A coating method for anti-icing treatment of overhead bare conductors

Abstract

The application discloses an overhead bare conductor anti-icing treatment coating method and relates to the technical field of coating robots. The overhead bare conductor anti-icing treatment coating method is characterized by the heater, the storage shell and the spraying assembly. Different anti-icing materials, such as spraying silicon rubber or coating agents, can be put into the storage cylinder according to coating needs. The opening of the spraying assembly can be adjusted to achieve different coating thicknesses, so that the coating robot can adapt to different anti-icing materials. The heater can ensure the fluidity of the anti-icing materials in cold environments and ensure effective coating. The coating robot can adapt to different anti-icing coating materials, the problem that the coating robot is difficult to cope with anti-icing coating materials with different thickness requirements, and the problem that the quality and efficiency of coating are affected can be solved. The failure rate of overhead conductors in freezing weather can be reduced, thereby reducing maintenance costs and prolonging the service life of the conductors.

Description

Technical Field

[0001] This invention relates to the field of coating robot technology, specifically a coating method for preventing icing of overhead bare wires. Background Technology

[0002] Anti-icing treatment for overhead bare conductors refers to coating the surface of overhead bare conductors with an anti-icing and snow-proof protective layer to prevent the impact and damage of weather factors such as ice and snow on the conductors. In cold winter environments, because the surface temperature of the conductor is lower than the air temperature, moisture in the air easily condenses into ice or snow on the conductor. The accumulation of this ice or snow may cause additional weight loads on the conductor, increasing the risk to the conductor and reducing power transmission efficiency. To protect the conductors from the effects of ice and snow, various anti-icing materials can be used, such as silicone rubber, polyethylene, and polyurethane. These anti-icing materials can be applied to the conductor surface by spraying, brushing, or other methods to form a protective layer that effectively prevents ice and snow from adhering to the conductor surface.

[0003] Currently, with the advancement of science and technology and the development of robotics, some coating robots have begun to be applied in the field of anti-icing treatment of overhead bare conductors. The application of coating robots in the field of anti-icing treatment of overhead bare conductors has improved work efficiency and greatly reduced the impact of manual operation on coating quality, realizing the automation of the coating process.

[0004] Different anti-icing materials have different thickness requirements, and some existing coating robots are not easy to adapt to different anti-icing coating materials. Their coating heads are also difficult to adjust, making it difficult to deal with anti-icing coating materials with different thickness requirements, thus affecting the coating quality and efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a coating method for anti-icing treatment of overhead bare conductors. This method solves the problems of existing coating robots being unable to adapt to different anti-icing coating materials and having inconveniently adjustable coating heads, which makes it difficult to handle anti-icing coating materials with different thickness requirements, thus affecting the coating quality and efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a coating method for preventing icing on overhead bare conductors, characterized by comprising the following steps:

[0007] S1. Heat the anti-icing material and control its temperature within a suitable range;

[0008] S2. Start the coating robot and deliver the anti-icing material to the spray head;

[0009] S3. Adjust the opening size and rotation speed of the coating head to adapt to the diameter and shape of the wire;

[0010] S4. Adjust the traveling speed and spraying rate of the coating robot to control the thickness of the coating layer;

[0011] S5. Begin coating, control the thickness of the anti-icing material spray, and control and adjust the temperature of the anti-icing material to ensure the quality and stability of the coating layer;

[0012] S6. After coating is completed, stop the heater and the device for conveying the anti-icing material, stop the movement of the coating robot, and check whether the quality and thickness of the coating layer meet the requirements.

[0013] The anti-icing material is silicone rubber, and step S5 specifically includes the following steps:

[0014] S51. Control the silicone rubber coating thickness based on the opening size and rotation speed of the coating head, the rotation speed of the coating head, the travel speed of the coating robot, and the coating efficiency.

[0015] The thickness h of the silicone rubber is calculated using the following formula:

[0016]

[0017] Where u is the coating speed; η is the coating efficiency; S is the cross-sectional area of ​​the wire; O is the opening size of the coating head; ω is the rotational speed of the coating head; v is the robot's travel speed; D is the wire diameter; E is the coating effect factor; t is the spraying time; τ is the silicone rubber curing time;

[0018] S52. The temperature of the silicone rubber being sprayed is controlled and adjusted based on factors such as ambient temperature, heat conduction loss between the coating head and the anti-icing material, coating efficiency, and heater heating efficiency.

[0019] The temperature T of the silicone rubber when it is ejected is calculated using the following formula:

[0020] T = T m +(T i -T m (1-exp(-k*η*t))+T s +T r ,

[0021] Among them, T m The melting temperature of silicone rubber is set to a constant value; T i The temperature of the silicone rubber after heating by the heater; k is the thermal conductivity coefficient; T s For heat conduction loss between the coating head and the silicone rubber; T r η is the heat radiation loss; t is the spraying time; η is the coating efficiency.

[0022] Alternatively, the anti-icing material may be a coating agent, and step S5 specifically includes the following steps:

[0023] S51. Control the coating thickness according to the opening size of the coating head, the amount of coating agent sprayed, the traveling speed of the coating robot, and the coating efficiency.

[0024] The coating thickness h is calculated using the following formula:

[0025]

[0026] Where Q is the amount of coating agent sprayed; η is the coating efficiency; O is the opening size of the coating head; v is the robot's traveling speed; D is the wire diameter; E is the coating effect factor; t is the spraying time; and α is the coating agent curing time.

[0027] S52. The temperature of the coating agent during spraying is controlled and adjusted according to the ambient temperature, the density of the coating agent, the heat radiation loss, and the volume factor of the coating agent.

[0028] The temperature T of the coating agent when it is sprayed is calculated using the following formula:

[0029]

[0030] Where T0 is the temperature of the coating agent before spraying; T i ρ is the temperature of the coating agent after heating by the heater; q is the spraying rate; ρ is the density of the coating agent; c is the specific heat capacity of the coating agent; V is the volume of the coating agent; T r η represents heat radiation loss; t represents spraying time; and η represents coating efficiency.

[0031] The present invention has the following beneficial effects:

[0032] This coating method for preventing icing on overhead bare conductors allows for control of the coating thickness and temperature of the anti-icing material by adjusting the coating head opening size and rotation speed, as well as the coating robot's travel speed and spraying rate. This ensures the quality and stability of the coating layer. It is adaptable to different anti-icing materials and allows for adjustments to the coating speed and drying time based on ambient temperature, humidity, and wind speed to improve the coating effect and ensure ideal anti-icing performance in various environments. Effective anti-icing treatment can reduce the failure rate of overhead conductors in freezing weather, thereby reducing maintenance costs and extending the conductor's lifespan.

[0033] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0034] Figure 1This is a schematic diagram of the overall structure of the coating robot for anti-icing treatment of overhead bare wires according to the present invention;

[0035] Figure 2 This is a schematic diagram of the internal structure of the material storage cylinder of the coating robot for the anti-icing treatment of overhead bare wires according to the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of the coating robot support for the anti-icing treatment of overhead bare wires according to the present invention;

[0037] Figure 4 This is a schematic diagram of the structure of the coating robot drive pulley for the anti-icing treatment of overhead bare conductors according to the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of the rotating part of the coating robot for the anti-icing treatment of overhead bare wires according to the present invention;

[0039] Figure 6 This is a schematic diagram of the coating head of the coating robot for the anti-icing treatment of overhead bare conductors according to the present invention;

[0040] Figure 7 This is a flowchart of the coating method for preventing icing of overhead bare conductors according to the present invention;

[0041] Figure 8 This is a flowchart of the first embodiment of the coating method for anti-icing treatment of overhead bare conductors according to the present invention;

[0042] Figure 9 This is a flowchart of the second embodiment of the coating method for anti-icing treatment of overhead bare conductors according to the present invention.

[0043] In the diagram, 1. Storage cylinder; 2. Heater; 3. Support; 4. Storage shell; 401. Connecting shell; 402. Rotating component; 4021. Snap-fit ​​part; 4022. Snap-tooth part; 5. Drive wheel; 6. Drive motor; 7. Connecting frame; 8. Sealing cover; 9. Feed pipe; 10. Connecting rod; 11. First electric push rod; 12. Rotating gear; 13. Rotating shaft; 14. Transmission pulley; 15. Drive pulley; 16. Tensioning spring; 17. Tensioning rod; 18. Tensioning pulley; 19. Feed pipe; 20. Solenoid valve; 21. Connecting hose; 22. Coating head; 23. Adjusting plate; 24. Second electric push rod; 25. Third electric push rod; 26. Connecting plate; 27. Stirring motor; 28. U-shaped stirring rod. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0046] Please see Figures 1-6 This invention provides a technical solution: a coating robot for anti-icing treatment of overhead bare conductors, comprising a storage cylinder 1, a walking mechanism for moving the coating robot on the overhead bare conductor, and a heater 2 inside the storage cylinder 1; two openable and closable semi-annular storage shells 4 are provided on one side of the storage cylinder 1 via a bracket 3, each storage shell 4 is fixedly connected to a spraying component with adjustable opening for spraying anti-icing material, for spraying silicone rubber or coating agent, the storage shells 4 are connected to the storage cylinder 1 via a feed pipe 9, and a pumping component for flowing the anti-icing material is provided on the storage cylinder 1; the coating robot also includes a data detection module, a data processing module, and a data transceiver module, the data detection module for detecting and collecting the operating data of the coating robot during the spraying process, and sending it to the data processing module through the data transceiver module, the data processing module for processing the operating data of the coating robot during the spraying process and controlling the operating posture of the coating robot during the spraying process, and the data transceiver module for receiving wireless commands and sending the operating data of the coating robot during the spraying process to a server.

[0047] Specifically, the walking mechanism includes a drive wheel 5, a drive motor 6, and a connecting frame 7. The drive motor 6 is fixedly connected to the surface of the connecting frame 7, and its output shaft is movably connected to the connecting frame 7. The drive wheel 5 is fixedly sleeved on the surface of the output shaft of the drive motor 6. A sealing cover 8 for sealing the storage cylinder 1 is fixedly connected to the bottom of the connecting frame 7. The sealing cover 8 is fixedly connected to the storage cylinder 1 by screws.

[0048] In this embodiment, the coating robot can walk on the overhead bare wire by using the drive motor 6 and drive wheels 5. Multiple drive wheels 5 can be set to enhance stability and increase friction, making the movement more stable and preventing shaking.

[0049] Specifically, the storage shell 4 includes two semi-annular connecting shells 401. Each connecting shell 401 is movably engaged with a semi-annular rotating component 402. After the two connecting shells 401 are closed, the two rotating components 402 form a complete ring, and the two connecting shells 401 form a complete arc-shaped shell. Each connecting shell 401 is connected to the storage cylinder 1 through a feed pipe 9. A connecting rod 10 is fixedly connected to the surface of each connecting shell 401. One end of the connecting rod 10 is movably hinged to the bracket 3. The connecting rod 10 and the bracket 3 are also connected by a first electric push rod 11, which is used to open or close the connecting shell 401 by the movement of the connecting rod 10. The spraying assembly is fixedly connected to the rotating component 402. The rotating component 402 is closed to form a ring, which can rotate around the central axis of the overhead bare wire, so that the spraying assembly can rotate and spray.

[0050] In this embodiment, by rotating the spraying assembly, a circumferential coating can be achieved. Compared with some existing linear coating methods, this method has better uniformity, eliminates dead corners, and effectively ensures the quality of the coating.

[0051] Specifically, the rotating component 402 includes a snap-fit ​​part 4021 and a snap-tooth part 4022. The snap-fit ​​part 4021 and the snap-tooth part 4022 are integrally formed. The snap-fit ​​part 4021 is movably snapped into the inner sidewall of the connecting shell 401. The snap-tooth part 4022 meshes with the rotating gear 12. There are two rotating gears 12, which are respectively mounted on two connecting rods 10 via two rotating shafts 13. A transmission pulley 14 is fixedly sleeved on each of the two rotating shafts 13. A drive pulley 15 is connected to the bracket 3 via a rotating motor. A tensioning rod 17 is also mounted on the bracket 3 via a tension spring 16. A tensioning pulley 18 is connected to the tensioning rod 17 via a short shaft. The tensioning pulley 18, the drive pulley 15, and the transmission pulley 14 are connected by a belt drive.

[0052] In this embodiment, the rotation of the rotating part 402 can be achieved through the above transmission structure, while also preventing belt slack and improving transmission efficiency.

[0053] Specifically, the spraying assembly includes a feed pipe 19, a solenoid valve 20, a connecting hose 21, and a coating head 22. The solenoid valve 20 is fixedly connected to one end of the feed pipe 19 and to the rotating part 402. During spraying, one of the solenoid valves 20 is opened, and the other end of the feed pipe 19 is fixedly connected to the connecting hose 21. The outlet of the connecting hose 21 is fixedly connected to the coating head 22. Inside the coating head 22, two adjusting plates 23 are movably connected via two connecting shafts. Each adjusting plate 23 is movably connected to the coating head 22 via a second electric push rod 24. A third electric push rod 25 is fixedly connected to the top of the coating head 22. The third electric push rod 25 is fixedly connected to the feed pipe 19 via a connecting plate 26.

[0054] In this embodiment, the angle of the adjusting plate 23 can be adjusted by the second electric push rod 24, thereby adjusting the opening size, which also allows for the adjustment of different thicknesses. The position of the coating head 22 can be adjusted by the third electric push rod 25 to accommodate wires of different diameters.

[0055] Specifically, a stirring motor 27 is fixedly connected to the surface of the storage cylinder 1, the output shaft of the stirring motor 27 moves through the storage cylinder 1 and is fixedly connected to the heater 2, and a U-shaped stirring rod 28 is fixedly connected to the surface of the heater 2.

[0056] In this embodiment, the heater 2 is driven to rotate by the stirring motor 27, which in turn causes the U-shaped stirring rod 28 to rotate, making it easier to stir the molten material and make the temperature more uniform. Especially in colder environments, this can ensure the fluidity of the material.

[0057] Specifically, the data detection module detects and collects the operating data of the coating robot during the spraying process, including ambient temperature, internal temperature of storage cylinder 1, temperature of anti-icing material when it is sprayed from the spraying component, walking speed of the walking mechanism, spraying rate of the spraying component, and opening size of the spraying component.

[0058] In this implementation scheme, in order to control the coating robot more accurately, a corresponding control system can be set up, including at least a data detection module, a data processing module, and a data transceiver module. The data detection module can detect the operating data of the coating robot during the coating process and send the data to the data processing module, thereby controlling and adjusting the operating posture of the coating robot. The data detected by the data detection module can be transmitted to the data processing module through the data transceiver module. The data transceiver module also has wireless communication function, which can send the data to the server in real time, so that the operator can perform real-time operation.

[0059] Different anti-icing materials are placed in storage cylinder 1 as needed. Common anti-icing materials include silicone rubber, coating agents, mineral oil, and polyethylene film. Silicone rubber is a polymer material with good insulation and weather resistance, which can form an insulating protective layer on the surface of the conductor to prevent icing. Silicone rubber anti-icing materials are widely used in the anti-icing treatment of overhead bare conductors. The thickness of the silicone rubber coating is generally 2-3 mm.

[0060] A coating agent is a type of paint that forms an anti-icing protective layer on the surface of a conductor. It can be applied by spraying, brushing, or other methods. There are many types of coating agents, with common ones including polyurethane, acrylic, and fluorocarbon coatings. The thickness of the coating is generally 0.2-0.5 mm.

[0061] The storage cylinder 1 can be suspended on the overhead bare conductor by a walking mechanism. The walking mechanism includes at least one drive wheel 5, which is driven by a drive motor 6. The number of drive motors 6 can be the same as the number of drive wheels 5, or there can be only one. A transmission structure is used to rotate the other drive wheels 5. The connecting frame 7 can be used to fix the storage cylinder 1. In order to facilitate installation and ensure sealing, a sealing cover 8 is fixed on the connecting frame 7. The sealing cover 8 is fixed on the storage cylinder 1 with screws. There is a heater 2 inside the storage cylinder 1, which can heat the anti-icing material, thereby ensuring the fluidity of the anti-icing material in cold environments and facilitating spraying. In order to improve the heating effect and make the temperature of the anti-icing material uniform, a stirring motor 27 is fixed on the storage cylinder 1. The stirring motor 27 drives the rotation of the heater 2. At the same time, a U-shaped stirring rod 28 is fixed on the heater 2, which can realize heating and stirring at the same time.

[0062] A bracket 3 is fixedly connected to the storage cylinder 1 for mounting the spraying component. In order to enable the spraying component to uniformly spray anti-icing material on the overhead bare wire during the linear movement of the coating robot, the spraying component can rotate around the overhead bare wire. Compared with some existing linear spraying methods, it has a better spraying effect and uniform spraying. It does not require repeated spraying or the use of a scraper for leveling.

[0063] To achieve the above technical solution, two storage shells 4 are set on the bracket 3. Both storage shells 4 are semi-circular shells, which can be connected to form a complete annular shell. This design makes it easy to place the overhead bare wires in the center of the annular shell and also makes it easy to accommodate overhead bare wires of different diameters. The storage shell 4 has a certain space inside, which can store a portion of anti-icing material, which can then be provided to the spraying components.

[0064] Each storage shell 4 specifically includes a connecting shell 401 and a rotating component 402, both of which are semi-annular structures. The rotating component 402 includes a snap-fit ​​part 4021 and a snap-tooth part 4022. The interior of the connecting shell 401 has a space adapted to the snap-fit ​​part 4021, allowing the snap-fit ​​part 4021 to be inserted into the interior of the connecting shell 401. The snap-tooth part 4022 has teeth and can be used to drive the driven structure. A connecting rod 10 is fixedly connected to the connecting shell 401. One end of the connecting rod 10 is hinged to the bracket 3, which can drive the connecting shell 401 to rotate. The connecting rod 10 is connected to the bracket 3 through a first electric push rod 11. By controlling the extension and retraction of the first electric push rod 11, the connecting rod 10 can drive the connecting shell 401 to move, thereby realizing the docking and separation of the two connecting shells 401.

[0065] In addition, to enable the rotating component 402 to rotate, a drive pulley 15 can be installed on the bracket 3 via a rotating motor, and two transmission pulleys 14 can be installed on the two connecting rods 10 via rotating shafts 13. The transmission pulleys 14 can move with the connecting rods 10, and the transmission pulleys 14 are engaged with the toothed part 4022, thereby limiting the toothed part 4022 to prevent it from moving easily. The drive pulley 15 and the transmission pulleys 14 can be connected by a belt. Therefore, when the drive pulley 15 rotates, the rotating component 402 can rotate, which in turn causes the spraying assembly fixed on it to rotate, and then causes the spraying assembly to rotate around the overhead bare wire to achieve ring spraying.

[0066] Furthermore, in order to tension the belt and improve transmission efficiency, a tensioning pulley 18 is attached to the bracket 3. The tensioning pulley 18 is movably connected to the tensioning rod 17 via a short shaft. The tensioning rod 17 is T-shaped and movably connected to the bracket 3. The tensioning rod 17 and the bracket 3 are limited by a tensioning spring 16. Thus, the tensioning pulley 18 can be adjusted in real time by the extension and retraction of the tensioning spring 16, thereby achieving belt tension. At the same time, when the connecting rod 10 drives the connecting shell 401 to move, it can prevent the belt from becoming loose or too tight.

[0067] The spraying assembly specifically includes a material delivery pipe 19, a solenoid valve 20, a connecting hose 21, and a coating head 22. The opening of the coating head 22 is adjustable to accommodate silicone rubber or coating agents, which is beneficial for selecting different materials according to the environment.

[0068] One end of the conveying pipe 19 is fixedly connected to the rotating part 402. The connecting shell 401 in the storage shell 4 is connected to the storage cylinder 1 through the feed pipe 9. In this embodiment, in order to enable the coating head 22 to adapt to overhead bare wires of different diameters, it can be set to move along the radial direction of the wire. Specifically, it can be fixed by a third electric push rod 25 and fixed to the rigid conveying pipe 19 by the connecting plate 26. In order to facilitate the normal discharge of the coating head 22, the coating head 22 and the conveying pipe 19 are connected by a connecting hose 21, which also facilitates the movement of the coating head 22. As for the delivery of the anti-icing material, the sealed storage cylinder 1 can be pressurized by the pump pressure assembly to pump the anti-icing material out of the coating head 22.

[0069] In addition, in order to use silicone rubber and coating agent, two symmetrical adjustment plates 23 are set on the coating head 22 via a connecting shaft. The adjustment plates 23 can rotate around the connecting shaft. For easy control, the adjustment plates 23 are connected to the coating head 22 via a second electric push rod 24. The angle of the adjustment plates 23 is adjusted by the extension and retraction of the second electric push rod 24, thereby controlling the opening size between the two adjustment plates 23 so as to coat anti-icing materials of different thicknesses and enhance the adaptability of the coating robot.

[0070] Furthermore, to enable more accurate control of the coating robot, a corresponding control system can be set up, including at least a data detection module, a data processing module, and a data transceiver module. The data detection module can detect the operating data of the coating robot during the coating process and send the data to the data processing module, thereby controlling and adjusting the operating posture of the coating robot. The data detected by the data detection module can be transmitted to the data processing module through the data transceiver module, which also has wireless communication capabilities, allowing data to be sent to the server in real time for operator control. The operating data can include ambient temperature, internal temperature of storage cylinder 1, temperature of anti-icing material when sprayed from the spraying component, walking speed of the walking mechanism, spraying rate of the spraying component, and opening size of the spraying component. Each temperature can be detected by a temperature sensor, and the temperature data can be collected at the corresponding location. The walking speed of the walking mechanism can be obtained by an encoder. The coating rate can be obtained by measuring the volume or weight of the coating agent or silicone rubber sprayed by the spraying component per unit time and then dividing it by the spraying time. Alternatively, a spraying rate sensor can be installed on the robot to monitor and adjust the spraying rate in real time. A coating head opening size sensor can also be installed on the robot to detect the opening size of the coating head in real time.

[0071] A coating method for preventing icing on overhead bare conductors, such as... Figure 7 As shown, it includes the following steps:

[0072] S1. Heat the anti-icing material and control its temperature within a suitable range;

[0073] S2. Start the coating robot and deliver the anti-icing material to the spray head;

[0074] S3. Adjust the opening size and rotation speed of the coating head to adapt to the diameter and shape of the wire;

[0075] S4. Adjust the traveling speed and spraying rate of the coating robot to control the thickness of the coating layer;

[0076] S5. Begin coating, control the thickness of the anti-icing material spray, and control and adjust the temperature of the anti-icing material to ensure the quality and stability of the coating layer;

[0077] S6. After coating is completed, stop the heater and the device for conveying the anti-icing material, stop the movement of the coating robot, and check whether the quality and thickness of the coating layer meet the requirements.

[0078] In this implementation scheme, different coating materials can be selected according to different environments. By adjusting parameters such as the opening size of the coating head, its rotation speed, and the robot's travel speed, precise control of the coating thickness can be achieved, ensuring the quality and stability of the coating. The heater is equipped with a temperature sensor, which can monitor and adjust the temperature of the anti-icing material in real time, ensuring excellent adhesion and stability of the coating. The coating head can automatically adjust according to the material and cross-sectional shape of the wire to adapt to the coating requirements of different wires. Simultaneously, the coating thickness can be adjusted according to actual needs to adapt to different icing environments.

[0079] Furthermore, the coating robot can be equipped with sensors to detect the quality of the coating layer, ensuring its quality and stability. The coating speed and drying time can be adjusted based on factors such as ambient temperature, humidity, and wind speed to improve the coating effect and ensure the coating layer achieves ideal anti-icing performance in various environments. Effective anti-icing treatment can reduce the failure rate of overhead power lines in freezing weather, thereby reducing maintenance costs and extending the service life of the power lines.

[0080] Specifically, the anti-icing material is silicone rubber, such as... Figure 8 As shown, S5 specifically includes the following steps:

[0081] S51. Control the silicone rubber coating thickness based on the opening size and rotation speed of the coating head, the rotation speed of the coating head, the travel speed of the coating robot, and the coating efficiency.

[0082] The thickness h of the silicone rubber is calculated using the following formula:

[0083]

[0084] Where u is the coating speed; η is the coating efficiency; S is the cross-sectional area of ​​the wire; O is the opening size of the coating head; ω is the rotational speed of the coating head; v is the robot's travel speed; D is the wire diameter; E is the coating effect factor; t is the spraying time; τ is the silicone rubber curing time;

[0085] The coating effect factor E includes the adhesion, smoothness, and uniformity of the coating layer.

[0086] S52. The temperature of the silicone rubber being sprayed is controlled and adjusted based on factors such as ambient temperature, heat conduction loss between the coating head and the anti-icing material, coating efficiency, and heater heating efficiency.

[0087] The temperature T of the silicone rubber during ejection is calculated using the following formula:

[0088] T = T m +(T i -T m (1-exp(-k*η*t))+T s +T r ,

[0089] Among them, T m The melting temperature of silicone rubber is set to a constant value; T i The temperature of the silicone rubber after heating by the heater; k is the thermal conductivity coefficient; T s For heat conduction loss between the coating head and the silicone rubber; T r η represents heat radiation loss; t represents spraying time; and η represents coating efficiency.

[0090] In this implementation scheme, the heat conduction loss T s The thickness of the coating can be determined using heat transfer formulas, primarily depending on factors such as the thermal conductivity between the coating head and the anti-icing material, the contact area between them, and the material of the coating head. When the coating material is set to silicone rubber, the above formulas can be used to control the coating thickness during the operation of the coating robot, ensuring that the temperature at which the silicone rubber is sprayed is appropriate. This prevents the coating from peeling off due to excessively high temperatures or drying prematurely due to excessively low temperatures.

[0091] The above formula can also take into account the heating efficiency of the heater. According to the principles of thermal conductivity, the thermal conductivity coefficient K is related to the thermal conductivity properties and the thermal conduction distance. During the heating process, the change in the thermal conductivity coefficient K can be reflected by the heating efficiency of the heater. Therefore, the heating efficiency can be used as a multiplier for K, i.e., K = k * η. In this way, the heating efficiency can be incorporated into the temperature calculation formula for the anti-icing material sprayed from the coating head, ensuring the stable temperature of the sprayed anti-icing material and improving coating efficiency and coating quality.

[0092] Specifically, the anti-icing material is a coating agent, such as... Figure 9 As shown, S5 specifically includes the following steps:

[0093] S51. Control the coating thickness according to the opening size of the coating head, the amount of coating agent sprayed, the traveling speed of the coating robot, and the coating efficiency.

[0094] The coating thickness h is calculated using the following formula:

[0095]

[0096] Where Q is the amount of coating agent sprayed; η is the coating efficiency; O is the opening size of the coating head; v is the robot's traveling speed; D is the wire diameter; E is the coating effect factor; t is the spraying time; and α is the coating agent curing time.

[0097] S52. The temperature of the coating agent during spraying is controlled and adjusted according to the ambient temperature, the density of the coating agent, the heat radiation loss, and the volume factor of the coating agent.

[0098] The temperature T of the coating agent when it is sprayed is calculated using the following formula:

[0099]

[0100] Where T0 is the temperature of the coating agent before spraying; T i ρ is the temperature of the coating agent after heating by the heater; q is the spraying rate; ρ is the density of the coating agent; c is the specific heat capacity of the coating agent; V is the volume of the coating agent; T r η represents heat radiation loss; t represents spraying time; and η represents coating efficiency.

[0101] In this implementation plan, the thermal radiation loss T r The measurement or estimation can be made based on factors such as the ambient temperature of the coating robot and the distance between the coating head and the anti-icing material.

[0102] The curing or drying time was taken into account, and its influence was expressed as an exponential function. This approach allows for a more accurate description of the variation in coating thickness. Furthermore, factors such as coating speed, spray volume, and coating efficiency were combined, and the coating head rotation speed was not treated as a separate factor. This reduces the number of variables in the formula, thus simplifying and optimizing it.

[0103] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0104] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A coating method for anti-icing treatment of overhead bare conductors, characterized in that, The method comprises the following steps: S1, heating the anti-icing material; S2, starting the coating robot and conveying the anti-icing material to the spraying head; S3, adjusting the opening size and rotating speed of the coating head to adapt to the diameter and shape of the wire; S4, adjusting the traveling speed of the coating robot and the spraying speed to control the thickness of the coating layer; S5, starting the coating, controlling the spraying thickness of the anti-icing material, and controlling and adjusting the temperature of the anti-icing material to ensure the quality and stability of the coating layer; S6, after the coating is completed, stopping the heater and the device conveying the anti-icing material, stopping the movement of the coating robot, and checking whether the quality and thickness of the coating layer meet the requirements; The anti-icing material is silicone rubber, and S5 specifically comprises the following steps: S51, controlling the spraying thickness of the silicone rubber according to the opening size and rotating speed of the coating head, the rotating speed of the coating head, the traveling speed of the coating robot, and the coating efficiency; The silicone rubber thickness Calculated by the following equation: , wherein, is the coating speed; is the coating efficiency; is the wire cross-sectional area; is the coating head opening size; is the coating head rotation speed; is the robot travel speed; is the wire diameter; is the coating effectiveness factor; is the spray time; is the silicone rubber cure time; S52, controlling and adjusting the temperature of the silicone rubber when sprayed according to the environmental temperature, the heat conduction loss between the coating head and the anti-icing material, the coating efficiency, and the heating efficiency of the heater; The temperature at which the silicone rubber is ejected Calculated by the following equation: , wherein, is the melting temperature of the silicone rubber, and is set as a constant value; is the temperature of the silicone rubber after heating by the heater; is the heat transfer coefficient; is the heat transfer loss between the coating head and the silicone rubber; is the heat radiation loss; is the spraying time; is the coating efficiency; Or the anti-icing material is a coating agent, and S5 specifically comprises the following steps: S51, controlling the spraying thickness of the coating agent according to the opening size of the coating head, the spraying amount of the coating agent, and the traveling speed of the coating robot and the coating efficiency; The coating agent thickness By the following formula: , wherein, is a coating agent spray amount; is a coating efficiency; is a coating head opening size; is a robot travel speed; is a wire diameter; is a coating effect factor; is a spray time; is a coating agent curing time; S52, controlling and adjusting the temperature of the coating agent when sprayed according to the environmental temperature, the density of the coating agent, the heat radiation loss, and the volume of the coating agent. The temperature of the coating agent at the time of ejection This is calculated by the following equation: ， wherein, is the temperature of the coating agent before spraying; is the temperature of the coating agent after heating by the heater; is the spraying rate; is the density of the coating agent; is the specific heat capacity of the coating agent; is the volume of the coating agent; is the heat radiation loss; is the spraying time; is the coating efficiency.

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