A pole climbing spraying robot and control method

Abstract

The present invention belongs to the technical field of local insulation protection of power transmission poles in distribution networks, and discloses a pole climbing spraying operation robot and a control method, wherein the pole climbing spraying operation robot comprises: a robot body, a rotary slide is arranged above the robot body, and the rotary slide is connected to a support rod via a first single-axis rotating assembly; the support rod comprises an electric lifting rod and at least one section of insulating rod connected in sequence from bottom to top; the insulating rod is connected to a spraying mechanism via a double-axis rotating assembly above; wherein the rotating axis of the single-axis rotating assembly is along the x direction, and the double-axis rotating assembly comprises a second single-axis rotating assembly and a third single-axis rotating assembly connected up and down, and the rotating axes are respectively along the x direction and the y direction. The pole climbing spraying operation robot of the present invention can adapt to the spraying requirements of spraying objects of various orientations and different shapes.

Description

Technical Field

[0001] The present invention belongs to the technical field of local insulation protection of power transmission poles in a distribution network, and in particular relates to a pole climbing spraying operation robot and a control method thereof. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] At present, there are still a large number of exposed points at the line connection positions of the distribution network transmission poles. These exposed points pose safety hazards. When birds build nests or cables burst at the risk points, it is very easy to cause phase-to-phase short circuits and other tripping faults. At the same time, the wire clamp sheaths of line switches and knife switches are very likely to cause short-circuit grounding faults due to ice hanging from rain and snow.

[0004] In order to solve the above problems and meet the requirements of live working, it is necessary to carry out insulation spray protection treatment on the exposed points. Existing spraying tools mainly include manual spraying tools and drone spraying tools. The main process of manual spraying is: the operator climbs to the top of the transmission pole, uses an air compressor to pump the paint, and holds the insulating rod to control the nozzle for spraying. This spraying method has high labor intensity and low safety factor. In order to make the paint cover the entire target spraying object, the angle needs to be adjusted many times during the operation; and the paint spraying distance is far, which is easy to cause paint overflow and serious pollution; in addition, there are problems such as inconvenient air compressor transportation, limited application scenarios, and inability to detect spraying quality. Patent application document CN117065956 A discloses an insulation spraying device for exposed points of overhead distribution lines and equipment, which is improved for manual spraying tools. The main improvement is that the distribution line or the target exposed point is wrapped with a shielding cover to form a closed spraying space for spraying the distribution line and equipment exposed points. This method can achieve all-round spraying without adjusting the angle during the operation. However, due to the closed spraying space, it is difficult to monitor the spraying effect during operation, which can easily cause incomplete spraying or over-spraying resulting in waste of paint. In addition, the size of the shielding cover is fixed and cannot adapt to the narrow space when the lines are relatively dense. At the same time, the application scenarios are limited and it is difficult to adapt to spraying objects with complex shapes. For example, if the wiring above the lightning rod is the spraying target, the shielding cover cannot fully wrap it.

[0005] The main process of drone spraying is: ground personnel control the drone to mount the spraying device, fly it above the exposed point, and perform spraying operations at a safe distance. There are also problems such as long-distance spraying of paint, paint overflow, and serious pollution. Summary of the invention

[0006] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a pole-climbing spraying robot and a control method, which can adapt to the spraying needs of spraying objects in various directions and different shapes.

[0007] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0008] A pole climbing spraying robot comprises: a robot body, a rotary slide is arranged above the robot body, the rotary slide is connected to a support rod via a first single-axis rotating assembly; the support rod comprises an electric lifting rod and at least one insulating rod connected in sequence from bottom to top; a spraying mechanism is connected above the insulating rod via a double-axis rotating assembly; wherein the rotating axis of the single-axis rotating assembly is along the x-direction, the double-axis rotating assembly comprises a second single-axis rotating assembly and a third single-axis rotating assembly connected up and down, and the rotating axes are respectively along the x-direction and the y-direction.

[0009] In some embodiments, the robot body includes an upper holding rod device and a lower holding rod device, and an electric push rod is provided between the upper holding rod device and the lower holding rod device; the upper holding rod device and the lower holding rod device each include a shell, a horizontal worm is provided in the shell, two worm wheels are symmetrically provided on both sides of the horizontal worm, and the two worm wheels are meshed with the horizontal worm; each of the worm wheels is connected to a clamping hoop through a connecting rod mechanism, and the two clamping hoops are located outside the shell and are arranged opposite to each other.

[0010] In some embodiments, a clamp pad is provided on the inner side of the clamp, and a pressure sensor is also provided on the clamp pad.

[0011] In some embodiments, a connecting piece is further provided between the upper telescopic end of the electric push rod and the upper pole holding device, and the upper telescopic end is rotatably connected to the connecting piece.

[0012] In some embodiments, a distance sensor is further provided below the housing of the upper pole holding device for monitoring the distance between the upper pole holding device and the lower pole holding device, and can serve as upper and lower limit positions for the movement of the push rod.

[0013] In some embodiments, the upper pole holding device and the lower pole holding device are provided with a pole-circling walking device on the same side of the clamping hoop, and the pole-circling walking device includes a walking mechanism and a suspension mechanism, and the walking mechanism includes a horizontal motor frame, one end of the horizontal motor frame is connected to a walking wheel, and the other end is fixedly connected to a first vertical plate, and at least one bearing seat is provided on the first vertical plate; the suspension mechanism includes a support frame, and the support frame includes a horizontal plate, and a second vertical plate and a third vertical plate arranged at both ends of the horizontal plate, and the third vertical plate is connected to the upper surface of the shell of the upper pole holding device / the lower pole holding device; at least one linear optical axis is provided between the second vertical plate and the third vertical plate; each of the linear optical axes is sleeved in one of the bearing seats; a spring is arranged outside the linear optical axis between each bearing seat and the third vertical plate.

[0014] In some embodiments, the spraying mechanism includes a semi-enclosed wind shield, which opens upward and includes a central bottom shield and a side shield rotatably connected to the central bottom shield via a rotating shaft, and both the central bottom shield and the side shield have side guard plates extending toward the opening direction of the wind shield.

[0015] In some embodiments, a plurality of nozzles are evenly distributed on the inner surface of the wind shield, and the spraying angle of each nozzle is adjustable.

[0016] In some embodiments, the electric lifting rod and the insulating rod are both hollow rods; a connecting seat is also provided between the first single-axis rotating mechanism and the electric lifting rod, and the connecting seat is hollow, and a pipe inlet joint is provided on the side wall for connecting to the paint pump outlet through a pipe; the insulating rod is close to one end of the spraying mechanism, and a pipe outlet joint is provided on the side wall for connecting to the multiple nozzles through pipes.

[0017] In some embodiments, an opening is provided at the bottom of the wind shield, the opening is connected to a collection pipe, and the collection pipe is connected to a recovery barrel.

[0018] A second aspect of the present invention provides a control method applied to the pole climbing spraying operation robot, comprising:

[0019] After the robot body holds the transmission line pole tightly, it moves upward, downward or around the pole in response to the robot motion control command, so that the robot body moves to the expected position;

[0020] In response to the support rod control instruction, the rotary slide and / or the first single-axis rotary assembly are controlled; and / or in response to the spraying mechanism posture adjustment instruction, the dual-axis rotary assembly is controlled so that the spraying mechanism is aligned with the target spraying part;

[0021] In response to the support rod control command, the electric lifting rod is controlled to extend until the wind shield of the spraying mechanism is sleeved outside the target spraying part;

[0022] Control the spraying mechanism to perform spraying operations.

[0023] In some embodiments, the method further comprises:

[0024] In response to the size control instruction of the wind shield, the two side shields of the wind shield are controlled to rotate to a set angle;

[0025] According to the size of the rotation angle, based on the correspondence between the preset wind shield rotation angle and the angles of multiple nozzles, the corresponding target angles of the multiple nozzles are obtained, and the multiple nozzles are controlled to rotate so that the multiple nozzles all point to the center of the wind shield.

[0026] One or more of the above technical solutions have the following beneficial effects:

[0027] Through the movement of the robot body, the setting of a rotary slide with a rotating axis along the z-axis direction and three single-axis rotating components, the support rod can drive the spraying mechanism to flexibly adjust the orientation to meet the spraying needs of spraying objects in various orientations and different shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0029] Figure 1 An overall schematic diagram of a pole climbing spraying operation robot in one or more embodiments of the present invention;

[0030] Figure 2 A schematic diagram of a support rod and a spraying mechanism in one or more embodiments of the present invention;

[0031] Figure 3 A schematic diagram of a windshield in one or more embodiments of the present invention;

[0032] Figure 4 A partial schematic diagram of the layout of the upper coating pipeline in one or more embodiments of the present invention;

[0033] Figure 5 A partial schematic diagram of the layout of the lower coating pipeline in one or more embodiments of the present invention;

[0034] Figure 6 is an overall schematic diagram of a robot body in one or more embodiments of the present invention;

[0035] Figure 7 is an overall schematic diagram of the robot body from another perspective in one or more embodiments of the present invention;

[0036] Figure 8 It is a partial enlarged view of the pole-circling walking device in one or more embodiments of the present invention;

[0037] Fig. 9 A schematic diagram of the structure of a suspension mechanism in one or more embodiments of the present invention;

[0038] Fig.10 A schematic diagram of the overall interior perspective of a coating supply device and a control system in one or more embodiments of the present invention;

[0039] Fig.11 It is a logic block diagram of the overall control of the pole climbing spraying robot in one or more embodiments of the present invention;

[0040] Fig.12A schematic diagram of a pole-climbing spraying robot working on a transmission pole in one or more embodiments of the present invention;

[0041] Fig.13 A schematic diagram of a pole-climbing spraying robot performing a spraying operation on a horizontal metal crossarm in one or more embodiments of the present invention;

[0042] Fig.14 A schematic diagram of a pole climbing spraying robot performing spraying operation on a tilted drop switch lead in one or more embodiments of the present invention;

[0043] Fig.15 This is a schematic diagram of a pole climbing spraying robot performing spraying operations on the leads of a vertical lightning arrester in one or more embodiments of the present invention.

[0044] In the figure, 1, robot body, 2, support rod, 3, spraying mechanism, 4, rotary slide, 5, first single-axis rotating assembly, 6, second single-axis rotating assembly, 7, third single-axis rotating assembly; 8, storage box, 9, paint pump, 10, pipeline inlet joint, 11, pipeline outlet joint, 12, collection pipe, 13, recovery barrel, 14, control system, 15, first camera, 16, second camera, 17, transmission pole; 1-1, upper holding rod device, 1-2, lower holding rod device, 1-3, electric push rod, 1-4, horizontal worm, 1-5, worm gear, 1-6, connecting rod mechanism, 1-7, clamping hoop, 1-8, clamping hoop gasket, 1-9, pressure sensor, 1-10, connecting piece, 1 -11, pole-circling walking device, 1-12, spring cable, 1-13, lower cable connector, 1-14, upper cable connector, 1-15, main outlet connector; 2-1, electric lifting rod, 2-2, insulating rod; 1-11-1, horizontal motor frame, 1-11-2, walking wheel, 1-11-3, first vertical plate, 1-11-4, horizontal plate, 1-11-5, second vertical plate, 1-11-6, third vertical plate, 1-11-7, linear optical axis, 1-11-8, spring; 3-1, wind shield, 3-2, center bottom cover, 3-3, side cover, 3-4, side guard plate, 3-5, nozzle; 14-1, wireless communication module, 14-2, status indicator light, 14-3, power module. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0046] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0047] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0048] In the present invention, the directions or positional relationships indicated by terms such as "upper", "lower", "side", "bottom", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention. They do not specifically refer to any part or element in the present invention and cannot be understood as limitations on the present invention.

[0049] In the present invention, terms such as "connection" should be understood in a broad sense, indicating that the connection can be fixed, integral or detachable; it can be directly connected or indirectly connected through an intermediate medium. Those skilled in the art can determine the specific meaning of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0050] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0051] Aiming at the shortcomings of existing local insulation spraying operation technology in transmission line pole operation scenarios, one or more embodiments of the present invention provide a pole climbing spraying operation robot for local insulation of transmission line poles, such as Figure 1 and Figure 2 As shown, it includes a robot body 1, a rotary slide 4 is provided above the robot body 1, and the rotary slide 4 is connected to the support rod 2 via a first single-axis rotation component 5; the support rod 2 includes an electric lifting rod 2-1 and at least one insulating rod 2-2 connected in sequence from bottom to top; the insulating rod 2-2 is connected to a spraying mechanism 3 via a double-axis rotation component above; wherein, the rotation axis of the single-axis rotation component is along the x-direction, and the double-axis rotation component includes a second single-axis rotation component 6 and a third single-axis rotation component 7 connected up and down, and the rotation axes are respectively along the x-direction and the y-direction.

[0052] Through the movement of the robot body 1, the setting of the rotary slide 4 with the rotating axis along the z-axis direction and the three single-axis rotating components, the support rod 2 can drive the spraying mechanism 3 to flexibly adjust the orientation to meet the spraying requirements of exposed points in various orientations. Specifically, the double-axis rotating component can realize two axial (X / Y) rotational degrees of freedom through the second single-axis rotating component 6 and the third single-axis rotating component 7. Combined with the single-axis swing of the single-axis rotating component at the lower end of the insulating rod 2-2 and the Z-axis rotation swing of the rotary slide 4, the omnidirectional rotation adjustment of the spraying component in three-dimensional space can be realized, and the omnidirectional adjustment of the spraying direction can be realized, so that the spraying tool can adapt to spraying objects of different orientations and shapes, such as horizontal crossarms, oblique drop switches, vertical lightning arresters and other multi-angle and different-shaped spraying parts. The lifting movement of the electric lifting column module realizes the up and down lifting of the spraying component. In conjunction with the three single-axis rotating components, it can also realize the spraying of target spraying points at longer distances, different angles and shapes.

[0053] In addition, the robot also has a certain obstacle avoidance capability. For example, when there are other lines blocking the lower side of the target spraying part, the first single-axis rotating component 5 and the second single-axis rotating component 6 are respectively controlled to rotate in opposite directions, so that the support rod 2 can drive the upper spraying mechanism 3 to move to one side as a whole, thereby avoiding obstacles and performing spraying work on the target point.

[0054] The first single-axis rotating assembly 5, the second single-axis rotating assembly 6 and the third single-axis rotating assembly 7 are each provided with a brake motor on the rotating shaft, and the motor has a power-off self-locking function, which can realize the rotational freedom control of two axial directions (X / Y). Among them, the lower end of the first single-axis rotating assembly 5 is fixedly connected to the slewing flange seat of the rotary slide 4 through a flange, and the single-axis rotating assembly is driven to rotate by the brake motor, has a power-off self-locking function, has a mechanical limit switch, and has a ±20° single-axis swing function (B swing axis). The rotary slide 4 has a 360° rotation function of the Z axis, is driven by a worm gear and a motor, and has a power-off self-locking function. Through the brake or self-locking mechanism of each axis motor, it has the ability to self-lock after power failure, which ensures the stability of movement and the self-locking of the power-off position, thereby ensuring safety.

[0055] The insulating rod 2-2 is provided with one or more sections. Specifically, both ends of the insulating rod 2-2 are threaded metal connecting pipes, which can be connected and lengthened section by section according to the on-site operation conditions. As an example, the 10kV live working standard requires that the length of the insulating rod 2-2 should not be less than 0.7m. The lower end of the insulating rod 2-2 is fixedly connected to the top of the movable end of the electric lifting column, and can move vertically with the electric lifting column.

[0056]

Robot body

[0057] like Figure 6-Figure 9As shown, the robot body 1 includes an upper rod holding device 1-1 and a lower rod holding device 1-2, and an electric push rod 1-3 is provided between the upper rod holding device 1-1 and the lower rod holding device 1-2; the upper rod holding device 1-1 and the lower rod holding device 1-2 have the same structure and both include a shell, a horizontal worm 1-4 is provided in the shell, two worm wheels 1-5 are symmetrically provided on both sides of the horizontal worm 1-4, and the two worm wheels 1-5 are meshed with the horizontal worm 1-4; each of the worm wheels 1-5 is connected to a clamping hoop 1-7 through a connecting rod mechanism 1-6, and the two clamping hoops 1-7 are located outside the shell and are arranged opposite to each other. When the horizontal worm 1-4 drives the two worm wheels 1-5 to rotate inward, the two clamping hoops 1-7 move toward each other and can clamp the transmission pole 17; when the horizontal worm 1-4 drives the two worm wheels 1-5 to rotate outward, the two clamping hoops 1-7 move in the opposite direction and can loosen the transmission pole 17. Based on this, the upper pole holding device 1-1 is controlled to loosen the transmission pole 17, the electric push rod 1-3 is controlled to extend, and after the upper pole holding device 1-1 is lifted upward, the upper pole holding device 1-1 is controlled to clamp the transmission pole 17, and then the lower pole holding device 1-2 is controlled to loosen the transmission pole 17, and after the electric push rod 1-3 is controlled to shorten to the set length, the lower pole holding device 1-2 is controlled to clamp the transmission pole 17, so that the robot completes the upward movement along the transmission pole 17, and vice versa, the robot can achieve downward movement along the transmission pole 17.

[0058] The connecting rod mechanism 1-6 is a parallelogram connecting rod mechanism 1-6, and the active rod of the connecting rod is connected to the center of the worm gear 1-5. The side wall of the housing reserves space for the parallelogram connecting rod mechanism 1-6 to move. Specifically, the center of the turbine and another point in the housing located on one side of the worm gear 1-5 are used as two fixed points, and a long rod of a parallelogram is connected respectively. The two long rods are parallel to each other, and the two long rods extend out of the housing. The ends of the long rods are connected to the driven rod, and the driven rod is extended in the length direction. The extended section is connected to the clamping hoop 1-7.

[0059] In order to strengthen the friction force of the clamping hoop 1-7 relative to the transmission pole 17, a clamping hoop pad 1-8 is provided inside the clamping hoop 1-7. In order to determine the tightness of the clamping hoop 1-7 holding the transmission pole 17, a pressure sensor 1-9 is also provided on the clamping hoop pad 1-8. As an example, the middle part of the clamping hoop 1-7 pad is hollowed out and the pressure sensor 1-9 is installed. The pressure sensor 1-9 on one clamping hoop 1-7 corresponds to the first / second pressure sensor, and the pressure sensor 1-9 on the other clamping hoop 1-7 corresponds to the third / fourth pressure sensor.

[0060] The horizontal worm 1-4 has a clamping motor, which is connected to the turbine shaft through a keyway or a coupling, and the controller is connected to the driver of the clamping motor via the CAN bus. When the motor rotates forward, the clamping hoop clamps the outer circle of the transmission line pole 17 through the worm gear 1-5 worm mechanism and the parallelogram mechanism. The clamping hoop 1-7 pad is made of rubber material, which can increase the friction force. Through the feedback signal of the pressure sensor 1-9, the controller can control the clamping motor to output a suitable torque through the driver to achieve clamping. Conversely, the transmission line pole 17 can be controlled to be released. The two clamping motors are respectively recorded as the first clamping motor and the second clamping motor.

[0061] The fixed end of the electric push rod 1-3 is connected to the lower pole holding device 1-2 through a base. Since the radius of the transmission pole 17 decreases from bottom to top, the slope is about 0.3 degrees. In order to adapt to this slope, a connecting member 1-10 is also provided between the upper telescopic end and the upper pole holding device 1-1. The upper telescopic end is rotatably connected to the connecting member 1-10, so that the climbing pole lifting action can adapt to the change of the slope of the transmission pole 17. It can be understood that the maximum rotation angle can be limited by the mechanism design of the rotating shaft to avoid instability during up and down movement.

[0062] A distance sensor is also provided under the shell of the upper pole holding device 1-1 for monitoring the distance between the upper pole holding device 1-1 and the lower pole holding device 1-2, which can serve as the upper and lower limit positions of the push rod movement.

[0063] In addition, in order to realize the circumferential movement of the robot along the transmission pole 17, the upper pole holding device 1-1 and the lower pole holding device 1-2 are provided with a pole-circling walking device 1-11 on the same side of the clamping hoop 1-7. The pole-circling walking device 1-11 includes a walking mechanism and a suspension mechanism. The walking mechanism includes a horizontal motor frame 1-11-1. The upper and lower end surfaces of one end of the horizontal motor frame 1-11-1 are respectively connected to the walking wheel 1-11-2 and its driving motor; the other end of the horizontal motor frame 1-11-1 is fixedly connected to the first vertical plate 1-11-3, and the first vertical plate 1-11-3 is provided with at least one bearing seat. The suspension mechanism includes a support frame, and the support frame includes a horizontal plate 1-11-4. The two ends of the horizontal plate 1-11-4 are respectively fixedly connected to the second vertical plate 1-11-5 and the third vertical plate 1-11-6, and the longer third vertical plate 1-11-6 is connected to the upper surface of the shell of the upper holding pole device 1-1 / the lower holding pole device 1-2, and is perpendicular to the upper surface; at least one linear optical axis 1-11-7 is provided between the second vertical plate 1-11-5 and the third vertical plate 1-11-6; each of the linear optical axes 1-11-7 is sleeved in one of the bearing seats; a spring 1-11-8 is provided outside the linear optical axis 1-11-7 between each bearing seat and the third vertical plate 1-11-6. Based on this, the horizontal motor frame 1-11-1 carrying the walking wheel 1-11-2 and its driving motor can always be close to the transmission pole 17 under the action of the spring 1-11-8, so as to adapt to the change of the inclination of the transmission pole 17. In addition, the walking wheel 1-11-2 adopts a Mecanum omnidirectional wheel, so that the pole-circling walking device 1-11 can achieve omnidirectional movement and realize pole-circling movement without hindering the vertical climbing and descending movements.

[0064] In the lower boom device 1-2, the driving motor wiring harnesses of the walking wheel 1-11-2, the electric push rod 1-3 and the worm gear are all gathered from one end, passed through the lower cable connector 1-13 on the housing on the side close to the worm gear end, and connected to the upper cable connector 1-14 on the housing on the side close to the worm gear end in the upper boom device 1-1 through the spring cable 1-12; a main outlet connector 1-15 is also provided next to the upper cable connector 1-14, and in the upper boom device 1-1, the driving motor wiring harnesses of the walking wheel 1-11-2 and the worm gear, as well as the wiring harness connected from the lower boom device 1-2, all pass through the main outlet connector 1-15 and then are connected to the controller.

[0065] The robot body 1 can climb up and down the pole and move circumferentially along the transmission pole 17. Combined with the above-mentioned rotary slide 4 and three single-axis rotating mechanisms, spraying in a larger range can be achieved.

[0066]

Spraying mechanism

[0067] like Figure 3 and Figure 4 As shown, the spraying mechanism 3 adopts the pressure pumping principle of the paint pump 9. A plunger pump is installed in the paint supply and control component, and the paint pump 9 delivers the paint to the nozzle 3-5. By adjusting the mechanical flow knob behind the nozzle 3-5, the spray range and spray amplitude of the nozzle 3-5 can be adjusted; the mechanical flow knob can also be controlled by a motor, and then designed into an electrically controlled adjustable nozzle 3-5.

[0068] In order to block the wind from the side during spraying and prevent the paint from splashing during spraying and causing paint pollution, the spraying mechanism 3 can be fixed, electrically adjustable, mechanically adjustable, and other forms. As an example, the spraying mechanism 3 includes a semi-enclosed windshield 3-1, the windshield 3-1 opens upward, includes a central bottom cover 3-2 and a side cover 3-3 rotatably connected to the central bottom cover 3-2 via a rotating shaft, and the central bottom cover 3-2 and the side cover 3-3 both have side guard plates 3-4 extending in the direction of the opening of the windshield 3-1; and the bottom of the central bottom cover 3-2 is connected to the double-axis rotating assembly, and the rotating shaft is connected to a motor, that is, a motor for adjusting the opening size of the windshield 3-1, and the motor for adjusting the opening size of the windshield 3-1 is connected to a controller. By setting a rotatable side cover 3-3, the opening size of the windshield 3-1 can be adjusted to surround spray objects of different sizes. In addition, in order to allow the wind shield 3-1 to have a larger adjustment space, a certain angle is reserved between the central bottom cover 3-2 of the wind shield 3-1 and the side guard plate 3-4 on the same side of the side cover 3-3, or a certain spacing is provided so that when the side cover 3-3 rotates inwardly relative to the central bottom cover 3-2, adjacent side guard plates 3-4 can be staggered, thereby allowing the side cover 3-3 to have a larger rotation space and making the minimum enclosed area smaller, so that it has better adaptability to narrow spraying operation spaces, and is beneficial to obstacle avoidance when the spraying mechanism 3 approaches the target spraying point.

[0069] The inner surface of the wind shield 3-1 is evenly arranged with multiple nozzles 3-5. As an example, two nozzles 3-5 are respectively arranged on the two side shields 3-3, and the installation points of the four nozzles 3-5 on the wind shield 3-1 are located on a spatial plane. The spray angle of each of the nozzles 3-5 is adjustable, and the angle adjustment motor of each nozzle 3-5 is connected to the controller. The spray angle of each of the nozzles 3-5 is adjustable, so that after the opening size of the wind shield 3-1 is determined, the angle can be adjusted so that the spray direction of each nozzle 3-5 points to the target spraying part, all the nozzles 3-5 are distributed in a circle about the target spraying part, and the spray angle combination is greater than or equal to 360 degrees, which improves the coverage of the spraying and reduces the spraying blind area and the adjustment workload of the workers' arms during the spraying operation.

[0070] In addition, each of the nozzles 3-5 is also provided with a flow switch, which can adjust the spray amplitude. The adjustment switch can be manual or electric, and is controlled by a motor, so that the flow of paint can be adjusted according to the exposure of the target spraying area to avoid paint waste.

[0071]

Paint delivery

[0072] like Fig.10 As shown, the robot body 1 is also provided with a paint supply device, and the paint supply device includes a storage box 8 and a paint pump 9. As an example, the storage box 8 includes a box body and a box cover, the box body stores insulating paint, and the lower end of the box body is connected to the paint pump 9. The paint pump 9 is connected to the multiple nozzles 3-5 via a delivery pipeline, and the paint is pressurized by the pump and supplied to the upper nozzles 3-5. Those skilled in the art can understand that the pipeline can be set outside the robot.

[0073] In order to improve the overall cleanliness of the exterior of the device, as another implementation method, the support rod 2 is hollowed out and the hollow cavity is used as a part of the paint delivery pipeline, so that the exterior of the device is more concise and the pipeline entanglement that may occur when the spraying mechanism 3 approaches the target spraying part is avoided. Figure 4 and Figure 5 As shown, the electric lifting rod 2-1 and the insulating rod 2-2 are both hollow rods; a connecting seat is also provided between the first single-axis rotating mechanism and the electric lifting rod 2-1, and the connecting seat is hollow, and a pipe inlet joint 10 is provided on the side wall, which is used to connect the outlet of the paint pump 9 through a pipe; the insulating rod 2-2 is close to one end of the spraying mechanism 3, and a pipe outlet joint 11 is provided on the side wall, which is used to connect to the multiple nozzles 3-5 through a pipe. Specifically, the pipe outlet joint 11 is a multi-way joint, and each passage of the multi-way joint is connected to a nozzle 3-5 through a pipe. Specifically, the multi-way joint is a 5-way Y-type joint, and the four output ends are respectively connected to the four nozzles 3-5. Specifically, the insulating rod 2-2 is a glass fiber reinforced epoxy resin tube with a hollow interior.

[0074]

Paint recycling

[0075] Since there will be splashing paint during the spraying process, and the wind shield 3-1 has a certain collection effect, in order to avoid the waste of these excess paints, Figure 4 As shown, the bottom of the wind shield 3-1 is provided with an opening, the opening is connected to the collection pipe 12, and the collection pipe 12 is connected to the recovery barrel 13. During spraying, the recovery cover blocks the excess paint that is splashed, and the paint flows into the collection pipe 12 through the slope of the recovery cover, and then reaches the recovery barrel below through the collection pipe 12. As an example, the recovery barrel 13 can be connected to the insulating rod 2-2. Based on the surrounding design of the wind shield 3-1 and the recovery device, the recovery of splashed paint is achieved.

[0076]

Control system

[0077] The control system 14 of the pole climbing robot includes a controller, a wireless communication module 14-1 connected to the controller, a status indicator light 14-2 and a power module 14-3, wherein the power module 14-3 is used to provide power to the controller and various boards, motors, paint pumps 9 and push rods connected thereto; the status indicator light 14-2 is used to display the working status of the robot; and a start switch is also connected to the power module 14-3, by which the power of the robot can be controlled on and off.

[0078] The above-mentioned rotary slide 4, electric lifting rod 2-1, rotating assembly, motor of paint pump 9, pressure sensor 1-9, distance sensor, etc. are all connected to the controller. Fig.11 As shown, the X / Y axis motor, B axis swing motor, rotary motor and rotary motor 1 / 2 correspond to the motors on the dual axis rotary assembly, the first single axis rotary assembly 5, the rotary slide 4 and the wind shield 3-1 respectively. A cable connector is installed on the side of the connecting seat, and the cable passes through the cable connector and the inside of the insulating rod 2-2 to reach the controller.

[0079] The controller has functional modules such as power conversion, logic control, and drive module, which are responsible for power conversion and logic control, and are used to control the actions of each motor to achieve climbing pole action, paint supply, and angle adjustment of spray tools.

[0080] In order to more accurately control the pole climbing action of the robot body 1, the robot body 1 is also provided with an inertial measurement unit (IMU) connected to the controller. When the robot body 1 moves, it is used to provide real-time feedback of the three-axis attitude angle and acceleration signals to achieve precise control of the movement.

[0081] In order to ensure that the spraying mechanism 3 accurately reaches the target spraying part and realizes the monitoring of the spraying process and effect, the top of one side of the wind shield 3-1 is connected to the first camera 15 through the first bracket, and is connected to the controller via the wireless communication module 14-1. Those skilled in the art can understand that in order to avoid excessive data processing pressure on a single controller, a separate controller can also be configured for the first camera 15, and the camera is installed on the top of the insulating rod 2-2 through the bracket, and the control box is installed at the upper end of the insulating rod 2-2. A switch, a wireless module and a lithium battery are provided in the control box. The picture taken by the camera is processed by the control box and then wirelessly transmitted to the remote control display screen, so that the ground operator can visually detect the spraying effect through the display screen.

[0082] In order to monitor the movement state of the robot body 1 in real time, a second bracket is provided on the robot body 1, and the second bracket is connected to a second camera 16, which is connected to the controller via a wireless communication module 14-1, so that the upper pole holding device 1-1 and the lower pole holding device 1-2 can be included in the field of view of the second camera 16.

[0083] The robot also includes a ground remote controller connected to the controller via a wireless communication module 14-1. The ground remote controller also includes a display module for displaying the internal image of the windshield 3-1 received from the first camera 15 to assist in determining whether the spraying mechanism 3 has accurately reached the target spraying position, and to monitor the spraying process and effect, and / or, to display the robot climbing state image received from the second camera 16, so as to observe the working state of the robot in real time.

[0084] As an example, the wireless communication module 14 - 1 includes an antenna, a receiver and a switch, the switch is connected to the controller via an RS232 interface, and the first camera 15 and the second camera 16 are connected to the controller via an RJ45 interface.

[0085] During spraying operation, there is no physical connection between the device and the ground, and there is no risk of grounding the equipment during live spraying operation, which ensures the safety requirements of the spraying operation.

[0086] The control system 14 of the robot is arranged on the robot body 1 and is integrated with the paint supply device. Specifically, a base is arranged above the upper holding rod device 1-1, and the base includes a shell, one side of the shell is used to set the paint supply device, and the other side is used to set the control system 14. The paint supply device includes a storage box 8, and a paint pump 9 is connected to the bottom of the storage box 8. The paint pump 9 is located inside the shell, and an interface is arranged on the shell; in order to store more paint, the upper part of the storage box 8 can exceed the outside of the shell. The control system 14 includes a controller, a motor control board, a wireless communication module 14-1 and a power module 14-3. The power module 14-3 is a lithium battery and is arranged at the bottom. The controller is connected to the rotary slide 4, the first single-axis rotating assembly 5, the double-axis rotating assembly, the driving motor of the wind shield 3-1, the electric push rod 1-3, the driving motor of the pole walking device 1-11, and the paint pump 9 via the motor control board.

[0087]

Control method

[0088] The ground remote controller includes:

[0089] The upper and lower pole control module of the robot is used to send instructions to the robot to loosen or tighten the clamp, as well as at least one control instruction around the transmission pole 17 angle.

[0090] The motion control module for the robot is used to send at least one control instruction of the upward or downward movement distance and the angle around the transmission pole 17 to the robot.

[0091] The control module for the support rod 2 is used to send control instructions to at least one of the rotary slide and the first single-axis rotating component 5, and to send control instructions to the electric lifting rod 2-1.

[0092] The size adjustment module for the wind shield 3-1 is used to send control instructions to the rotation mechanisms of the two side shields 3-3 of the wind shield 3-1.

[0093] The posture adjustment module for the spraying mechanism 3 is used to send a control instruction to at least one of the second single-axis rotating assembly 6 and the third single-axis rotating assembly 7. For example, the posture adjustment module for the spraying mechanism 3 includes an X-axis rotation key and a Y-axis rotation key, and each time the rotation key is pressed, the setting angle is rotated.

[0094] The spray control module is used to send an angle adjustment instruction or a flow control instruction to at least one of the multiple nozzles 3-5, and send an opening or closing instruction to the paint pump 9.

[0095] In order to reduce the complexity of operation and avoid repeated adjustments due to lack of expertise or inaccurate alignment due to manual errors when adjusting the angle of the nozzle 3-5, the automatic adjustment of the angle of the nozzle 3-5 can be achieved. If the area surrounded by the wind shield 3-1 is regarded as a circle, when the size of the wind shield 3-1 changes, the center of the circle will change. For example, when the side covers 3-3 of the wind shield 3-1 are flipped to both sides, the center of the circle will move up, and when the side covers 3-3 of the wind shield 3-1 are flipped to the center, the center of the circle will move down. Therefore, by establishing a relationship between the size of the wind shield 3-1 and the angle of the nozzle 3-5, it can be ensured that the nozzle 3-5 always points to the center of the wind shield 3-1. Specifically, multiple adjustable angles of the wind shield 3-1 are preset, such as -10°, -5°, 0°, 5°, and 10°, 0° represents the initial state, a negative number represents that the two side covers 3-3 rotate inward at the same time, and a positive number represents that the two side covers 3-3 rotate outward at the same time. A correspondence between the rotation angle of the wind shield 3-1 and the angles of the multiple nozzles 3-5 is established. When the controller receives the rotation control of the side cover 3-3 of the wind shield 3-1, the corresponding angles of the multiple nozzles 3-5 are obtained according to the size of the rotation angle, and the multiple nozzles 3-5 are controlled to rotate.

[0096] As an example, the process of spraying control based on the ground remote controller is as follows:

[0097] Step 1: Turn on the start button, the status indicator 14-2 shows normal, and the two clamping motors rotate automatically, so that the clamps of the upper and lower clamping devices open to the starting position (slightly larger than the diameter of the transmission pole 17);

[0098] Step 2: Put the upper and lower clamps of the pole climbing robot on the transmission pole 17, send a clamping command through the ground remote control, the two clamping motors reverse, and the upper and lower clamps start to clamp the transmission pole 17 at the same time until the motor torque reaches the pressure set by the pressure sensor 1-9 and stops, and the worm gear 1-5 worm mechanism realizes the self-locking function;

[0099] Step 3: Control the nozzle 3-5 assembly to face the target spraying area. As an example, visually observe the direction and size of the spraying area, press the X / Y axis rotation key of the remote control respectively, control the X / Y axis motor rotation through the control assembly, and adjust the spraying assembly to rotate to the appropriate angle where the nozzle 3-5 faces the spraying area.

[0100] Step 4: Send an upward movement control command through the ground remote control, the upper clamp is released, and the electric push rod 1-3 extends and moves upward, so that the upper clamp device 1-1 rises to the upper limit distance set by the distance sensor and stops, and then the upper clamp tightly holds the transmission pole 17; the lower clamp is released, and the electric push rod 1-3 is retracted, so that the lower clamp device 1-2 rises until it stops at the lower limit distance set by the distance sensor, and then the lower clamp tightly holds the transmission pole 17, completing a pole climbing action; send this command repeatedly until the height of the pole climbing robot meets the expectations;

[0101] Step 5: Control the posture of the support rod 2 and extend it so that the wind shield 3-1 of the spray mechanism 3 is set outside the target spraying part, and adjust the posture of the nozzle 3-5 mechanism in combination with the display module on the remote control so that the target spraying part is located at the center of the multiple nozzles 3-5. In this process, the size of the wind shield 3-1 is adjusted as needed. For example, if there are many lines and small space near the target spraying point, the side cover 3-3 of the wind shield 3-1 is controlled to rotate inward at a set angle.

[0102] Step 6: Control the multiple nozzles 3-5 to perform spraying operations, and monitor the spraying effect in combination with the display module on the remote controller.

[0103] The pole-climbing robot's descending action is the opposite of the process in step 4 above.

[0104] It can be understood that if there are multiple target spraying locations above the transmission pole 17, and the multiple target spraying locations are at different positions of the transmission pole 17, the robot can be controlled to move around the pole to reach a position suitable for spraying other target spraying locations.

[0105] The ground operator can visually inspect the spraying effect through the display screen. The visual inspection device and the ground remote control use wireless communication. There is no physical connection between the device and the ground. There is no risk of grounding the equipment during inspection, ensuring the safety requirements of operation.

[0106] The pole climbing spraying robot in one or more embodiments of the present invention can replace the operator to complete the pole climbing operation, reduce the work intensity, and improve the work safety. In addition, through the movement of the main robot, the adjustable multi-degree-of-freedom of the support mechanism, the adjustable size of the protective cover, etc., the operation range of the robot is greatly increased, and the spraying operation can be performed on the target spraying part of any orientation and shape. In addition, the design of the windshield and paint recovery function avoids the waste of splashing paint.

[0107] In addition, the main materials of the protective cover and the rotating shaft joint are insulating materials, and the rotating shaft motor is protected by an insulating shell to ensure the phase-to-phase insulation and ground insulation safety during spraying operations.

[0108] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A pole climbing spraying robot, characterized in that: include: A robot body, wherein a rotary slide is arranged above the robot body, and the rotary slide is connected to a support rod via a first single-axis rotating assembly; the support rod comprises an electric lifting rod and at least one insulating rod connected in sequence from bottom to top; the insulating rod is connected to a spraying mechanism via a double-axis rotating assembly above; wherein the rotating axis of the single-axis rotating assembly is along the x-direction, and the double-axis rotating assembly comprises a second single-axis rotating assembly and a third single-axis rotating assembly connected up and down, and the rotating axes are respectively along the x-direction and the y-direction; The robot body comprises an upper holding rod device and a lower holding rod device, an electric push rod is arranged between the upper holding rod device and the lower holding rod device; the upper holding rod device and the lower holding rod device both comprise a housing, a horizontal worm is arranged in the housing; The upper pole holding device and the lower pole holding device are both provided with a pole-circling walking device on the same side of the clamping hoop, and the pole-circling walking device includes a walking mechanism and a suspension mechanism, and the walking mechanism includes a horizontal motor frame, one end of the horizontal motor frame is connected to a walking wheel, and the other end is fixedly connected to a first vertical plate, and at least one bearing seat is provided on the first vertical plate; the suspension mechanism includes a support frame, and the support frame includes a horizontal plate, and a second vertical plate and a third vertical plate arranged at both ends of the horizontal plate, and the third vertical plate is connected to the upper surface of the shell of the upper pole holding device / the lower pole holding device; at least one linear optical axis is provided between the second vertical plate and the third vertical plate; each of the linear optical axes is sleeved in one of the bearing seats; a spring is arranged outside the linear optical axis between each bearing seat and the third vertical plate.

2. The pole climbing spraying robot according to claim 1, characterized in that: Two worm wheels are symmetrically arranged on both sides of the horizontal worm, and the two worm wheels are meshed with the horizontal worm; each of the worm wheels is connected to a clamping hoop through a connecting rod mechanism, and the two clamping hoops are located outside the shell and are arranged opposite to each other.

3. The pole climbing spraying robot according to claim 1, characterized in that: A clamp pad is provided on the inner side of the clamp, and a pressure sensor is also provided on the clamp pad.

4. The pole climbing spraying robot according to claim 1, characterized in that: A connecting piece is also provided between the upper telescopic end of the electric push rod and the upper pole holding device, and the upper telescopic end is rotatably connected to the connecting piece.

5. The pole climbing spraying robot according to claim 1, characterized in that: A distance sensor is also provided below the housing of the upper pole holding device for monitoring the distance between the upper pole holding device and the lower pole holding device, and can serve as upper and lower limit positions for the movement of the push rod.

6. The pole climbing spraying robot according to claim 1, characterized in that: The spraying mechanism includes a semi-enclosed windshield with an upward opening, including a central bottom cover and side covers rotatably connected to the central bottom cover via a rotating shaft, and both the central bottom cover and the side covers have side guard plates extending toward the opening direction of the windshield.

7. The pole climbing spraying robot according to claim 6, characterized in that: A plurality of nozzles are evenly arranged on the inner surface of the wind shield, and the spraying angle of each nozzle is adjustable.

8. The pole climbing spraying robot according to claim 7, characterized in that: The electric lifting rod and the insulating rod are both hollow rods; a connecting seat is also provided between the first single-axis rotating mechanism and the electric lifting rod, and the connecting seat is hollow, and a pipe inlet joint is provided on the side wall for connecting the paint pump outlet through a pipe; the insulating rod is close to one end of the spraying mechanism, and a pipe outlet joint is provided on the side wall for connecting with the multiple nozzles through pipes.

9. The pole climbing spraying robot according to claim 6, characterized in that: An opening is provided at the bottom of the wind shield, the opening is connected to a collecting pipe, and the collecting pipe is connected to a recovery barrel.

10. A control method for a pole climbing spraying robot as claimed in any one of claims 1 to 9, characterized in that: include: After the robot body holds the transmission line pole tightly, it moves upward, downward or around the pole in response to the robot motion control command, so that the robot body moves to the expected position; In response to the support rod control instruction, the rotary slide and / or the first single-axis rotary assembly are controlled; and / or in response to the spraying mechanism posture adjustment instruction, the dual-axis rotary assembly is controlled so that the spraying mechanism is aligned with the target spraying part; In response to the support rod control command, the electric lifting rod is controlled to extend until the wind shield of the spraying mechanism is sleeved outside the target spraying part; Control the spraying mechanism to perform spraying operations.

11. The control method according to claim 10, characterized in that: The method further comprises: In response to the size control instruction of the wind shield, the two side shields of the wind shield are controlled to rotate to a set angle; According to the size of the rotation angle, based on the correspondence between the preset wind shield rotation angle and the angles of multiple nozzles, the corresponding target angles of the multiple nozzles are obtained, and the multiple nozzles are controlled to rotate so that the multiple nozzles all point to the center of the wind shield.

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