Electrified coating robot suitable for four-split power transmission line

Abstract

The invention provides an electrified coating robot suitable for a four-bundle power transmission line, belongs to the technical field of coating robots, and solves the technical problems that an existing electrified coating robot is unstable in obstacle crossing on the surface of a four-bundle power transmission conductor and poor in conductor coating effect. An electrified coating robot suitable for a four-split power transmission line comprises a bottom box, a plurality of material tanks are fixedly inserted into the bottom box, an adjusting plate is slidably connected to the surface of the bottom box, a mounting plate is fixedly mounted on the surface of the adjusting plate, and a handle is arranged on the outer side of the mounting plate. According to the invention, the opening and closing obstacle crossing assemblies are symmetrically arranged on the surface of the bottom box, under the transmission action of toothed plates and gears, through the arrangement of the toothed plates, the upper and lower cross rods can be synchronously driven and opened through a single group of toothed plates, so that the obstacle crossing rods can cross obstacles on the spacer on one side, and the balance of up and down obstacle crossing is realized; a walking adjusting assembly is arranged at one end of an obstacle crossing rod.

Description

Technical Field

[0001] The invention belongs to the technical field of coating robots and relates to a wire coating robot, in particular to a live coating robot suitable for four-split power transmission lines. Background Art

[0002] In recent years, with the rapid development of distribution networks, their scale has been expanding and their importance has been increasing. However, due to the large range of transmission lines, wide distribution points, complex geographical environment, harsh natural environment, and the fact that transmission lines, towers and accessories have been exposed to the wild for a long time and the lines are old, the current carrying capacity of transmission conductors will be affected by the temperature of the conductors. If the transmission conductors cannot dissipate heat quickly, the current carrying capacity of the transmission conductors will be greatly limited.

[0003] With the continuous growth of demand for electricity in modern society, the power industry has ushered in new challenges and opportunities. The live insulation coating robot is a revolutionary technology. Its birth has changed the traditional way of maintaining power equipment. It aims to solve the problems of power capacity limitation and high thermal management cost caused by heat accumulation in power equipment such as transmission lines serving outdoors. These robots can perform cooling and capacity increasing tasks while high-voltage power lines are energized, without power outages, thereby maintaining the continuity of power supply.

[0004] After searching, for example, Chinese patent documents disclose a 500kV four-split conductor transmission line anti-icing coating live coating robot [Application No.: CN201310273283.2; Publication No.: CN104275258A]. This robot mainly includes a robot body, a control system, a power supply system and a coating system. The robot body is the skeleton of the robot and constitutes the mounting carrier of each module. The two sides of the body are robot arms. The robot's walking mechanism and the coating brush assembly in the coating system are installed on the arms.

[0005] Although the live coating robot disclosed in this patent can cross obstacles such as spacers, the machine's obstacle crossing through a single line can easily make the robot's center of gravity unstable, causing the robot to fall off the line, affecting the robot's working safety and service life. Moreover, when the current live coating robot is coating four-split power transmission lines, it cannot cross obstacles due to the setting of spacers, so the staff needs to repeatedly install and move the robot, which seriously affects the working efficiency and practicality of the live coating robot. Summary of the invention

[0006] The purpose of the present invention is to address the above-mentioned problems in the existing technology and to propose a live coating robot suitable for four-split transmission lines. The technical problem to be solved by the invention is: how to enable the live coating robot to perform stable obstacle-crossing walking and adaptive coating of cables on the surface of four-split transmission lines.

[0007] The purpose of the present invention can be achieved by the following technical solutions: A live coating robot adapted to a four-split power transmission line comprises a bottom box, a plurality of material tanks are fixedly inserted in the interior of the bottom box, and an adjusting plate is slidably connected to the surface of the bottom box, a mounting plate is fixedly installed on the surface of the adjusting plate, a handle is arranged on the outer side of the mounting plate, and the handle is fixedly connected to the surrounding surfaces of the adjusting plate, a first bidirectional screw is rotatably connected to the surface of the mounting plate, one end of the first bidirectional screw is fixedly connected to the output end of a first motor, and the first motor is fixedly installed on the surface of the mounting plate, the surface of the first bidirectional screw is connected to two bottom blocks through a ball nut, and a guide column is slidably connected to the interior of the bottom block, and the guide column is fixedly installed on the surface of the mounting plate, the surfaces of the two bottom blocks are fixedly connected to opening and closing obstacle crossing components, and the two bottom blocks are symmetrically arranged about the central axis of the bottom box; The opening and closing obstacle crossing assembly includes a vertical box, and the vertical box is fixedly installed on the surface of the bottom block. The interior of the vertical box is rotatably connected to a second bidirectional screw rod, the second bidirectional screw rod is driven by a second motor, and the outer wall of the second bidirectional screw rod is connected to two lifting blocks through a ball nut, the interior of the lifting block is fixedly connected to two sleeves, and the two sleeves are slidably sleeved on the outer wall of the guide rod, the guide rod is fixedly installed inside the vertical box, and the guide rod is arranged parallel to the second bidirectional screw rod; The outer walls of the two sleeves are rotatably connected with fixed gears, the outer ends of the fixed gears are fixedly connected with telescopic obstacle crossing units, the outer walls of the fixed gears are meshedly connected with toothed plates, and the toothed plates are slidably telescoped inside the vertical box; The telescopic obstacle crossing unit includes a cross bar, and the cross bar is fixedly installed on the outside of the fixed gear, a support plate is fixedly installed between the upper and lower cross bars, and an electric telescopic rod is fixedly installed on the surface of the support plate, and a fixed side plate is fixedly installed on the output end of the electric telescopic rod, and the upper and lower ends of the fixed side plate are fixedly connected to the obstacle crossing rod; The obstacle crossing rod is vertically distributed with the cross bar, and a telescopic inner rod is fixedly installed on one side of the obstacle crossing rod, and the telescopic inner rod is slidably connected to the inner wall of the cross bar; The obstacle crossing rod and the cross bar are symmetrically arranged in an "L"-shaped structure, and one end of the obstacle crossing rod away from the cross bar is fixedly connected with a walking adjustment component.

[0008] The working principle of the present invention is as follows: by symmetrically arranging the opening and closing obstacle crossing components on the surface of the bottom box, under the action of the first bidirectional screw rod, the opening and closing obstacle crossing components can be adjusted on the surface of the mounting plate according to the lateral spacing of the transmission wires; at the same time, by arranging the walking adjustment component at one end of the obstacle crossing pole, the walking wheel can drive the robot to move on the surface of the transmission wire at one end of the obstacle crossing pole; and under the action of the telescopic obstacle crossing unit, when the robot walks to a wire with a larger slope, the electric telescopic pole is energized to make the obstacle crossing pole on one side telescopic, so that the obstacle crossing pole on one side can be telescoped, which is convenient for the obstacle crossing pole on one side to cross the obstacle first, thereby ensuring the stability and safety of the robot as a whole when crossing obstacles; and by arranging the coating unit on the outside of the walking adjustment component, the surface of the transmission wire is coated Stable coating, and by arranging coating units on the outside of the two walking wheels, the robot can spray through the coating unit at the rear end of the walking direction when walking and coating, and by fixing the drying and anti-drip unit on the outer wall of the spraying plate, the heating plate heats and dries the coated cable, thereby improving the spraying efficiency. At the same time, by opening a receiving trough in the middle of the lower heating plate, the excess cooling and capacity-increasing paint enters the discharge port through the receiving trough. With the discharge port located at both ends of the heating plate, the discharge port can collect the paint, and when it is full, it overflows to both sides through the discharge port, thereby avoiding interference of excess paint on the cable. When the robot walks to the spacer position, the electric push rod on one side contracts, so that the electric push rod drives the gear plate inside the vertical box. The gear plate is engaged with the fixed gear and the gear plate drives the corresponding fixed gear to rotate. The fixed gear is fixedly connected to one end of the cross bar, so that the cross bar is rotated and opened on one side of the vertical box, so that the obstacle crossing pole on one side is opened and crosses the spacer bar. At the same time, in order to realize the flexible opening of the obstacle crossing pole on the outer wall of the transmission line, the walking wheel is moved on the outer wall of the transmission guide line to ensure the flexibility of the telescopic obstacle crossing unit. Under the action of the third bidirectional screw, the adjustment block drives the second synchronous wheel to move, and the first synchronous belt is engaged and connected to the outer wall of the second synchronous wheel. Under the fixed length action of the first synchronous belt, guide wheels are set on both sides of the second synchronous wheel, so that the second synchronous wheel can still rotate after the position is adjusted. , which is convenient for driving the walking wheels to rotate and walk, and realizes the rotation effect of the walking wheels at any position. When overcoming obstacles, one side is opened by the telescopic obstacle overcoming unit, so that the telescopic obstacle overcoming unit on the other side is moved by the walking wheels. After the opened obstacle overcoming rod moves to the other side of the spacer bar, the tooth plate is driven by the electric push rod to move in the opposite direction, so that the obstacle overcoming rod is close to the transmission line on the other side of the spacer plate. After moving through the walking wheels, the obstacle overcoming rod at the rear end is opened, so that the robot completes the obstacle overcoming. The structure is simple and the applicability is wide. In order to realize the precise movement of the robot on the surface of the transmission line, an adjustment plate is slidably connected to the surface of the bottom box. Under the driving action of the fixed motor, the adjustment plate can be adjusted laterally through the mounting plate.It is convenient to move the center of gravity of the robot. By setting a level inside the bottom box, the center of gravity of the robot can be adjusted by the fixed motor and the first motor when the robot tilts beyond the threshold, thereby avoiding the robot from walking crookedly. Moreover, by setting a coating unit on the outside of the connection box, the material tank can supply and spray the spray plate. The two spray plates are arranged in an arc shape symmetrically up and down. The inside of the material tank contains a polymer cooling and capacity-increasing coating material, which can greatly improve the cooling and capacity-increasing effect of the transmission line. Moreover, the coating can be accurately sprayed through the nozzle inside the spray plate. The spray plate can efficiently atomize the coating material to ensure the uniformity of the spraying. Moreover, the spraying amount of the lower spray plate is less than that of the upper spray plate, so that the coating can maintain the uniformity of the surface of the wire after the paint accumulates at the bottom of the wire, thereby realizing the live coating of the transmission line.

[0009] A mounting block is fixedly mounted on the bottom end of the adjustment plate, and a first screw rod is connected to the inside of the mounting block via a ball nut, and the first screw rod is rotatably connected to the inside of the bottom box; The outer wall of the first screw rod is fixedly connected with a third bevel gear, the bottom end of the third bevel gear is meshingly connected with a fourth bevel gear, the bottom end of the fourth bevel gear is fixedly installed with an output shaft of a fixed motor, and the fixed motor is fixedly installed inside the bottom box.

[0010] By adopting the above structure and setting a fixed motor, when the fixed motor is energized, the adjustment plate can be adjusted laterally through the mounting plate, thereby facilitating the movement of the center of gravity of the robot. By setting a spirit level inside the bottom box, the center of gravity of the robot can be adjusted through the fixed motor and the first motor when the robot tilts beyond a threshold, thereby avoiding the robot from walking crookedly.

[0011] The inner side of the tooth plate is fixedly connected to the output end of the electric push rod, and the electric push rod is fixedly installed on the inner wall of the vertical box. The two tooth plates are arranged in an "L" shape and are reversely symmetrical. The outer walls of the tooth plates are fixedly connected to the first slider, and the outer wall of the first slider is slidably connected to the first slide groove, and the first slide groove is opened on the inner wall of the vertical box; Both sides of the vertical box are provided with through slots for accommodating the lifting and rotating of the crossbar.

[0012] By adopting the above structure, an electric push rod is connected to the inner side of the tooth plate. When the electric push rod is energized, the tooth plate is effectively driven inside the vertical box. The sliding connection between the tooth plate and the vertical box ensures the meshing transmission effect of the tooth plate on the outer side of the gear, which facilitates the precise transmission of the obstacle crossing rod.

[0013] The two lifting blocks are symmetrically arranged about the horizontal axis of the second bidirectional screw rod, and the lifting blocks are arranged in a "T"-shaped structure; The top end of the second bidirectional screw is fixedly connected to the output end of the second motor, and the second motor is fixedly installed on the top end of the vertical box; The top of the vertical box is fixedly connected with an anti-falling cover, and the anti-falling cover is located above the walking adjustment component.

[0014] With the above structure, under the "T"-shaped action of the lifting block, when the lifting block is driven to move by the second bidirectional screw, the lifting block synchronously drives the cross bar to adjust the height through the sleeves on both sides, thereby achieving the accuracy of the second bidirectional screw driving the cross bar to move through the lifting block, and through the setting of the anti-fall cover, the safety of the robot's walking is ensured, which is beneficial to improving the walking quality of the robot.

[0015] The walking adjustment assembly includes a connecting box, and the connecting box is fixedly installed on one end of the obstacle crossing pole, and a coating unit is fixedly installed on the outer wall of the connecting box. The rotation of the surface of the connecting box is connected to two walking wheels, each walking wheel is adjusted to rotate by an adjustment unit, and the two adjustment units are driven and connected by a linkage unit.

[0016] With the above structure, a connection box is arranged at one end of the obstacle crossing pole, so that the obstacle crossing pole can move on the surface of the transmission line through the running wheels on the surface of the connection box after crossing the spacer bar.

[0017] The adjustment unit includes a fixed plate, and the fixed plate is fixedly installed inside the connection box. The surface of the fixed plate is rotatably connected to two first synchronous wheels. The outer walls of the two first synchronous wheels are meshed with a first synchronous belt. The inner wall of the first synchronous belt is also meshed with a second synchronous wheel, and the second synchronous wheel is arranged parallel to one side of the first synchronous wheel. A rotating rod is fixedly connected inside the second synchronous wheel, and the rotating rod is rotatably connected to the surface of the adjustment block, and the adjustment block is slidably connected between the fixed plate and the connection box; Guide wheels are symmetrically arranged on both sides of the second synchronous wheel, and the guide wheels are rotatably connected to the surface of the adjustment block. The outer wall of the guide wheel is meshedly connected with the outer wall of the first synchronous belt, and the first synchronous belt is arranged in a "J"-shaped structure between the second synchronous wheel and the guide wheel; The surface of the rotating rod is fixedly provided with a traveling wheel, and the surface of the connecting box is provided with a through hole which can accommodate the lifting and lowering movement of the rotating rod; The outer wall of the adjustment block is fixedly connected with a second sliding block, and the outer wall of the second sliding block is slidably connected with a second sliding groove, and the second sliding groove is arranged on the inner wall of the connection box.

[0018] By adopting the above structure, under the action of the adjusting unit, the first synchronous wheel drives the second synchronous wheel to rotate through the first synchronous belt, and the second synchronous wheel is rotatably connected to the adjusting block through the rotating rod, so that the adjusting block can drive the second synchronous wheel to adjust the position, and under the action of the fixed length of the first synchronous belt and by arranging guide wheels on both sides of the second synchronous wheel, the tension of the first synchronous belt is stabilized, so that the second synchronous wheel can still be driven and rotated by the first synchronous belt after the position is adjusted, and the rotating rod drives the walking wheel to rotate, thereby realizing the adjustable walking of the walking wheel on the outer wall of the transmission line with different diameters, ensuring the working flexibility and convenience of the robot.

[0019] The linkage unit includes a third bidirectional screw, and the third bidirectional screw is rotatably connected to the inside of the connection box, and the third bidirectional screw is driven by a third motor, and the outer wall of the third bidirectional screw is connected to two adjustment blocks through a ball nut, and the two adjustment blocks are symmetrically arranged about the horizontal axis of the connection box; The inner wall of the connection box is fixedly connected with an electric motor, and the output end of the electric motor is fixedly connected with a second bevel gear, and the bottom end of the second bevel gear is fixedly connected with the first bevel gear, the other end of the first bevel gear is fixedly connected with a third synchronous wheel, and the third synchronous wheel is rotatably connected to the surface of the fixed plate, the other end of the third synchronous wheel is fixedly installed with the first synchronous wheel, and the third synchronous wheel and the first synchronous wheel are respectively located on both sides of the fixed plate, and the outer walls of the two third synchronous wheels are meshed with a second synchronous belt; The output end of the third motor is fixedly mounted on the top end of the third bidirectional screw rod, and the third motor is fixedly mounted on the top end of the connection box.

[0020] By adopting the above structure, the symmetrical adjustment block is driven to move by the third bidirectional screw rod, so that the two symmetrically arranged adjustment units drive the walking wheels to adjust and rotate, and the third synchronous wheel is fixedly connected to one end of the first synchronous wheel, and under the transmission action of the second synchronous belt, the two adjustment units realize synchronous transmission, ensuring the consistency of the two walking wheels walking on the outer wall of the transmission line, and the first bevel gear is connected to one end of the third synchronous wheel, and the first bevel gear is meshed with the second bevel gear. Therefore, a single electric motor can realize the synchronous rotation of the two adjustment units, saving driving resources and rationally utilizing the internal space of the connecting box.

[0021] The coating unit includes a fixing frame, and the fixing frame is fixedly mounted on the outer wall of the connection box, the fixing frame is rotatably connected to a fourth bidirectional screw rod inside, and the fourth bidirectional screw rod is driven by a fourth motor, the outer wall of the fourth bidirectional screw rod is symmetrically provided with two spraying plates through a ball nut, and the two spraying plates are slidably connected to the outer wall of the vertical pole, and the vertical pole is fixedly mounted inside the fixing frame; A connecting port is fixedly installed at one end of the spraying plate, and a connecting pipe is fixedly connected to the outer end of the connecting port, and a material tank is fixedly connected to the other end of the connecting pipe.

[0022] With the above structure, spray ports are provided on the inner walls of the two spray plates, and the spraying amount of the lower spray plate is less than that of the upper spray plate, so that the uniformity of the surface of the high-voltage wire is maintained after the paint accumulates at the bottom of the high-voltage wire. Under the action of the connecting pipe, the material tank supplies the spray plate with material for spraying, so that the two spray plates are evenly coated at the upper and lower ends of the transmission wire, thereby realizing the live coating of the transmission wire. By connecting the fourth bidirectional screw and the fourth motor at one end of the two spray plates, the two spray plates can be flexibly adjusted in distance, which is convenient for flexible spraying of transmission wires of different diameters, ensuring the coating quality of the wire, and has a simple structure and good flexibility.

[0023] The two spraying plates are symmetrically arranged in an arc-shaped structure, and a guide plate is fixedly installed on the outer wall of the spraying plate, and the guide plate is arranged through the inside of the fixing frame, and the outer wall of the guide plate is sleeved with a telescopic spring, and the two ends of the telescopic spring are respectively fixedly connected to the outer wall of the spraying plate and the inner side of the fixing frame; A fourth motor is fixedly mounted on the output end of the fourth bidirectional screw, and the fourth motor is fixedly mounted on the outer wall of the fixing frame; The outer side of the spray plate is connected with a drying and anti-drip unit.

[0024] By adopting the above structure, the arc-shaped setting of the two spray plates facilitates the precise fitting and coating of the spray plates and the power transmission wires, and by arranging a guide plate on the outer wall of the spray plate, the spray plate can be slightly adjusted inside the fixed frame under the elastic action of the telescopic spring, so that the spray plate can accurately and stably coat the power transmission wires.

[0025] The drying and anti-drip unit includes two heating plates, and the heating plates are fixedly installed on the outside of the arc-shaped spraying plate, and the two heating plates are symmetrically arranged in an arc structure; A fan is fixedly connected to the top of the upper heating plate, and the air outlet of the fan is located on the inner top wall of the heating plate; A material receiving groove is provided in the middle of the lower heating plate.

[0026] By adopting the above structure, under the action of the drying and anti-drip unit, the heating plate heats and dries the coated cable, thereby improving the spraying efficiency, and by arranging an air outlet on the top of the heating plate, the spray paint is dried faster and the paint is effectively prevented from dripping. At the same time, by opening a material receiving trough in the middle of the heating plate below, excess cooling and capacity-increasing paint is collected through the material receiving trough, thereby avoiding interference with the environment caused by paint dripping.

[0027] Compared with the prior art, the live coating robot of the present invention has the following advantages: 1. In the present invention, by symmetrically arranging the opening and closing obstacle crossing components on the surface of the bottom box, under the transmission action of the tooth plate and the gear, the upper and lower cross bars can be synchronously driven and opened through the single set of tooth plates through the arrangement of the tooth plates, so that the obstacle crossing rod can cross obstacles with the spacer bars on one side, and the balance of the upper and lower obstacles is achieved. At the same time, by arranging a walking adjustment component at one end of the obstacle crossing rod, the obstacle crossing rod can be adjusted to fit the transmission wire through the walking adjustment component after crossing the obstacle, thereby ensuring the movement effect of the robot on the transmission wire. Through such an arrangement, it is avoided that the staff needs to repeatedly install and move the robot, and the stable movement and obstacle crossing of the robot on the surface of the four-split transmission wire are achieved, which greatly improves the working efficiency and application scope of the live coating robot and has strong practicality.

[0028] 2. In the present invention, under the action of the walking wheel set for rotation adjustment on the surface of the walking adjustment component, by arranging an adjustment unit inside the connecting box, the first synchronous wheel drives the second synchronous wheel to rotate through the first synchronous belt, and the second synchronous wheel is rotatably connected to the adjusting block through the rotating rod, so that the adjusting block can drive the second synchronous wheel to adjust the position, and by arranging guide wheels on both sides of the second synchronous wheel, the tension of the first synchronous belt is stabilized. At the same time, under the action of the fixed length of the first synchronous belt, the second synchronous wheel can still be driven and rotated by the first synchronous belt after the position is adjusted by the adjusting block, thereby ensuring the movement effect of the upper and lower walking wheels on the surface of the power transmission line, and ensuring the working flexibility and convenience of the robot.

[0029] 3. In the present invention, under the action of the coating unit, by setting a fixed frame on the outside of the connection box, the robot can coat the wires when moving in both directions, thereby improving the efficiency of live coating. Moreover, through the arc-shaped setting of the spray plate, the two spray plates can evenly coat the upper and lower ends of the transmission wires, thereby realizing live coating of the transmission wires. Moreover, under the action of the fourth bidirectional lead screw and the telescopic spring connected to one end of the two spray plates, the spray plate can be slightly adjusted inside the fixed frame through the telescopic spring by adjusting its position through the fourth bidirectional lead screw, thereby facilitating the spray plate to accurately and stably coat the transmission wires, thereby ensuring the comprehensiveness of the coating of the transmission wires and helping to improve the coating quality.

[0030] 4. In the present invention, by arranging a drying and anti-drip unit on the outer side of the spray plate, the heating plate can quickly heat and dry the coated cable, thereby improving the spraying efficiency. In addition, by arranging an air outlet on the top of the heating plate, the spray paint can be dried faster under the action of the fan, effectively preventing the paint from dripping. At the same time, by opening a material receiving trough in the middle of the lower heating plate, the excess cooling and capacity-increasing paint can be collected through the material receiving trough, thereby avoiding the interference of paint dripping on the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of a live coating robot suitable for four-split power transmission lines of the present invention; Figure 2 It is a structural schematic diagram of the opening and closing obstacle crossing assembly and the mounting plate of the present invention; Figure 3 It is a partial cross-sectional structural schematic diagram of a live coating robot adapted to a four-split power transmission line in the present invention; Figure 4 It is a schematic diagram of the side cross-sectional structure of the opening and closing obstacle crossing component in the present invention; Figure 5 It is a schematic diagram of a top view cross-sectional structure of an opening and closing obstacle crossing component in the present invention; Figure 6 It is a structural schematic diagram of the walking adjustment component in the present invention; Figure 7 It is a side view structural schematic diagram of the walking adjustment component in the present invention; Figure 8 The present invention Figure 6 A schematic diagram of the enlarged structure at point A; Fig. 9 It is a schematic diagram of the connection structure between the adjustment unit and the fixed plate in the present invention; Fig.10 It is a schematic diagram of the connection structure between the fixed plate and the linkage unit in the present invention; Fig.11 is a front view structural schematic diagram of the adjustment unit in the present invention; Fig.12 It is a schematic diagram of the three-dimensional structure of the regulating unit in the present invention; Fig.13 is a schematic cross-sectional structure diagram of the regulating unit in the present invention; Fig.14 It is a structural schematic diagram of the coating unit in the present invention; Fig.15 It is a side view structural schematic diagram of the spraying plate in the present invention; Fig.16 It is a schematic diagram of the side cross-sectional structure of the bottom box of the present invention; Fig.17 It is a schematic diagram of the top view of the telescopic obstacle crossing unit in the present invention.

[0032] In the figure, 1, bottom box; 2, material tank; 3, mounting plate; 4, first bidirectional screw rod; 5, bottom block; 6, guide column; 7, first motor; 8, handle; 9, vertical box; 10, second bidirectional screw rod; 11, lifting block; 12, sleeve; 13, guide rod; 1401, cross bar; 1402, support plate; 1403, electric telescopic rod; 1404, fixed side plate; 1405, obstacle crossing rod; 1406, telescopic inner rod; 15, fixed gear; 16, tooth plate; 17, electric push rod; 18, first slider; 19, first slide groove; 20, second motor; 21, connection box; 22, walking wheel; 23, fixed plate; 24, first synchronous wheel; 25, first synchronous belt; 26, second synchronous wheel; 2 7. Rotating rod; 28. Adjusting block; 29. ​​Guide wheel; 30. Second slider; 31. Third bidirectional screw rod; 32. Third motor; 33. Third synchronous wheel; 34. Second synchronous belt; 35. First bevel gear; 36. Second bevel gear; 37. Electric motor; 38. Second slide; 39. Fixed bracket; 40. Fourth bidirectional screw rod; 41. Spraying plate; 42. Connecting port; 43. Connecting pipe; 44. Fourth motor; 45. Guide plate; 46. Telescopic spring; 47. Vertical pole; 48. Adjusting plate; 49. Mounting block; 50. First screw rod; 51. Third bevel gear; 52. Fourth bevel gear; 53. Fixed motor; 54. Anti-fall cover; 55. Heating plate; 56. Receiving trough; 57. Fan. DETAILED DESCRIPTION

[0033] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0034] like Figure 1-Figure 17As shown, a live coating robot adapted to a four-split power transmission line includes a bottom box 1, a material tank 2, a mounting plate 3, a first bidirectional screw 4, a bottom block 5, a guide column 6, a first motor 7, a handle 8, a vertical box 9, a second bidirectional screw 10, a lifting block 11, a sleeve 12, a guide rod 13, a cross bar 1401, a support plate 1402, an electric telescopic rod 1403, a fixed side plate 1404, an obstacle crossing rod 1405, a telescopic inner rod 1406, a fixed gear 15, a toothed plate 16, an electric push rod 17, a first slider 18, a first slide 19, a second motor 20, a connecting box 21, a walking wheel 22, a fixed plate 23, a first synchronous wheel 24, a first synchronous belt 25, a second synchronous wheel 26, a rotating rod 27, an adjustment block 28, a guide wheel 29, a second Slider 30, third bidirectional screw rod 31, third motor 32, third synchronous wheel 33, second synchronous belt 34, first bevel gear 35, second bevel gear 36, electric motor 37, second slide 38, fixed frame 39, fourth bidirectional screw rod 40, spray plate 41, connecting port 42, connecting pipe 43, fourth motor 44, guide plate 45, telescopic spring 46, vertical rod 47, adjustment plate 48, mounting block 49, first screw rod 50, third bevel gear 51, fourth bevel gear 52, fixed motor 53, anti-fall cover 54, heating plate 55, material receiving trough 56 and fan 57. Multiple material tanks 2 are fixedly connected inside the bottom box 1 to facilitate the robot to drive the coating material to move, and the surface of the bottom box 1 is slidably connected with an adjustment plate 48. Specifically, the adjustment A mounting block 49 is fixedly installed at the bottom end of the plate 48, and the interior of the mounting block 49 is connected to a first screw rod 50 through a ball nut, and the first screw rod 50 is rotatably connected to the interior of the bottom box 1, and a third bevel gear 51 is fixedly connected to the outer wall of the first screw rod 50, and the bottom end of the third bevel gear 51 is meshingly connected to a fourth bevel gear 52, and the bottom end of the fourth bevel gear 52 is fixedly installed with an output shaft of a fixed motor 53, and the fixed motor 53 is fixedly installed inside the bottom box 1. Through such an arrangement, a mounting plate 3 is fixedly installed on the surface of the adjustment plate 48, and a handle 8 is provided on the outer side of the mounting plate 3. The handle 8 is fixedly connected to the surrounding surface of the adjustment plate 48, which is convenient for users to carry and operate the robot and improves the portability of the robot. The first bidirectional screw rod 4 is dynamically connected to the bottom box 1, and the first bidirectional screw rod 4 is driven by the first motor 7. Specifically, one end of the first bidirectional screw rod 4 is fixedly connected to the output end of the first motor 7, and the first motor 7 is fixedly mounted on the surface of the mounting plate 3, and two bottom blocks 5 are connected to the surface of the first bidirectional screw rod 4 through a ball nut, and the inside of the bottom block 5 is slidably connected to a guide column 6, and the guide column 6 is fixedly mounted on the surface of the mounting plate 3. The surfaces of the two bottom blocks 5 are fixedly connected with an opening and closing obstacle crossing component, and the two bottom blocks 5 are symmetrically arranged about the central axis of the bottom box 1. Through such an arrangement, under the action of the first motor 7, the first bidirectional screw rod 4 is stably driven, so that the synchronous and symmetrical adjustment of the two bottom blocks 5 on the surface can be achieved through the rotation of the first bidirectional screw rod 4.The two bottom blocks 5 can drive the opening and closing obstacle crossing components on the surface to perform precise adjustment; Furthermore, the opening and closing obstacle crossing component includes a vertical box 9, and the vertical box 9 is fixedly mounted on the surface of the bottom block 5. The interior of the vertical box 9 is rotatably connected to a second bidirectional screw rod 10, and the second bidirectional screw rod 10 is driven by a second motor 20. Specifically, the output end of the second motor 20 is fixedly connected to the top of the second bidirectional screw rod 10, and the second motor 20 is fixedly mounted on the top of the vertical box 9. At the same time, two lifting blocks 11 are connected to the outer wall of the second bidirectional screw rod 10 through a ball nut. The two lifting blocks 11 are symmetrically arranged about the horizontal axis of the second bidirectional screw rod 10, and the lifting blocks 11 are in a "T" shape. The structure is set up, the inside of the lifting block 11 is fixedly connected with two sleeves 12, and the two sleeves 12 are slidably sleeved on the outer wall of the guide rod 13, the guide rod 13 is fixedly installed inside the vertical box 9, and the guide rod 13 is arranged in parallel with the second bidirectional screw rod 10. Through such a setting, under the "T"-shaped action of the lifting block 11, when the lifting block 11 is driven to move by the second bidirectional screw rod 10, the lifting block 11 synchronously drives the cross bar 1401 to adjust the height through the sleeves 12 on both sides, so that the second bidirectional screw rod 10 drives the telescopic obstacle unit to move accurately through the lifting block 11; Among them, the outer walls of the two sleeves 12 are rotatably connected with fixed gears 15, the outer ends of the fixed gears 15 are fixedly connected with telescopic obstacle crossing units, the outer walls of the fixed gears 15 are meshedly connected with toothed plates 16, and the toothed plates 16 slide and telescope inside the vertical box 9, the toothed plates 16 have a certain length, which is convenient for synchronous meshing transmission of the upper and lower fixed gears 15, the inner side of the toothed plates 16 is fixedly connected with the output end of the electric push rod 17, and the electric push rod 17 is fixedly installed on the inner wall of the vertical box 9, the two toothed plates 16 are "L"-shaped and reversely symmetrically arranged, and the outer walls of the toothed plates 16 are fixedly connected with first sliders 18, and the outer wall of the first slider 18 is slidably connected There is a first slide groove 19, and the first slide groove 19 is opened on the inner wall of the vertical box 9. By connecting the electric push rod 17 on the inner side of the tooth plate 16, when the electric push rod 17 is energized, the tooth plate 16 is effectively driven inside the vertical box 9. The sliding connection between the tooth plate 16 and the vertical box 9 ensures the meshing transmission effect of the tooth plate 16 on the outer side of the fixed gear 15, which is convenient for driving the telescopic obstacle-crossing unit to perform precise transmission. In addition, in order to achieve a stable opening and closing effect of the telescopic obstacle-crossing unit, through grooves that can accommodate the lifting and rotation of the cross bar 1401 are opened on both sides of the vertical box 9, and the two telescopic obstacle-crossing units are symmetrically arranged in an "L"-shaped structure, and the obstacle-crossing rod 1405 The end away from the cross bar 1401 is fixedly connected with a walking adjustment component to ensure the walking effect of the robot on the surface of the power transmission line. At the same time, an anti-fall cover 54 is fixedly connected to the top of the vertical box 9, and the anti-fall cover 54 is located above the walking adjustment component. In order to achieve stable opening and closing of the obstacle crossing component, the telescopic obstacle crossing unit drives the cross bar 1401 and the obstacle crossing rod 1405 to be telescopically set. Specifically, the telescopic obstacle crossing unit includes a cross bar 1401, and the cross bar 1401 is fixedly installed on the outside of the fixed gear 15. A support plate 1402 is fixedly installed between the upper and lower cross bars 1401, and an electric telescopic Rod 1403, the output end of the electric telescopic rod 1403 is fixedly installed with a fixed side plate 1404, and the upper and lower ends of the fixed side plate 1404 are fixedly connected with an obstacle crossing rod 1405, the obstacle crossing rod 1405 is vertically distributed with the cross bar 1401, and a telescopic inner rod 1406 is fixedly installed on one side of the obstacle crossing rod 1405, and the telescopic inner rod 1406 is slidably connected to the inner wall of the cross bar 1401. Through such an arrangement, the electric telescopic rod 1403 can be energized to drive the obstacle crossing rod 1405 to perform telescopic activities, so that the obstacle crossing rod 1405 on one side can be the first to overcome obstacles, which is conducive to achieving the stability and safety of the obstacle crossing rod 1405 when overcoming obstacles.

[0035] Furthermore, the walking adjustment component includes a connecting box 21, and the connecting box 21 is fixedly installed at one end of the obstacle crossing pole 1405. By setting the connecting box 21 at one end of the obstacle crossing pole 1405, the obstacle crossing pole 1405 can move on the surface of the transmission line through the walking wheels 22 on the surface of the connecting box 21 after crossing the spacer bar. At the same time, a coating unit is fixedly installed on the outer wall of the connecting box 21, which is convenient for live coating of the transmission line during walking. Specifically, the connecting box 21 is rotatably connected to two walking wheels 22, each walking wheel 22 is adjusted to rotate by an adjusting unit, and the two adjusting units are driven and connected by a linkage unit.

[0036] The adjusting unit includes a fixed plate 23, and the fixed plate 23 is fixedly installed inside the connecting box 21. The surface of the fixed plate 23 is rotatably connected to two first synchronous wheels 24. The outer walls of the two first synchronous wheels 24 are meshed with a first synchronous belt 25. The inner wall of the first synchronous belt 25 is also meshed with a second synchronous wheel 26, and the second synchronous wheel 26 is arranged parallel to one side of the first synchronous wheel 24. A rotating rod 27 is fixedly connected inside the second synchronous wheel 26, and the rotating rod 27 is rotatably connected to the surface of an adjusting block 28, and the adjusting block 28 is slidably connected between the fixed plate 23 and the connecting box 21. A second slider 30 is fixedly connected to the outer wall of the adjusting block 28, and a second slide groove 38 is slidably connected to the outer wall of the second slider 30, and the second slide groove 38 is opened on the inner wall of the connecting box 21. A walking wheel 22 is fixedly installed on the surface of the rotating rod 27, and a through hole that can accommodate the lifting and lowering activities of the rotating rod 27 is opened on the surface of the connecting box 21. Guide wheels 29 are symmetrically arranged on both sides of the second synchronous wheel 26. The guide wheel 29 is rotatably connected to the surface of the adjustment block 28, and the outer wall of the guide wheel 29 is meshedly connected with the outer wall of the first synchronous belt 25, and the first synchronous belt 25 is arranged in a "J"-shaped structure between the second synchronous wheel 26 and the guide wheel 29. Through such an arrangement, the first synchronous wheel 24 drives the second synchronous wheel 26 to rotate through the first synchronous belt 25, and the second synchronous wheel 26 is rotatably connected to the adjustment block 28 through the rotating rod 27, so that the adjustment block 28 can drive the second synchronous wheel 26 to adjust the position. Under the action of the fixed length of the first synchronous belt 25, and by arranging the guide wheels 29 on both sides of the second synchronous wheel 26, the tension of the first synchronous belt 25 is stabilized, so that the second synchronous wheel 26 can still be driven and rotated through the first synchronous belt 25 after the position is adjusted, and the rotating rod 27 drives the walking wheel 22 to rotate, so that the walking wheel 22 can adjust the walking on the outer wall of the power transmission line with different diameters, ensuring the working flexibility and convenience of the robot.

[0037] Furthermore, in order to achieve synchronous driving of the two adjusting units, the two adjusting units are synchronously transmitted through a linkage unit, wherein the linkage unit includes a third bidirectional screw rod 31, and the third bidirectional screw rod 31 is rotatably connected to the inside of the connecting box 21, and the third bidirectional screw rod 31 is driven by a third motor 32, the top of the third bidirectional screw rod 31 is fixedly mounted with the output end of the third motor 32, and the third motor 32 is fixedly mounted on the top of the connecting box 21, the outer wall of the third bidirectional screw rod 31 is connected to two adjusting blocks 28 through a ball nut, and the two adjusting blocks 28 are symmetrically arranged about the horizontal axis of the connecting box 21, and at the same time, an electric motor 37 is fixedly connected to the inner wall of the connecting box 21, and the output end of the electric motor 37 is fixedly connected to the second bevel gear 36, and the bottom end of the second bevel gear 36 is fixedly connected to the first bevel gear 35, the other end of the first bevel gear 35 is fixedly connected to the third synchronous wheel 33, and the third synchronous wheel 33 is rotatably connected to the fixed plate 23 On the surface, the other end of the third synchronous wheel 33 is fixedly installed with the first synchronous wheel 24, and the third synchronous wheel 33 and the first synchronous wheel 24 are respectively located on both sides of the fixed plate 23, and the outer walls of the two third synchronous wheels 33 are meshingly sleeved with a second synchronous belt 34, and the symmetrical adjustment blocks 28 are driven to move by the third bidirectional screw 31, so that the two symmetrically arranged adjustment units drive the walking wheel 22 to adjust and rotate, and by fixing the third synchronous wheel 33 at one end of the first synchronous wheel 24, under the transmission action of the second synchronous belt 34, the two adjustment units realize synchronous transmission, ensuring the consistency of the two walking wheels 22 walking on the outer wall of the transmission line, and by connecting the first bevel gear 35 at one end of the third synchronous wheel 33, through the meshing connection of the first bevel gear 35 and the second bevel gear 36, the single set of electric motors 37 can realize the synchronous rotation of the two adjustment units, saving driving resources and reasonably utilizing the internal space of the connecting box 21.

[0038] Furthermore, in order to achieve stable charged coating of the robot while walking, the coating unit includes a fixing frame 39, and the fixing frame 39 is fixedly mounted on the outer wall of the connecting box 21, and the internal rotation of the fixing frame 39 is connected to a fourth bidirectional screw rod 40, and the fourth bidirectional screw rod 40 is driven by a fourth motor 44. Specifically, a fourth motor 44 is fixedly mounted on the output end of the fourth bidirectional screw rod 40, and the fourth motor 44 is fixedly mounted on the outer wall of the fixing frame 39. At the same time, two spray plates 41 are symmetrically arranged on the outer wall of the fourth bidirectional screw rod 40 through ball nuts, and the two spray plates 41 are slidably connected to the outer wall of the vertical rod 47, and the vertical rod 47 is fixedly mounted on the inside of the fixing frame 39, and considering the spraying quality, the two spray plates 41 are symmetrically arranged. The arc-shaped structure is provided, and the inner walls of the two spray plates 41 are provided with spray ports. The arc-shaped setting of the two spray plates 41 facilitates the spray plates 41 to be accurately fitted and coated with the power transmission wires, and the outer wall of the spray plate 41 is fixedly installed with a guide plate 45, and the guide plate 45 is arranged through the inside of the fixing frame 39, and the outer wall of the guide plate 45 is sleeved with a telescopic spring 46, and the two ends of the telescopic spring 46 are respectively fixedly connected to the outer wall of the spray plate 41 and the inner side of the fixing frame 39. Under the elastic action of the telescopic spring 46, the spray plate 41 can be slightly adjusted inside the fixing frame 39, so that the spray plate 41 can accurately and stably coat the power transmission wires, so as to achieve the cooling and capacity-increasing effect on the power transmission wires, and in order to achieve the spray plate 4 1, a connection port 42 is fixedly installed at one end of the spraying plate 41, and a connecting pipe 43 is fixedly connected to the outer end of the connection port 42, and the other end of the connecting pipe 43 is fixedly connected to the material tank 2. Through such an arrangement, under the action of the connecting pipe 43, the material tank 2 is used to spray the spraying plate 41, so that the two spraying plates 41 are evenly coated on the upper and lower ends of the transmission wire, thereby realizing the live coating of the transmission wire, and by connecting the fourth bidirectional screw rod 40 at one end of the two spraying plates 41, under the driving action of the fourth motor 44, the two spraying plates 41 can be flexibly adjusted in distance, so that the transmission wires of different diameters can be flexibly sprayed, thereby ensuring the coating quality of the wires, and the structure is simple, the flexibility is good, and further In order to realize the material connection and drying of the coated cable, a drying and dripping prevention unit is connected to the outer side of the spray plate 41, wherein the drying and dripping prevention unit includes two heating plates 55, and the heating plates 55 are fixedly installed on the outer side of the arc-shaped spray plate 41, and the two heating plates 55 are symmetrically arranged in an arc structure, and a fan 57 is fixedly connected to the top of the upper heating plate 55, and the air outlet of the fan 57 is located on the inner top wall of the heating plate 55, and a material connection groove 56 is provided in the middle of the lower heating plate 55. Through such an arrangement, the heating plate 55 heats and dries the coated cable, thereby improving the spraying efficiency, and by arranging the air outlet on the top of the heating plate 55, the spray paint is accelerated to dry, and the paint is effectively prevented from dripping. At the same time,By opening a material receiving groove 56 in the middle of the lower heating plate 55, the excess temperature-reducing and volume-increasing paint is collected through the material receiving groove 56, thus avoiding the interference of paint dripping to the environment.

[0039] The working principle of the present invention is as follows: when in use, by symmetrically arranging the opening and closing obstacle crossing components on the surface of the bottom box 1, under the action of the first bidirectional screw rod 4, the opening and closing obstacle crossing components can be adjusted on the surface of the mounting plate 3 according to the lateral spacing of the transmission line. At the same time, by arranging a walking adjustment component at one end of the obstacle crossing rod 1405, the walking wheel 22 can drive the robot to move on the surface of the transmission line at one end of the obstacle crossing rod 1405. Moreover, under the action of the telescopic obstacle crossing unit, when the robot walks to a wire with a larger slope, the electric telescopic rod 1403 is energized, so that the obstacle crossing rod 1405 on one side can be telescoped, so that the obstacle crossing rod 1405 on one side can be convenient for the obstacle crossing rod 1405 on one side to be the first to overcome the obstacle, thereby ensuring the stability and safety of the robot as a whole when overcoming obstacles. By arranging a coating unit on the outside of the walking adjustment component, the surface of the transmission wire is stably coated, and by arranging coating units on the outside of the two walking wheels 22, the heating plate 55 heats and dries the coated cable, thereby improving the spraying efficiency, and by arranging an air outlet on the top of the heating plate 55, the spray paint is accelerated to dry, and the paint is effectively prevented from dripping. At the same time, by opening a receiving trough 56 in the middle of the lower heating plate 55, the excess cooling and volume-increasing paint is collected through the receiving trough 56, thereby avoiding the interference of paint dripping on the environment. When the robot walks to the spacer position, the electric push rod 17 on one side contracts, so that the electric push rod 17 drives the tooth plate 16 to move inside the vertical box 9, and at the same time, Under the meshing action of the toothed plate 16 and the fixed gear 15, the toothed plate 16 drives the corresponding fixed gear 15 to rotate, and the fixed gear 15 is fixedly connected to one end of the cross bar 1401, so that the cross bar 1401 is rotated and opened on one side of the vertical box 9, so that the obstacle crossing rod 1405 on one side is opened and crosses the spacer rod. At the same time, in order to realize the flexible opening of the obstacle crossing rod 1405 on the outer wall of the transmission line, the walking wheel 22 is moved on the outer wall of the transmission guide line to ensure the flexibility of the telescopic obstacle crossing unit. Under the action of the third bidirectional screw 31, the adjusting block 28 drives the second synchronous wheel 26 to move, and the first synchronous belt 25 is meshed and connected to the outer wall of the second synchronous wheel 26. Under the fixed length action of the first synchronous belt 25, through the second Guide wheels 29 are arranged on both sides of the synchronous wheel 26, so that the second synchronous wheel 26 can still rotate after the position is adjusted, so as to drive the walking wheel 22 to rotate and walk, and realize the rotation effect of the walking wheel 22 at any position. When overcoming obstacles, one side is opened by the telescopic obstacle overcoming unit, so that the telescopic obstacle overcoming unit on the other side is moved by the walking wheel 22. After the opened obstacle overcoming rod 1405 moves to the other side of the spacer, the tooth plate 16 is driven by the electric push rod 17 to move in the opposite direction, so that the obstacle overcoming rod 1405 is on the other side of the spacer to walk in contact with the transmission line. After moving through the walking wheel 22, the obstacle overcoming rod 1405 at the rear end is opened, so that the robot can complete the obstacle overcoming. In addition, the robot has a simple structure and wide applicability.In order to achieve precise movement of the robot on the surface of the power transmission line, an adjustment plate 48 is slidably connected to the surface of the bottom box 1. Under the driving action of the fixed motor 53, the adjustment plate 48 can be adjusted laterally through the mounting plate 3, so as to facilitate the movement of the center of gravity of the robot. By arranging a level inside the bottom box 1, the center of gravity of the robot can be adjusted by the fixed motor 53 and the first motor 7 when the inclination exceeds the threshold, thereby avoiding the robot from walking crookedly. Moreover, by arranging a coating unit on the outside of the connection box 21, the material tank 2 is used to supply and spray the spray plate 41, and the two spray plates 41 are in an arc shape that is symmetrical up and down. The material tank 2 is provided with a high molecular cooling and volume-increasing coating material inside, which can greatly improve the cooling and volume-increasing effect of the transmission line, and the coating can be accurately sprayed through the nozzle inside the spray plate 41, and the spray plate 41 can efficiently atomize the coating material to ensure the uniformity of the spraying, and the spraying amount of the lower spray plate 41 is less than that of the upper spray plate 41, so that the coating can maintain the uniformity of the surface of the wire after accumulation at the bottom of the wire, realizing the live coating of the transmission wire, greatly saving human resources, and facilitating the efficient coating of the four-split transmission wire, thus completing the working principle of the live coating robot.

[0040] In summary, in the present invention, by symmetrically arranging the opening and closing obstacle crossing components on the surface of the bottom box 1, under the transmission action of the tooth plate 16 and the fixed gear 15, through the setting of the tooth plate 16, the upper and lower cross bars 1401 can be synchronously driven and opened through a single set of tooth plates 16, so that the obstacle crossing rod 1405 can cross obstacles on one side when encountering a pair of spacer bars, and the balance of upper and lower obstacle crossing is achieved. At the same time, by arranging a walking adjustment component at one end of the obstacle crossing rod 1405, the obstacle crossing rod 1405 can be adjusted to fit the transmission line through the walking adjustment component after crossing the obstacle, thereby ensuring the movement effect of the robot on the transmission line. Through such a setting, the need for the staff to repeatedly install and move the robot is avoided, and the stable movement and obstacle crossing of the robot on the surface of the four-split transmission line is achieved, which greatly improves the working efficiency and application scope of the live coating robot, has strong practicality, and solves the technical problems of unstable obstacle crossing and poor cable coating effect of the current live coating robot on the surface of the four-split transmission line.

[0041] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A live coating robot adapted for a four-split power transmission line, comprising a bottom box (1), characterized in that: A plurality of material tanks (2) are fixedly inserted inside the bottom box (1), and an adjustment plate (48) is slidably connected to the surface of the bottom box (1). A mounting plate (3) is fixedly installed on the surface of the adjustment plate (48). A handle (8) is arranged on the outer side of the mounting plate (3). The handle (8) is fixedly connected to the surrounding surfaces of the adjustment plate (48). A first bidirectional screw rod (4) is rotatably connected to the surface of the mounting plate (3). One end of the first bidirectional screw rod (4) is fixedly connected to the output end of a first motor (7), and the first motor (7) is fixedly installed on the surface of the mounting plate (3). The surface of the first bidirectional screw rod (4) is connected to two bottom blocks (5) via a ball nut, and a guide column (6) is slidably connected inside the bottom block (5). The guide column (6) is fixedly installed on the surface of the mounting plate (3). The surfaces of the two bottom blocks (5) are both fixedly connected to an opening and closing obstacle crossing assembly, and the two bottom blocks (5) are symmetrically arranged about the central axis of the bottom box (1); The opening and closing obstacle crossing assembly comprises a vertical box (9), and the vertical box (9) is fixedly mounted on the surface of the bottom block (5); a second bidirectional screw rod (10) is rotatably connected inside the vertical box (9); the second bidirectional screw rod (10) is driven by a second motor (20); and the outer wall of the second bidirectional screw rod (10) is connected to two lifting blocks (11) via a ball nut; two sleeves (12) are fixedly connected inside the lifting block (11), and the two sleeves (12) are slidably sleeved on the outer wall of a guide rod (13); the guide rod (13) is fixedly mounted inside the vertical box (9), and the guide rod (13) is arranged parallel to the second bidirectional screw rod (10); The outer walls of the two sleeves (12) are rotatably connected to fixed gears (15), the outer ends of the fixed gears (15) are fixedly connected to telescopic obstacle crossing units, the outer walls of the fixed gears (15) are meshingly connected to toothed plates (16), and the toothed plates (16) are slidably telescopic inside the vertical box (9); The telescopic obstacle-crossing unit comprises a crossbar (1401), and the crossbar (1401) is fixedly mounted on the outside of a fixed gear (15); a support plate (1402) is fixedly mounted between the upper and lower crossbars (1401); an electric telescopic rod (1403) is fixedly mounted on the surface of the support plate (1402); a fixed side plate (1404) is fixedly mounted on the output end of the electric telescopic rod (1403); and the upper and lower ends of the fixed side plate (1404) are fixedly connected to an obstacle-crossing rod (1405); The obstacle crossing rod (1405) and the cross bar (1401) are arranged vertically, and a telescopic inner rod (1406) is fixedly installed on one side of the obstacle crossing rod (1405), and the telescopic inner rod (1406) is slidably connected to the inner wall of the cross bar (1401); The obstacle crossing rod (1405) and the cross bar (1401) are symmetrically arranged in an "L"-shaped structure, and one end of the obstacle crossing rod (1405) away from the cross bar (1401) is fixedly connected to a walking adjustment component.

2. The live coating robot adapted to a four-split power transmission line according to claim 1, characterized in that: A mounting block (49) is fixedly mounted on the bottom end of the adjustment plate (48), and a first screw rod (50) is connected to the inside of the mounting block (49) via a ball nut, and the first screw rod (50) is rotatably connected to the inside of the bottom box (1); The outer wall of the first screw rod (50) is fixedly connected to a third bevel gear (51), the bottom end of the third bevel gear (51) is meshingly connected to a fourth bevel gear (52), the bottom end of the fourth bevel gear (52) is fixedly mounted with an output shaft of a fixed motor (53), and the fixed motor (53) is fixedly mounted inside the bottom box (1).

3. The live coating robot adapted to four-split power transmission lines according to claim 1 is characterized in that: The inner side of the tooth plate (16) is fixedly connected to the output end of the electric push rod (17), and the electric push rod (17) is fixedly installed on the inner wall of the vertical box (9), the two tooth plates (16) are arranged in an "L" shape and are symmetrically opposite to each other, and the outer walls of the tooth plates (16) are fixedly connected to the first sliding block (18), the outer wall of the first sliding block (18) is slidably connected to the first sliding groove (19), and the first sliding groove (19) is opened on the inner wall of the vertical box (9); Through slots capable of accommodating the lifting and rotation of the crossbar (1401) are provided on both sides of the vertical box (9).

4. The live coating robot adapted to a four-split power transmission line according to claim 1, characterized in that: The two lifting blocks (11) are symmetrically arranged about the horizontal axis of the second bidirectional screw rod (10), and the lifting blocks (11) are arranged in a "T"-shaped structure; The top end of the second bidirectional screw rod (10) is fixedly connected to the output end of the second motor (20), and the second motor (20) is fixedly mounted on the top end of the vertical box (9); The top end of the vertical box (9) is fixedly connected with an anti-falling cover (54), and the anti-falling cover (54) is located above the walking adjustment component.

5. The live coating robot adapted to four-split power transmission lines according to claim 1, characterized in that: The walking adjustment assembly comprises a connection box (21), and the connection box (21) is fixedly mounted on one end of the obstacle crossing pole (1405), and a coating unit is fixedly mounted on the outer wall of the connection box (21), and the surface of the connection box (21) is rotatably connected to two walking wheels (22), each walking wheel (22) is rotatably adjusted by an adjustment unit, and the two adjustment units are driven and connected by a linkage unit.

6. The live coating robot adapted to four-split power transmission lines according to claim 5, characterized in that: The adjustment unit comprises a fixing plate (23), and the fixing plate (23) is fixedly mounted inside the connection box (21), and the surface of the fixing plate (23) is rotatably connected to two first synchronous wheels (24), the outer walls of the two first synchronous wheels (24) are meshingly sleeved with a first synchronous belt (25), the inner wall of the first synchronous belt (25) is also meshingly sleeved with a second synchronous wheel (26), and the second synchronous wheel (26) is arranged parallel to one side of the first synchronous wheel (24); A rotating rod (27) is fixedly connected inside the second synchronous wheel (26), and the rotating rod (27) is rotatably connected to the surface of an adjusting block (28), and the adjusting block (28) is slidably connected between the fixed plate (23) and the connection box (21); Guide wheels (29) are symmetrically arranged on both sides of the second synchronous wheel (26), the guide wheels (29) are rotatably connected to the surface of the adjustment block (28), the outer wall of the guide wheel (29) is meshingly connected to the outer wall of the first synchronous belt (25), and the first synchronous belt (25) is arranged in a "J"-shaped structure between the second synchronous wheel (26) and the guide wheel (29); A travel wheel (22) is fixedly mounted on the surface of the rotating rod (27), and a through hole capable of accommodating the lifting and lowering movement of the rotating rod (27) is provided on the surface of the connecting box (21); The outer wall of the adjustment block (28) is fixedly connected to a second sliding block (30), and the outer wall of the second sliding block (30) is slidably connected to a second sliding groove (38), and the second sliding groove (38) is provided on the inner wall of the connection box (21).

7. The live coating robot adapted to four-split power transmission lines according to claim 6, characterized in that: The linkage unit comprises a third bidirectional screw rod (31), and the third bidirectional screw rod (31) is rotatably connected to the inside of the connection box (21), and the third bidirectional screw rod (31) is driven by a third motor (32), and the outer wall of the third bidirectional screw rod (31) is connected to two adjustment blocks (28) via a ball nut, and the two adjustment blocks (28) are symmetrically arranged about the horizontal axis of the connection box (21); The inner wall of the connection box (21) is fixedly connected to an electric motor (37), and the output end of the electric motor (37) is fixedly connected to a second bevel gear (36), and the bottom end of the second bevel gear (36) is fixedly connected to a first bevel gear (35), the other end of the first bevel gear (35) is fixedly connected to a third synchronous wheel (33), and the third synchronous wheel (33) is rotatably connected to the surface of the fixed plate (23), the other end of the third synchronous wheel (33) is fixedly mounted with a first synchronous wheel (24), and the third synchronous wheel (33) and the first synchronous wheel (24) are respectively located on two sides of the fixed plate (23), and the outer walls of the two third synchronous wheels (33) are meshingly sleeved with a second synchronous belt (34); The output end of the third motor (32) is fixedly mounted on the top end of the third bidirectional screw rod (31), and the third motor (32) is fixedly mounted on the top end of the connection box (21).

8. The live coating robot adapted to four-split power transmission lines according to claim 5, characterized in that: The coating unit comprises a fixing frame (39), and the fixing frame (39) is fixedly mounted on the outer wall of the connection box (21), a fourth bidirectional screw rod (40) is rotatably connected inside the fixing frame (39), and the fourth bidirectional screw rod (40) is driven by a fourth motor (44), and two spray plates (41) are symmetrically arranged on the outer wall of the fourth bidirectional screw rod (40) through a ball nut, and the two spray plates (41) are slidably connected to the outer wall of a vertical rod (47), and the vertical rod (47) is fixedly mounted inside the fixing frame (39); A connection port (42) is fixedly mounted on one end of the spray plate (41), a connection pipe (43) is fixedly connected to the outer end of the connection port (42), and a material tank (2) is fixedly connected to the other end of the connection pipe (43).

9. The live coating robot adapted to four-split power transmission lines according to claim 8, characterized in that: The two spray plates (41) are symmetrically arranged in an arc-shaped structure, and a guide plate (45) is fixedly installed on the outer wall of the spray plate (41), and the guide plate (45) is arranged to penetrate the interior of the fixing frame (39), and the outer wall of the guide plate (45) is sleeved with a telescopic spring (46), and the two ends of the telescopic spring (46) are respectively fixedly connected to the outer wall of the spray plate (41) and the inner side of the fixing frame (39); A fourth motor (44) is fixedly mounted on the output end of the fourth bidirectional screw rod (40), and the fourth motor (44) is fixedly mounted on the outer wall of the fixing frame (39); The outer side of the spraying plate (41) is connected to a drying and dripping prevention unit.

10. The live coating robot adapted to four-split power transmission lines according to claim 9, characterized in that: The drying and anti-drip unit comprises two heating plates (55), and the heating plates (55) are fixedly mounted on the outside of the arc-shaped spraying plate (41), and the two heating plates (55) are symmetrically arranged in an arc-shaped structure; A fan (57) is fixedly connected to the top of the upper heating plate (55), and an air outlet of the fan (57) is located on the inner top wall of the heating plate (55); A material receiving groove (56) is provided in the middle of the lower heating plate (55).

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