Pneumatic Glue-Output Overhead Bare Conductor Insulation Coating Device Control System and Method

Abstract

The control system and method for an air-actuated glue-extruding overhead bare conductor insulation coating device belong to the technical field of overhead power line insulation coating. It solves the problem of uneven coating in the coating process of existing insulation coating robots. The system of the present invention is used to control the air-actuated glue-extruding overhead bare conductor insulation coating device. The human-machine interaction module of the system is used to set the coating speed and send the set coating speed to the controller. The controller calculates the pressure for extruding the insulation coating according to the received coating speed, calculates the DC air compressor motor control signal according to the pressure for extruding the insulation coating, the motor control module drives the motor, the pressure sensor collects the pressure of the piston for extruding the insulation coating, the controller uses the pressure signal to calculate the real-time pressure of the piston, and uses the PID algorithm to adjust the real-time output pressure of the DC air compressor in real time to control the pressure of the piston for extruding the insulation coating in real time. The present invention is applicable to the control of overhead conductor insulation coating.

Description

Technical Field

[0001] The present invention belongs to the technical field of insulating coating for overhead power lines. Background Art

[0002] Overhead power lines in distribution networks generally use bare conductors, which are prone to accidents such as accidental power outages. Therefore, it is necessary to retrofit the insulation of this part of the bare wire power grid and replace the overhead bare wires with insulated wires. Due to the complex terrain in China, the construction difficulty in some areas is large or even there are no construction conditions, making it difficult to carry out the operation of replacing insulated wires. With the development of technology, insulating coating robots have begun to be used for insulating coating operations.

[0003] The feeding devices of existing insulating coating robots are often driven by hydraulic rods or oil pressure rods. However, with the change of pressure, the discharging speed will change, resulting in uneven coating and easy formation of potential safety hazards. Moreover, existing robots often lack balance when moving on wires. At this time, if the moving robot loses balance, it may cause uneven coating or even damage to the wires. At the same time, insulating coating robots choose to use mechanical transmission methods and are driven by motors plus lead screws. However, a large pressure is required to extrude the coating material, and the motor transmission needs to use a speed reducer through a reduction ratio to provide sufficient pressure to drive the feeding device, resulting in a large weight and volume of the entire device, posing a very large safety hazard for coating operations on some old lines. Summary of the Invention

[0004] The present invention is to solve the problem of uneven coating existing in the coating process of existing insulating coating robots, and now provides a control system for a pneumatic glue - discharging type insulating coating device for overhead bare conductors.

[0005] The control system for the pneumatic glue - discharging type insulating coating device for overhead bare conductors of the present invention is used to control the pneumatic glue - discharging type insulating coating device for overhead bare conductors. The device includes: a pneumatic coating device body, which includes a frame, a coating unit and a feeding unit, and both the coating unit and the feeding unit are installed on the frame;

[0006] The feeding unit is used to provide insulating coating for the coating unit, and the coating unit surrounds the bare conductor to coat the insulating coating on the bare conductor;

[0007] The feeding unit includes a DC air compressor, a cylinder, a fixed cylinder, an end cap and a replaceable material bottle;

[0008] The end cover is coaxially installed at one end of the fixed cylinder. The discharge port of the replaceable material bottle passes through the center of the end cover and is fixedly connected to the end cover. The cylinder is installed inside the fixed cylinder and is pneumatically connected to the DC air compressor. A piston is arranged inside the replaceable material bottle. The cylinder drives the piston to move through the piston rod, pushing the piston to extrude the insulating paint so that the insulating paint enters the coating unit.

[0009] The frame includes a front walking arm, a rear walking arm pneumatic pressure regulating valve, and an air storage tank.

[0010] The front walking arm, the rear walking arm, and the coating unit are arranged in sequence along the length direction of the bare wire. The coating unit is installed on the rear walking arm.

[0011] Both the front walking arm and the rear walking arm are fixedly connected to the frame. Both the front walking arm and the rear walking arm walk on the bare wire through walking wheels. The walking wheels are driven to rotate by a walking pneumatic motor. The walking pneumatic motor is pneumatically connected to the air storage tank. The air storage tank is connected to the DC air compressor through a pipeline. A pneumatic pressure regulating valve is installed on the pipeline between the walking pneumatic motor and the air storage tank.

[0012] The pneumatic pressure regulating valve is used to control the rotation speed of the output shaft of the walking pneumatic motor. The switching value of the pneumatic pressure regulating valve is determined according to the coating speed.

[0013] The system includes: a human-computer interaction module, a controller, a motor control module, an analog-to-digital conversion module, and a pressure sensor.

[0014] The human-computer interaction module is used to set the coating speed, send the set coating speed to the controller, and display the coating speed.

[0015] The controller calculates the pressure for extruding the insulating paint according to the received coating speed, calculates the threshold pressure exerted by the output gas of the DC air compressor according to the pressure for extruding the insulating paint, obtains the motor control signal of the DC air compressor according to the threshold pressure, and sends it to the motor control module.

[0016] The motor control module is used to drive the motor of the DC air compressor.

[0017] The pressure sensor is used to collect the pressure of the piston extruding the insulating paint, and send the collected pressure to the controller after analog-to-digital conversion by the analog-to-digital conversion module.

[0018] The controller uses the pressure signal to calculate and obtain the pressure of the output gas of the DC air compressor acting on the piston in real time, uses the PID algorithm to adjust the pressure of the output gas of the DC air compressor acting on the piston in real time, and controls the pressure of the insulating paint extrusion in real time. It also controls the switching value of the pneumatic pressure regulating valve according to the coating speed to control the rotation speed of the output shaft of the walking pneumatic motor, so that the walking speed of the walking wheels is the same as the coating speed.

[0019] Further, in the present invention, the calculation method for calculating the pressure for extruding the insulating paint according to the received coating speed and calculating the threshold pressure exerted by the output gas of the DC air compressor based on the pressure for extruding the insulating paint is as follows:

[0020]

[0021] Wherein, P1 and P2 are respectively the air pressure generated by the DC air compressor and the pressure of the extruded material; z1 and z2 are respectively the distance the piston moves and the length of the extruded material; V1 and V2 are respectively the speed of the piston and the speed of the extruded material.

[0022] Further, in the present invention, the threshold pressure P1 exerted by the output gas of the DC air compressor calculated according to the pressure for extruding the insulating paint is:

[0023]

[0024] In the formula, F is the piston pressure and S is the piston area.

[0025] Further, in the present invention, the piston pressure F is:

[0026]

[0027] In the formula: σ0 is the initial yield stress; K b is the yield stress velocity factor; τ0 is the initial shear stress; K0 is the shear stress velocity factor; D0 is the inner wall diameter of the replaceable material bottle; D is the diameter of the extrusion section; L is the length of the extrusion section.

[0028] Further, in the present invention, the speed V2 of the extruded material is:

[0029]

[0030] In the formula, r is the radius of the replaceable material bottle and f is the consumption of the paint paste extruded per unit area of the paint paste.

[0031] Further, in the present invention, the human-computer interaction module, the controller, the motor control module, and the analog-to-digital conversion module are all arranged in the main chassis.

[0032] Further, in the present invention, the coating unit includes an upper wire clamping block, a lower wire clamping block, a fine-tuning pneumatic motor, a lead screw, a cross beam, and a gantry;

[0033] The cross beam is installed on the rear walking arm, and the vertical section of the gantry is slidably connected to the cross beam;

[0034] The upper wire clamping block and the lower wire clamping block are relatively clamped on both sides of the axis of the bare wire, and the upper wire clamping block and the lower wire clamping block are provided with spraying ports, and the spraying ports are communicated with the discharge port of the replaceable material bottle through a feeding pipe;

[0035] A through hole is opened on the lower wire clamping block, the lower wire clamping block is sleeved on the lead screw, and the lower wire clamping block is fixedly connected to the vertical section of the gantry;

[0036] The fine-tuning pneumatic motor is pneumatically connected to the air storage tank, and the fine-tuning pneumatic motor is fixedly connected to the lower surface of the lower wire clamping block;

[0037] The upper wire clamping block is slidably connected to the vertical section of the gantry, the lead screw is arranged perpendicular to the horizontal plane, and the lead screw is threadedly connected to the upper wire clamping block; one end of the lead screw is fixedly connected to the output shaft of the fine-tuning pneumatic motor, and the other end of the lead screw is rotatably connected to the horizontal section of the gantry.

[0038] Further, in the present invention, the front walking arm and the rear walking arm also each include a vertical plate; the vertical plate is fixedly connected to the frame, the walking wheel is installed on the output shaft of the walking pneumatic motor, and the walking pneumatic motor is installed on the vertical plate.

[0039] Further, in the present invention, a pressure relief valve is further included, and the pressure relief valve is installed on the pipeline between the air cylinder and the DC air compressor.

[0040] A control method for a pneumatic glue-applying overhead bare wire insulation coating device, which is used to control the above-mentioned device, specifically includes:

[0041] Step 1: Set the coating speed of the overhead bare wire by using the human-computer interaction unit, calculate the threshold pressure of the gas output by the DC air compressor acting on the piston according to the coating speed; obtain the control signal of the DC air compressor motor according to the threshold pressure, and control the pressure of the gas output by the DC air compressor acting on the piston;

[0042] Obtain the walking speed of the walking wheel according to the rotation speed of the walking pneumatic motor, compare the walking speed with the coating speed, if they are the same, execute Step 2, otherwise adjust the pressure regulating valve to make the walking speed the same as the set coating speed, and execute Step 2;

[0043] Step 2: Use a pressure sensor to detect the pressure of the piston extruding the insulating paint, and calculate the real-time pressure of the piston extruding the insulating paint by using the pressure;

[0044] Step 3: Compare the real-time pressure with the threshold pressure. If they are different, use the PID algorithm to obtain the pressure exerted by the gas output from the DC air compressor on the piston, calculate the real-time control signal of the motor based on the pressure of the gas acting on the piston, and use the real-time control signal to control the motor of the DC air compressor until the real-time pressure of the gas output from the DC air compressor acting on the piston is the same as the threshold pressure, thus completing one control cycle of the pneumatic glue extrusion type overhead bare wire insulation coating device control.

[0045] The system of the present invention uses a pneumatic control system, which only needs to obtain a reliable and stable pressure source by means of a compressor plus a cylinder to push the piston to extrude the insulating paint, ensuring a stable extrusion of the insulating paint and making the spraying more uniform. In terms of performance, the PID control ensures the extrusion quality and accuracy of the paint paste, and the efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is the principle block diagram of the system of the present invention;

[0047] Figure 2 is the axonometric drawing of the present invention;

[0048] Figure 3 is the sectional view of the feeding unit 300 of the present invention;

[0049] Figure 4 is the sectional view of the replaceable material bottle 360 of the present invention;

[0050] Figure 5 is the axonometric drawing of the coating unit 200 of the present invention;

[0051] Figure 6 is the schematic diagram of the coating unit 200 of the present invention clamping the bare wire;

[0052] Figure 7 is the force action marking diagram during the paint extrusion process;

[0053] Figure 8 is the flowchart of the control method for the pneumatic glue extrusion type overhead bare wire insulation coating device

[0054] In the figure: 1, remote control; 100, frame; 110, front walking arm; 111, vertical plate; 112, walking wheel; 120, rear walking arm; 130, walking pneumatic motor; 140, air storage tank; 141, pneumatic pressure regulating valve; 200, coating unit; 210, upper wire clamping block; 220, lower wire clamping block; 221, fine-tuning pneumatic motor; 230, material conveying pipe; 240, lead screw; 250, cross beam; 260, gantry; 300, feeding unit; 310, DC air compressor; 320, air cylinder; 330, fixed cylinder; 340, end cover; 350, flow control valve; 360, replaceable material bottle; 361, bottle body; 362, piston; 370, pressure relief valve; 400, main chassis. Detailed implementation mode

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0056] Detailed implementation mode one: Refer to Figures 1 to 6 This detailed implementation mode will be specifically described. The pneumatic glue discharging type overhead bare wire insulation coating device control system described in this detailed implementation mode is used to control the pneumatic glue discharging type overhead bare wire insulation coating device. The device includes: a pneumatic coating device body, and the pneumatic coating device body includes a frame 100, a coating unit 200, and a feeding unit 300, and both the coating unit 200 and the feeding unit 300 are installed on the frame 100;

[0057] The feeding unit 300 is used to provide insulating paint for the coating unit 200, and the coating unit 200 surrounds the bare wire to coat the insulating paint on the bare wire;

[0058] The feeding unit 300 includes a DC air compressor 310, an air cylinder 320, a fixed cylinder 330, an end cover 340, and a replaceable material bottle 360;

[0059] The end cover 340 is coaxially installed at one end of the fixed cylinder 330. The discharge port of the replaceable material bottle 360 passes through the center of the end cover 340 and is fixedly connected to the end cover. The air cylinder 320 is installed in the fixed cylinder 330, and the air cylinder 320 is pneumatically connected to the DC air compressor 310; a piston 362 is arranged in the replaceable material bottle 360, and the air cylinder 320 drives the piston 362 to move through a piston rod, pushing the piston to extrude the insulating paint so that the insulating paint enters the coating unit 200;

[0060] The frame 100 includes a front traveling arm 110, a rear traveling arm 120, a pneumatic pressure regulating valve 141, and an air storage tank 140;

[0061] The front traveling arm 110, the rear traveling arm 120, and the coating unit 200 are arranged in sequence along the length direction of the bare wire, and the coating unit 200 is installed on the rear traveling arm 120;

[0062] Both the front traveling arm 110 and the rear traveling arm 120 are fixedly connected to the frame 100. Both the front traveling arm 110 and the rear traveling arm 120 travel on the bare wire through traveling wheels 112, and the traveling wheels 112 are driven to rotate by a traveling pneumatic motor (130); the traveling pneumatic motor (130) is pneumatically connected to the air storage tank 140; the air storage tank 140 is connected to a DC air compressor 310 through a pipeline; a pneumatic pressure regulating valve 141 is installed on the pipeline between the traveling pneumatic motor (130) and the air storage tank 140. The pneumatic pressure regulating valve 141 is used to control the rotation speed of the output shaft of the traveling pneumatic motor (130), and the switching value of the pneumatic pressure regulating valve 141 is determined according to the coating speed;

[0063] The system includes: a human-machine interaction module 410, a controller 411, a motor control module 412, an analog-to-digital conversion module 413, and a pressure sensor 414;

[0064] The human-machine interaction module 410 is used to set the coating speed, send the set coating speed to the controller 411, and display the coating speed;

[0065] The controller 411 calculates the pressure for extruding the insulating paint according to the received coating speed, calculates the threshold pressure of the output gas of the DC air compressor 310 acting according to the pressure for extruding the insulating paint, obtains the motor control signal of the DC air compressor 310 according to the threshold pressure, and sends it to the motor control module 412;

[0066] The motor control module 412 is used to drive the motor of the DC air compressor 310;

[0067] The pressure sensor 414 is used to collect the pressure of the piston 362 extruding the insulating paint, and send the collected pressure to the controller 411 after analog-to-digital conversion by the analog-to-digital conversion module 413;

[0068] The controller 411 uses the pressure signal to calculate and obtain the pressure of the gas output by the DC air compressor 310 in real time acting on the piston 362, and uses the PID algorithm to adjust the pressure of the gas output by the DC air compressor 310 acting on the piston 362 in real time, so as to control the pressure of the insulating paint extrusion in real time. It also controls the rotational speed of the output shaft of the walking pneumatic motor 130 by controlling the on-off quantity of the pneumatic pressure regulating valve 141 according to the coating speed, so that the walking speed of the walking wheel 112 is the same as the coating speed.

[0069] In this embodiment, the replaceable material bottle 360 includes a bottle body 361 and a piston 362. The discharge port of the bottle body 361 is threadedly connected to the end cap 340. The piston 362 is slidably connected to the inner wall of the bottle body 361, and the piston rod of the air cylinder 320 abuts against the piston 362. When the piston rod extends, the piston rod pushes the piston 362, and the piston 362 extrudes the insulating paint in the bottle body 361.

[0070] In this embodiment, the DC air compressor 310 is a 24V small air compressor. With this setting, it has a small volume, can ensure the air supply volume, and reduces the weight of the pneumatic coating device body.

[0071] In this embodiment, the end cap 340 is installed on the fixed cylinder 330 by screws. With this setting, it is convenient to disassemble and provides convenience for replacing the replaceable material bottle 360.

[0072] Further, in this embodiment, combined with Figure 7 To illustrate this embodiment, the calculation method for calculating the pressure for extruding the insulating paint according to the received coating speed and calculating the threshold pressure of the output gas of the DC air compressor 310 acting is: The formula is:

[0073]

[0074] Wherein, P1 and P2 are respectively the air pressure generated by the DC air compressor and the pressure of the extruded material; z1 and z2 are respectively the distance the piston moves and the length of the extruded material; V1 and V2 are respectively the speed of the piston and the speed of the extruded material.

[0075] Further, in this embodiment, the threshold pressure P1 of the output gas of the DC air compressor 310 acting according to the pressure for extruding the insulating paint is:

[0076]

[0077] In the formula, F is the piston pressure and S is the piston area.

[0078] Further, in this embodiment, the piston pressure F is:

[0079]

[0080] Where: σ0 is the initial yield stress; K b is the yield stress velocity factor; τ0 is the initial shear stress; K0 is the shear stress velocity factor; D0 is the inner wall diameter of the refillable bottle; D is the diameter of the extrusion section; L is the length of the extrusion section.

[0081] Further, in this embodiment, the speed V2 of the extruded material is:

[0082]

[0083] Where r is the radius of the refillable bottle, and f is the consumption of the coating paste extruded per unit area of the coating paste.

[0084] Further, in this embodiment, the controller 411 uses an STM32 chip.

[0085] Further, in this embodiment, the coating unit 200 is communicated with the refillable bottle 360 through a feed pipe 230.

[0086] Further, in this embodiment, the human-machine interaction module 410, the controller 411, the motor control module 412, and the analog-to-digital conversion module 413 are all arranged in the main chassis 400.

[0087] Further, in the present invention, a DC power supply is also arranged in the main chassis 400, and the DC power supply is used to supply power to the human-machine interaction module 410, the controller 411, the motor control module 412, and the analog-to-digital conversion module 413.

[0088] Further, in this embodiment, the coating unit 200 includes an upper wire clamping block 210, a lower wire clamping block 220, a fine-tuning pneumatic motor 221, a lead screw 240, a cross beam 250, and a gantry 260;

[0089] The cross beam 250 is installed on the rear walking arm 120, and the vertical section of the gantry 260 is slidably connected to the cross beam 250;

[0090] The upper wire clamping block 210 and the lower wire clamping block 220 are oppositely clamped on both sides of the axis of the bare wire, and the upper wire clamping block 210 and the lower wire clamping block 220 are provided with spraying ports, and the spraying ports are all communicated with the discharge port of the refillable bottle 360 through the feed pipe 230;

[0091] A through hole is formed in the lower wire clamping block 220, the lower wire clamping block 220 is sleeved on the lead screw 240, and the lower wire clamping block 220 is fixedly connected to the vertical section of the gantry 260;

[0092] The fine-tuning pneumatic motor 221 is pneumatically connected to the air storage tank 140, and the fine-tuning pneumatic motor 221 is fixedly connected to the lower surface of the lower wire clamping block 220;

[0093] The upper wire clamping block 210 is slidably connected to the vertical section of the gantry 260. The lead screw 240 is arranged perpendicular to the horizontal plane and is threadedly connected to the upper wire clamping block 210. One end of the lead screw 240 is fixedly connected to the output shaft of the fine-tuning pneumatic motor 221, and the other end of the lead screw 240 is rotatably connected to the horizontal section of the gantry 260.

[0094] Further, in this embodiment, both the front walking arm 110 and the rear walking arm 120 further include a vertical plate 111. The vertical plate 111 is fixedly connected to the frame 100. The walking wheel 112 is installed on the output shaft of the walking pneumatic motor 130, and the walking pneumatic motor 130 is installed on the vertical plate 111.

[0095] As Figure 5 and Figure 6 shown, when the upper wire clamping block 210 and the lower wire clamping block 220 clamp the bare wire, the fine-tuning pneumatic motor 221 drives the lead screw 240 to rotate. Under the action of screw drive, the upper wire clamping block 210 gradually approaches the bare wire. After the upper wire clamping block 210 abuts against the bare wire, the lower wire clamping block 220 and the gantry 260 gradually approach the bare wire. Finally, the upper wire clamping block 210 and the lower wire clamping block 220 clamp the bare wire. The material conveying pipe 230 conveys the insulating paint to the upper wire clamping block 210 and the lower wire clamping block 220. When the pneumatic coating device body walks on the bare wire, the bare wire is coated.

[0096] Further, in this embodiment, a pressure relief valve 370 is further included, and the pressure relief valve 370 is installed on the pipeline between the air cylinder 320 and the DC air compressor 310.

[0097] Specific Embodiment Two, in combination with Figure 8 This embodiment describes the control method of the pneumatic glue-out type overhead bare wire insulating coating device. This method is used to control the pneumatic glue-out type overhead bare wire insulating coating device, and specifically includes:

[0098] Step 1: Use the human-machine interaction unit to set the coating speed of the overhead bare wire, calculate the threshold pressure of the gas output by the DC air compressor 310 acting on the piston according to the coating speed; obtain the control signal of the motor of the DC air compressor 310 according to the threshold pressure, and control the pressure of the gas output by the DC air compressor 310 acting on the piston;

[0099] Obtain the walking speed of the walking wheel according to the rotation speed of the walking pneumatic motor 130, compare the walking speed with the coating speed. If they are the same, execute Step 2. Otherwise, adjust the pressure regulating valve 141 to make the walking speed the same as the set coating speed, and execute Step 2;

[0100] Step 2: Use a pressure sensor to detect the pressure of the piston squeezing the insulating paint, and calculate the real-time pressure of the piston squeezing the insulating paint using the said pressure;

[0101] Step 3: Compare the real-time pressure with the threshold pressure. If they are different, use the PID algorithm to obtain the pressure of the gas output by the DC air compressor 310 acting on the piston, calculate the real-time control signal of the motor according to the pressure of the gas acting on the piston, and use the real-time control signal to control the motor of the DC air compressor 310 until the real-time pressure of the gas output by the DC air compressor 310 acting on the piston is the same as the threshold pressure, thus completing one control of the pneumatic glue-extruding overhead bare conductor insulating coating device control.

[0102] In the present invention, the valve core opening of the flow control valve 350 is adjusted by the PID controller to control the extrusion amount of the insulating paint, ensuring the stability of the coating quality and the uniformity of the coating thickness during the coating process, thereby improving both the coating quality and the coating accuracy.

[0103] The pneumatic glue-extruding overhead bare conductor insulating coating device in the present invention includes a remote controller and a pneumatic coating device body, and the remote controller realizes remote control of the pneumatic coating device body.

[0104] The coating robot in the present invention performs walking coating on the bare conductor, and performs pneumatic PID adjustment according to the walking speed of the coating robot and the thickness to be coated on the bare conductor to reach a stable state.

[0105] The present invention uses an STM32 chip to transmit information to the controller to control the compressor and then control the cylinder pressure; matches the corresponding cylinder pressure to be consistent with the walking speed of the robot, calculates the extrusion amount required to meet the coating thickness requirement of the bare conductor; performs coating along the bare conductor. During the coating process, the pneumatic control system continuously monitors to keep the coating speed consistent with the walking speed, thus completing the coating operation.

[0106] Although the present invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed, as long as they do not depart from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein can be combined in a manner different from that described in the original claims. It should also be understood that the features described in connection with a single embodiment can be used in other described embodiments.

Claims

1. The control system of the pneumatic glue discharging overhead bare conductor insulation coating device, which is used to control the pneumatic glue discharging overhead bare conductor insulation coating device, and the device includes: The main body of the pneumatic coating device, which includes a frame (100), a coating unit (200), and a feeding unit (300), and both the coating unit (200) and the feeding unit (300) are installed on the frame (100); The feeding unit (300) is used to provide insulating paint for the coating unit (200), and the coating unit (200) surrounds the bare wire to coat the insulating paint on the bare wire; The feeding unit (300) includes a DC air compressor (310), a cylinder (320), a fixed cylinder (330), an end cap (340), and a replaceable paint bottle (360); The end cap (340) is coaxially installed at one end of the fixed cylinder (330). The outlet of the replaceable paint bottle (360) passes through the center of the end cap (340) and is fixedly connected to the end cap. The cylinder (320) is installed inside the fixed cylinder (330), and the cylinder (320) is pneumatically connected to the DC air compressor (310). A piston (362) is arranged inside the replaceable paint bottle (360). The cylinder (320) drives the piston (362) to move through a piston rod, pushing the piston to extrude the insulating paint so that the insulating paint enters the coating unit (200); The frame (100) includes a front walking arm (110), a rear walking arm (120), a pneumatic pressure regulating valve (141), and an air storage tank (140); The front walking arm (110), the rear walking arm (120), and the coating unit (200) are arranged in sequence along the length direction of the bare wire, and the coating unit (200) is installed on the rear walking arm (120); Both the front walking arm (110) and the rear walking arm (120) are fixedly connected to the frame (100). Both the front walking arm (110) and the rear walking arm (120) walk on the bare wire through walking wheels (112), and the walking wheels (112) are driven to rotate by a walking pneumatic motor (130). The walking pneumatic motor (130) is pneumatically connected to the air storage tank (140). The air storage tank (140) is connected to the DC air compressor (310) through a pipeline. A pneumatic pressure regulating valve (141) is installed on the pipeline between the walking pneumatic motor (130) and the air storage tank (140). The pneumatic pressure regulating valve (141) is used to control the rotation speed of the output shaft of the walking pneumatic motor (130), and the switching value of the pneumatic pressure regulating valve (141) is determined according to the coating speed; It is characterized in that the system includes: a human-machine interaction module (410), a controller (411), a motor control module (412), an analog-to-digital conversion module (413), and a pressure sensor (414); The human-machine interaction module (410) is used to set the coating speed, send the set coating speed to the controller (411), and display the coating speed; The controller (411) calculates the pressure for extruding the insulating paint according to the received coating speed, calculates the threshold pressure of the output gas of the DC air compressor (310) according to the pressure for extruding the insulating paint, obtains the motor control signal of the DC air compressor (310) according to the threshold pressure, and sends it to the motor control module (412); The motor control module (412) is used to drive the motor of the DC air compressor (310); The pressure sensor (414) is used to collect the pressure of the piston (362) squeezing the insulating paint, and send the collected pressure to the controller (411) after analog-to-digital conversion by the analog-to-digital conversion module (413); The controller (411) uses the signal of the pressure to calculate and obtain the pressure of the gas output by the DC air compressor (310) acting on the piston (362) in real time, and uses the PID algorithm to adjust the pressure of the gas output by the DC air compressor (310) acting on the piston (362) in real time, and controls the pressure of squeezing the insulating paint in real time. It also controls the rotational speed of the output shaft of the walking pneumatic motor (130) by controlling the switch quantity of the pneumatic pressure regulating valve (141) according to the coating speed, so that the walking speed of the walking wheel (112) is the same as the coating speed.

2. The control system of the pneumatic glue-extruding overhead bare conductor insulation coating device according to claim 1, characterized in that The formula for the calculation method of calculating the pressure for squeezing the insulating paint according to the received coating speed and calculating the threshold pressure of the gas output by the DC air compressor (310) acting according to the pressure for squeezing the insulating paint is: Wherein, P1 and P2 are the air pressure generated by the DC air compressor and the pressure of the extruded material respectively; z1 and z2 are the distance the piston moves and the length of the extruded material respectively; V1 and V2 are the speed of the piston and the speed of the extruded material respectively.

3. The control system of the pneumatic glue-out type overhead bare conductor insulation coating device according to claim 2, wherein The threshold pressure P1 of the gas output by the DC air compressor (310) acting according to the pressure for squeezing the insulating paint is calculated as: In the formula, F is the piston pressure and S is the piston area.

4. The control system of the pneumatic glue-extruding overhead bare conductor insulation coating device according to claim 3, wherein The piston pressure F is: Wherein: is the initial yield stress; is the yield stress velocity factor; is the initial shear stress; is the shear stress velocity factor; is the inner wall diameter of the refillable bottle; is the extrusion section diameter; L is the extrusion section length.

5. The control system of the pneumatic glue discharging type overhead bare conductor insulation coating device according to claim 4, characterized in that, The speed V2 of the extruded material is: where r is the radius of the refillable bottle, f is the consumption of the insulating paint per unit area.

6. The control system of the pneumatic glue output type overhead bare conductor insulation coating device according to claim 1 or 2, characterized in that The human-machine interaction module (410), the controller (411), the motor control module (412) and the analog-to-digital conversion module (413) are all arranged in the main chassis (400).

7. The control system of the pneumatic glue-extruding overhead bare conductor insulation coating device according to claim 1 or 2, characterized in that, The coating unit (200) includes an upper wire clamping block (210), a lower wire clamping block (220), a fine-tuning pneumatic motor (221), a lead screw (240), a cross beam (250) and a gantry (260); The cross beam (250) is installed on the rear walking arm (120), and the vertical section of the gantry (260) is slidably connected to the cross beam (250); The upper wire clamping block (210) and the lower wire clamping block (220) are relatively clamped on both sides of the axis of the bare wire, and the upper wire clamping block (210) and the lower wire clamping block (220) are provided with spraying ports, and the spraying ports are both communicated with the discharge port of the replaceable material bottle (360) through a feed pipe (230); A through hole is opened on the lower wire clamping block (220), the lower wire clamping block (220) is sleeved on the lead screw (240), and the lower wire clamping block (220) is fixedly connected to the vertical section of the gantry (260); The fine-tuning pneumatic motor (221) is pneumatically connected to the air storage tank (140), and the fine-tuning pneumatic motor (221) is fixedly connected to the lower surface of the lower wire clamping block (220); The upper wire clamping block (210) is slidably connected to the vertical section of the gantry (260). The lead screw (240) is arranged perpendicular to the horizontal plane and is threadedly connected to the upper wire clamping block (210). One end of the lead screw (240) is fixedly connected to the output shaft of the fine-tuning pneumatic motor (221), and the other end of the lead screw (240) is rotatably connected to the horizontal section of the gantry (260).

8. The control system of the pneumatic glue-extruding overhead bare conductor insulation coating device according to claim 7, characterized in that, The front walking arm (110) and the rear walking arm (120) also each include a vertical plate (111). The vertical plate (111) is fixedly connected to the frame (100). The walking wheel (112) is installed on the output shaft of the walking pneumatic motor (130), and the walking pneumatic motor (130) is installed on the vertical plate (111).

9. The control system of the pneumatic glue discharging type overhead bare conductor insulation coating device according to claim 8, characterized in that, It also includes a pressure relief valve (370), and the pressure relief valve (370) is installed on the pipeline between the air cylinder (320) and the DC air compressor (310).

10. Control method for pneumatic glue discharging type overhead bare conductor insulation coating device, which is realized based on the control system described in any one of claims 1-9, characterized in that, This method includes: Step 1: Use the human-computer interaction unit to set the coating speed of the overhead bare wire, calculate the threshold pressure of the gas output by the DC air compressor (310) acting on the piston according to the coating speed; obtain the control signal of the motor of the DC air compressor (310) according to the threshold pressure, and control the pressure of the gas output by the DC air compressor (310) acting on the piston; Obtain the walking speed of the walking wheel according to the rotation speed of the walking pneumatic motor (130), compare the walking speed with the coating speed. If they are the same, execute Step 2. Otherwise, adjust the pneumatic pressure regulating valve (141) to make the walking speed the same as the set coating speed, and then execute Step 2; Step 2: Use a pressure sensor to detect the pressure of the piston extruding the insulating paint, and calculate the real-time pressure of the piston extruding the insulating paint by using the pressure; Step 3: Compare the real-time pressure with the threshold pressure. If they are different, use the PID algorithm to obtain the pressure of the gas output by the DC air compressor (310) acting on the piston, calculate the real-time control signal of the motor according to the pressure of the gas acting on the piston, and use the real-time control signal to control the motor of the DC air compressor (310) until the real-time pressure of the gas output by the DC air compressor (310) acting on the piston is the same as the threshold pressure, thus completing the control of a pneumatic glue-out type overhead bare wire insulating coating device control.

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