1-3As shown in the figure, the application provides a new power distribution network line insulation coating robot, which comprises an insulation coating device, a walking mechanism, a cleaning mechanism and a control box, wherein the walking mechanism and the cleaning mechanism are arranged on the top of the control box, the walking mechanism is used for walking on the wire 16, and the cleaning mechanism is used for cleaning the outer surface of the wire 16; the insulation coating device is arranged at one end of the control box and is used for coating paint on the outer surface of the wire 16.

[0037] As Figure 1 shown in the figure, in the embodiment of the application, the control box comprises a box body and a paint pump 36 and an insulation glue barrel 37 arranged in the box body, wherein the insulation glue barrel 37 is placed at the bottom of the box body, the paint pump 36 is arranged above the insulation glue barrel 37, the feed port of the paint pump 36 is in communication with the insulation glue barrel 37, and the discharge port is connected with the insulation coating device through a paint delivery pipe 52.

[0038] Specifically, the box body comprises an upper cover plate 26, a box body upper frame 31, a box body connecting rod 32, a box body lower frame 33, a box body bottom plate 34, a support base 35 and a box body side plate 41, wherein the box body upper frame 31 and the box body lower frame 33 are connected through the box body connecting rod 32, the box body upper frame 31 and the box body lower frame 33 are enclosed into a square box body through the box body side plate 41, the box body bottom plate 34 is arranged on the box body lower frame 33, and the support base 35 is arranged at the bottom of the four corners of the box body bottom plate 34. The upper cover plate 26 is arranged on the box body upper frame 31.

[0039] As Figures 1-3 , Figure 10 shown in the figure, in the embodiment of the application, the insulation coating device comprises a coating brush, a coating brush baffle 18, a spray head 20, a spraying ball 21 and a coating support frame, wherein the coating support frame is arranged on the upper cover plate 26 of the control box, the coating brush is arranged on the coating support frame, the coating brush has a circular structure and is sleeved on the outside of the wire 16, the spray head 20 is arranged on the coating brush and is connected with the paint delivery pipe 52; the coating brush baffle 18 has a circular ring structure and is arranged at the front end of the coating brush, a plurality of through holes are arranged on the coating brush baffle 18 in the circumferential direction, the spraying ball 21 is arranged in each through hole, and the plurality of spraying balls 21 are in contact with the wire 16. In the coating process, the spraying ball 21 walks on the wire 16.

[0040] Specifically, the coating brush is of split structure, comprising an upper coating brush 17 and a lower coating brush 19, both of which are semicircular in structure, and the upper coating brush 17 and the lower coating brush 19 are connected by bolts after being buckled on the outer side of the wire 16 to form a closed space. The closed space can effectively avoid the influence of wind load on the coating work. The coating thickness of the robot reaches the insulation effect, avoiding the damage caused by sagging of the insulating paint due to excessive thickness of the heat preservation paint during the coating process. The coating support frame comprises a coating brush connecting rod 22 and a coating brush support rod 23, wherein the lower end of the coating brush support rod 23 is connected with the rear end of the upper cover plate 26, the upper end of the coating brush support rod 23 is connected with the coating brush connecting rod 22 vertically, and the terminal end of the coating brush connecting rod 22 is connected with the upper coating brush 17. Preferably, three spray heads 20 are uniformly distributed on the upper edge of the coating brush in the circumferential direction. The paint pump 36 delivers paint to the three spray heads 20 through the three-way paint delivery pipe 52.

[0041] In the embodiment of the present application, the cleaning mechanism comprises a descaling wheel assembly, a brake assembly and a linkage mechanism, wherein the brake assembly is connected with the descaling wheel assembly through the linkage mechanism, and the brake assembly is used for braking; the descaling wheel assembly is used for cleaning the surface of the wire 16.

[0042] As shown in Figures 1-3 In the embodiment of the present application, the descaling wheel assembly comprises a descaling wheel side connecting plate 1, a descaling wheel support plate 2, a descaling wheel shaft 3 and a descaling wheel 4, wherein the lower end of the descaling wheel support plate 2 is hinged with the upper cover plate 26 of the control box through a descaling support pivot 27, and the two ends of the descaling support pivot 27 are supported by two descaling supports 28 arranged on the upper cover plate 26. The upper end of the descaling wheel support plate 2 is obliquely provided with the descaling wheel side connecting plate 1, the descaling wheel shaft 3 is obliquely arranged on the descaling wheel side connecting plate 1, and the descaling wheel 4 is rotatably installed on the descaling wheel shaft 3; the descaling wheel assembly is two groups and is symmetrically arranged; the two descaling wheels 4 in the two groups of descaling wheel assemblies are clamped on the two sides of the wire 16.

[0043] As shown in Figures 8-9 In the embodiment of the present application, the descaling wheel 4 is installed on the descaling wheel shaft 3 through the deep groove ball bearing 7, the two ends of the deep groove ball bearing 7 are axially limited by the descaling wheel shaft sleeve 5, and the shaft assembly is further completed by installing the shaft end baffle ring on the two ends of the descaling wheel shaft 3. The outer surface of the descaling wheel 4 is provided with descaling brush hairs.

[0044] As shown in Figures 6-7 In the embodiment of the present application, the brake assembly comprises a clamping wheel 24, a brake wheel shaft 25, a brake motor seat 38, a brake motor 39 and a brake lever 15, wherein the brake motor seat 38 is arranged on the top of the control box, the brake motor 39 is installed on the brake motor seat 38, the brake motor shaft 40 of the brake motor 39 is connected with the brake lever 15 vertically, and the clamping wheel 24 is arranged on the end of the brake lever 15.

[0045] In the embodiment of the present application, the linkage mechanism comprises slider I 9, slider connecting rod I 10, slider connecting rod II 11, push rod I 12, slider II 13, push rod II 14, guide rail I 29 and guide rail II 30. The guide rail I 29 is arranged on the upper cover plate 26 in the vertical direction and is located between the two groups of descaling wheel assemblies. The guide rail II 30 is horizontally arranged between the descaling wheel assembly and the brake assembly, and the slider I 9 and the slider II 13 are in sliding cooperation with the guide rail I 29 and the guide rail II 30, respectively. One end of the slider connecting rod I 10 and the slider connecting rod II 11 is hinged to the slider I 9, and the other end is hinged to the descaling wheel support plate 2 in the two groups of descaling wheel assemblies, respectively. Specifically, the descaling wheel support plate 2 is provided with a descaling connecting plate support 6 on the upper side surface, and the descaling connecting plate support 6 is hinged to the other end of the slider connecting rod I 10 or the slider connecting rod II 11 through a connecting small column 8. One end of the push rod I 12 and the push rod II 14 is hinged to the slider II 13, the other end of the push rod I 12 is hinged to the slider I 9, and the other end of the push rod II 14 is hinged to the middle part of the brake lever 15. When the brake motor 39 drives the clamping wheel 24 to lift up through the brake lever 15, the clamping wheel 24 is in frictional contact with the wire 16, realizing the braking function, and at the same time, the linkage mechanism drives the two groups of descaling wheels 4 to swing in opposite directions, and the two groups of descaling wheels 4 are separated from the wire 16. When the brake motor 39 drives the clamping wheel 24 to drop down through the brake lever 15, the clamping wheel 24 is separated from the wire 16, and at the same time, the linkage mechanism drives the two groups of descaling wheels 4 to swing towards each other, and the two groups of descaling wheels 4 clamped on both sides of the wire 16 rotate passively, realizing the cleaning purpose. The descaling wheel 4 and the clamping wheel 24 share one motor through the linkage mechanism.

[0046] As shown in Figures 4-5 In the embodiment of the present application, the walking mechanism comprises walking wheels, a walking wheel shaft 44, a speed reducer 45, a motor fixing frame 47 and a walking motor 48. The motor fixing frame 47 is arranged on the top of the control box, the walking motor 48 is arranged in the motor fixing frame 47, and the output end is connected with the walking wheel shaft 44 through the speed reducer 45. The walking wheel shaft 44 is installed on the walking wheel bearing seat 43 at the front end of the speed reducer 45 through an angular contact ball bearing 46, and the angular contact ball bearing 46 is axially limited through a walking wheel bearing sleeve 50. The walking wheels are arranged on the walking wheel shaft 44. Specifically, the walking wheels comprise a walking wheel hub 42 with a V-shaped groove and a walking tire 49 arranged outside the walking wheel hub 42. The power of the walking motor 48 is reduced through the speed reducer 45, and then the power is transmitted to the walking wheel shaft 44 through the speed reducer 45, finally driving the walking wheels to act. Considering the adaptability to different overhead line diameters, each walking wheel adopts a V-shaped groove wheel structure. The surface of the walking wheel has a rubber layer to increase the static friction between the driving wheel and the overhead line.

[0047] Further, the walking mechanism is two groups, and is arranged on both sides of the cleaning mechanism, thereby forming a double-arm wheel type mechanical structure, and the driving mode is the rolling of the two wheels supported on the conductor. When the robot needs to cross the obstacle, the robot can be driven by one walking wheel.

[0048] In the embodiment of the application, the clamping wheel 24 is located in the middle position below the two walking wheels. The motor drives the connecting rod mechanism through the worm gear reducer, which can easily and quickly realize the clamping and loosening of the clamping wheel group on the overhead line. In the clamping state, due to the self-locking characteristics of the worm gear reducer, the driving wheel and the clamping wheel can be reliably clamped, thereby eliminating the possibility of the robot falling from the overhead line. Moreover, the clamping state can increase the pressure between the driving wheel and the overhead line, thereby increasing the maximum static friction therebetween, improving the climbing ability of the robot, and reducing the slipping phenomenon. In the loosening state, the clamping wheel is separated from the overhead line, so that the operator can easily put the robot on the overhead line or take the robot off the overhead line. In addition, due to the pressure of the overhead line on the driving wheel, the slope of the overhead line on both sides of the driving wheel changes greatly, so the bracket of each clamping wheel is also equipped with a resilient washer, so that the clamping wheel can always adhere to the overhead line during movement.

[0049] The application provides a novel power distribution network line insulation coating robot, which can coat insulating paint on a power overhead line, and a working process of the robot is as follows:

[0050] Before the robot is installed, the insulating coating device is opened to facilitate the installation of the robot on the wire. After the suspension is completed, the motor is controlled to be closed, and the upper coating brush 17 and the lower coating brush 19 form a barrel shape around the conductor 16. In order to improve the uniformity of the coating, each brush assembly adopts a three-nozzle 20 uniform distribution structure. Powered by the walking motor 48, the speed reducer 45 reduces the speed, and the power is transmitted to the walking tire 49, and the two walking tires 49 roll on the conductor 16 to realize the walking of the robot. Preferably, a worm gear reducer is used. The clamping wheel 24 is located in the middle position below the two walking wheels 49. The motor drives the connecting rod mechanism through the worm gear reducer, which can easily and quickly realize the clamping and loosening of the clamping wheel assembly on the overhead line. A series of connection transmission relationships are designed between the clamping wheel 24 and the descaling wheel 4, when the clamping wheel 24 is loosened, the descaling wheel 4 is clamped, and when the clamping wheel 24 is clamped, the descaling wheel 4 is loosened. The descaling wheel 4 relies on the friction force between itself and the conductor as the driving force and rotates when it rubs against the conductor. Most of the stains on the surface of the conductor 16 can be cleaned by this friction. The insulating coating robot does not need to brake when walking (working), but needs to clean the stains, and does not need to work after braking. The descaling wheel 4 and the clamping wheel 24 share a motor through a linkage mechanism. The robot walks, cleans, and coats together to complete the cleaning of the conductor and the coating task. In the robot, only one coating brush assembly is needed due to the single-wire coating, so the demand for air pressure is smaller. At the same time, in order to reduce the total weight of the robot, a coating system based on double air particle pressure supply and pressure real-time display is developed. In the four-way valve, one valve is led to the pressure measuring device, and the other valve is led to the air inlet pipe of the coating brush assembly to realize the function of coating on the conductor.

[0051] The application has braking ability, climbing ability and anti-skid ability, can run autonomously on the power transmission line, and uses visible light or infrared thermal imager and other equipment to coat the power transmission line and other equipment; during operation, the two walking motors 48 (brushless DC motors) are controlled separately: by reasonably setting the rated speed and control requirements of the two motors, the two motors can meet the specific speed relationship in a stable state, so that the coating thickness of the overhead line can meet the design requirements. The brushless DC motor control system of the walking wheel is a discrete closed-loop control system.

[0052] The application provides a novel distribution network line insulation coating robot which can coat insulating paint on overhead lines of a distribution network. The robot is designed with a double-arm wheel type mechanical structure. Through cooperation of driving wheels and clamping wheels, the robot can stably and reliably move on overhead lines. The coating device can continuously coat insulating paint on overhead pipelines. Nylon brush wheels are selected as descaling wheels and installed in the middle of the two walking wheels. The descaling wheels and the clamping wheels share one motor through a linkage mechanism, which not only ensures cleaning effect, but also reduces the number of driving motors and the total weight of the robot. The whole robot system has a reliable mechanical structure and a complete control system, can adapt to online movement and coating operation of the robot, and realizes automation of the distribution network line maintenance and insulation coating process.

[0053] The above description is only an embodiment of the application and is not used to limit the protection scope of the application. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A novel power distribution network line insulation painting robot, characterized by, The device comprises an insulation coating device, a walking mechanism, a cleaning mechanism and a control box, wherein the walking mechanism and the cleaning mechanism are arranged on the top of the control box, the walking mechanism is used for walking on the conductor (16), and the cleaning mechanism is used for cleaning the outer surface of the conductor (16); the insulation coating device is arranged at one end of the control box and is used for coating paint on the outer surface of the conductor (16); The control box comprises a box body, a paint pump (36) and an insulation glue barrel (37) arranged in the box body, wherein the insulation glue barrel (37) is arranged at the bottom of the box body, the paint pump (36) is arranged above the insulation glue barrel (37), the inlet of the paint pump (36) is communicated with the insulation glue barrel (37), and the outlet is connected with the insulation coating device through a paint conveying pipe (52); The insulation coating device comprises a coating brush, a coating brush baffle (18), a spray head (20), a spraying ball (21) and a coating support frame, wherein the coating support frame is arranged on the top of the control box, the coating brush is arranged on the coating support frame, the coating brush has a circular structure and is sleeved on the outer side of the conductor (16), the spray head (20) is arranged on the coating brush, and the spray head (20) is connected with the paint conveying pipe (52); The coating brush baffle (18) has a circular ring structure and is arranged at the front end of the coating brush, a plurality of spraying balls (21) are arranged on the coating brush baffle (18) in the circumferential direction, and the plurality of spraying balls (21) are in contact with the conductor (16); The coating brush has a split structure and comprises an upper coating brush (17) and a lower coating brush (19) both having a semicircular structure, and the upper coating brush (17) and the lower coating brush (19) are connected through bolts after being buckled. The cleaning mechanism comprises a descaling wheel assembly, a brake assembly and a linkage mechanism, wherein the brake assembly is connected with the descaling wheel assembly through the linkage mechanism, and the brake assembly is used for braking; and the descaling wheel assembly is used for cleaning the surface of the conductor (16).

2. The novel power distribution network line insulation painting robot according to claim 1, characterized in that, The descaling wheel assembly comprises a descaling wheel side connecting plate (1), a descaling wheel support plate (2), a descaling wheel shaft (3) and a descaling wheel (4), wherein the lower end of the descaling wheel support plate (2) is hinged to the control box, the upper end of the descaling wheel support plate (2) is obliquely provided with the descaling wheel side connecting plate (1), the descaling wheel shaft (3) is arranged on the descaling wheel side connecting plate (1), and the descaling wheel (4) is rotatably installed on the descaling wheel shaft (3); The descaling wheel assembly is symmetrical and comprises two groups; and two descaling wheels (4) in the two groups of the descaling wheel assembly are clamped on the two sides of the conductor (16).

3. The novel power distribution network line insulation painting robot according to claim 2, characterized in that, The brake assembly comprises a clamping wheel (24), a brake wheel shaft (25), a brake motor seat (38), a brake motor (39) and a brake lever (15), wherein the brake motor seat (38) is arranged on the top of the control box, the brake motor (39) is installed on the brake motor seat (38), the brake motor shaft (40) of the brake motor (39) is perpendicularly connected with the brake lever (15), and the clamping wheel (24) is arranged at the end of the brake lever (15).

4. The novel power distribution network line insulation painting robot according to claim 3, characterized in that, The linkage mechanism comprises a sliding block I (9), a sliding block connecting rod I (10), a sliding block connecting rod II (11), a push rod I (12), a sliding block II (13), a push rod II (14), a guide rail I (29) and a guide rail II (30), wherein the guide rail I (29) is arranged in the vertical direction and between the two groups of the descaling wheel assemblies, the guide rail II (30) is horizontally arranged between the descaling wheel assembly and the brake assembly, the sliding block I (9) and the sliding block II (13) are respectively in sliding fit with the guide rail I (29) and the guide rail II (30), and one end of the sliding block connecting rod I (10) and the sliding block connecting rod II (11) is hingedly connected with the sliding block I (9), and the other end is respectively hingedly connected with the descaling wheel support plate (2) in the two groups of the descaling wheel assemblies; One end of the push rod I (12) and the push rod II (14) is hingedly connected with the sliding block II (13), the other end of the push rod I (12) is hingedly connected with the sliding block I (9), and the other end of the push rod II (14) is hingedly connected with the brake lever (15); When the brake motor (39) drives the clamping wheel (24) to be lifted upward through the brake lever (15), the clamping wheel (24) is in frictional contact with the wire (16), the brake function is realized, and the two groups of the descaling wheels (4) are driven to swing in opposite directions by the linkage mechanism to be separated from the wire (16); When the brake motor (39) drives the clamping wheel (24) to be lowered through the brake lever (15), the clamping wheel (24) is separated from the wire (16), and the two groups of the descaling wheels (4) are driven to swing towards each other by the linkage mechanism, and are passively rotated on both sides of the wire (16), so that the cleaning purpose is achieved.

5. The novel power distribution network line insulation painting robot according to claim 1, characterized in that, The walking mechanism comprises walking wheels, a walking wheel shaft (44), a speed reducer (45), a motor fixing frame (47) and a walking motor (48), wherein the motor fixing frame (47) is arranged on the top of the control box, the walking motor (48) is arranged in the motor fixing frame (47), and the output end is connected with the walking wheel shaft (44) through the speed reducer (45), and the walking wheels are arranged on the walking wheel shaft (44); the walking wheels comprise a walking wheel hub (42) with a V-shaped groove and a walking tire (49) arranged outside the walking wheel hub (42).

6. The novel power distribution network line insulation painting robot according to claim 5, characterized by The walking mechanism is two groups and is arranged on both sides of the cleaning mechanism.

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