A live-line coating robot adapted to a four-split transmission line

Abstract

This invention provides a live-line coating robot adapted to four-split transmission lines, belonging to the field of coating robot technology. It solves the technical problems of instability and poor coating effect of current live-line coating robots on the surface of four-split transmission lines. The live-line coating robot for four-split transmission lines includes a base box, with multiple material tanks fixedly inserted inside. An adjusting plate is slidably connected to the surface of the base box, and a mounting plate is fixedly installed on the surface of the adjusting plate. A handle is provided on the outer side of the mounting plate. In this invention, by symmetrically arranging opening and closing obstacle-crossing components on the surface of the base box, and through the transmission action of toothed plates and gears, the upper and lower crossbars can be synchronously opened by a single set of toothed plates. This allows the obstacle-crossing rod to cross obstacles on one side, achieving balance in the upper and lower obstacle-crossing. Furthermore, a walking adjustment component is provided at one end of the obstacle-crossing rod.

Description

Technical Field

[0001] This invention belongs to the field of coating robot technology, and relates to a wire coating robot, particularly a live coating robot adapted to four-split transmission lines. Background Technology

[0002] In recent years, with the rapid development of power distribution networks, their scale has been expanding and their importance has been increasing. However, due to the large range of transmission lines, their wide distribution, complex geographical environment, harsh natural environment, and the long-term exposure of transmission lines, towers and accessories to the outdoors, the lines are old. The current carrying capacity of transmission conductors is affected by conductor temperature. If the transmission conductors cannot dissipate heat quickly, their current carrying capacity will be greatly limited.

[0003] With the ever-increasing demand for electricity in modern society, the power industry has ushered in new challenges and opportunities. Live insulation coating robots are a revolutionary technology that has changed the traditional way of maintaining power equipment. In response to the problems of power capacity limitation and high thermal management costs caused by heat accumulation in power transmission lines and other power equipment in outdoor service, these robots can perform cooling and capacity expansion tasks on high-voltage lines while they are energized, without power outages, thereby maintaining the continuity of power supply.

[0004] A search revealed, for example, a Chinese patent document disclosing a robot for live-line coating of anti-icing paint for 500kV four-split conductor transmission lines [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, forming the mounting carrier for each module. The robot arms are located on both sides of the body, and the robot's walking mechanism and the coating brush assembly in the coating system are mounted on the arms.

[0005] Although the live coating robot disclosed in this patent can cross obstacles such as spacers, crossing obstacles by using a single line can easily cause the robot's center of gravity to become unstable, leading to the robot detaching from the line and affecting the robot's working safety and service life. Moreover, when the current live coating robot is working on four-split power transmission lines, the spacers prevent the live coating robot from crossing obstacles, requiring workers 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 this invention is to address the aforementioned problems in existing technologies by proposing a live-line coating robot adapted to four-split transmission lines. The technical problem to be solved by this invention is: how to enable the live-line coating robot to perform stable obstacle-crossing movement on the surface of four-split transmission lines and to perform adaptive coating on cables.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] A live coating robot adapted to a four-split transmission line includes a base box, in which multiple material tanks are fixedly inserted, and an adjustment plate is slidably connected to the surface of the base box. An installation plate is fixedly mounted on the surface of the adjustment plate, and a handle is provided on the outer side of the installation plate. The handle is fixedly connected to the four sides of the adjustment plate. A first bidirectional lead screw is rotatably connected to the surface of the installation plate. One end of the first bidirectional lead screw is fixedly connected to the output end of a first motor, and the first motor is fixedly mounted on the surface of the installation plate. Two bottom blocks are connected to the surface of the first bidirectional lead screw through ball nuts, and guide posts are slidably connected inside the bottom blocks. The guide posts are fixedly mounted on the surface of the installation plate. An obstacle-crossing assembly is fixedly connected to the surface of each bottom block, and the two bottom blocks are symmetrically arranged about the central axis of the base box.

[0009] The opening and closing obstacle-crossing assembly includes a vertical box, which is fixedly installed on the surface of the base block. A second bidirectional lead screw is rotatably connected inside the vertical box. The second bidirectional lead screw is driven by a second motor, and two lifting blocks are connected to the outer wall of the second bidirectional lead screw through ball nuts. Two sleeves are fixedly connected inside the lifting blocks, 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 lead screw.

[0010] Both sleeves are rotatably connected to fixed gears on their outer walls. The outer ends of the fixed gears are fixedly connected to telescopic obstacle-crossing units. The outer walls of the fixed gears are meshed with toothed plates, which slide and extend inside the vertical box.

[0011] The telescopic obstacle-crossing unit includes a crossbar, which is fixedly installed on the outside of a fixed gear. A support plate is fixedly installed between the upper and lower crossbars, and an electric telescopic rod is fixedly installed on the surface of the support plate. A fixed side plate is fixedly installed at the output end of the electric telescopic rod, and obstacle-crossing rods are fixedly connected to both the upper and lower ends of the fixed side plate.

[0012] The obstacle-crossing bar and the crossbar are distributed perpendicularly, and a telescopic inner bar is fixedly installed on one side of the obstacle-crossing bar, and the telescopic inner bar is slidably connected to the inner wall of the crossbar.

[0013] The obstacle-crossing bar and the crossbar are symmetrically arranged in an "L" shape, and the end of the obstacle-crossing bar away from the crossbar is fixedly connected to a walking adjustment component.

[0014] The working principle of this invention is as follows: By symmetrically arranging the obstacle-crossing components on the surface of the base box, the first bidirectional lead screw allows the obstacle-crossing components to be adjusted on the surface of the mounting plate according to the lateral spacing of the power transmission lines. Simultaneously, by arranging a walking adjustment component at one end of the obstacle-crossing rod, the walking wheels can drive the robot to move on the surface of the power transmission lines. Furthermore, under the action of the telescopic obstacle-crossing unit, when the robot travels to a line with a steep slope, the electric telescopic rod is energized, causing one side of the obstacle-crossing rod to extend or retract, facilitating the first obstacle crossing on that side and ensuring the overall stability and safety of the robot during obstacle crossing. Finally, by arranging a coating unit on the outside of the walking adjustment component, the surface of the power transmission lines is coated with... Stable coating is achieved through coating units installed on the outer sides of both walking wheels. During robot-assisted coating, the coating unit at the rear of the walking direction sprays the coating. A drying and anti-drip unit is fixedly connected to the outer wall of the spray plate, allowing the heating plate to heat and dry the coated cable, improving spraying efficiency. Simultaneously, a receiving trough in the middle of the lower heating plate allows excess cooling and capacity-enhancing coating to enter the discharge port. With the discharge port located at both ends of the heating plate, the coating is collected and overflows to both sides when full, preventing excess coating from interfering with the cable. When the robot reaches the spacer bar position, an electric push rod on one side retracts, causing the push rod to move the toothed plate inside the vertical box. The device moves while the toothed plate meshes with the fixed gear, causing the toothed plate to rotate. The fixed gear is fixedly connected to one end of the crossbar, allowing the crossbar to rotate and open on one side of the vertical box. This allows the obstacle-crossing bar on one side to open and cross the spacer bar. Simultaneously, to ensure the obstacle-crossing bar can flexibly open on the outer wall of the power transmission line, the traveling wheels move along the outer wall of the power transmission guide line, ensuring the flexibility of the telescopic obstacle-crossing unit's opening and closing. Under the action of the third bidirectional lead screw, the adjusting block drives the second synchronous wheel to move. The first synchronous belt meshes with the outer wall of the second synchronous wheel. With the first synchronous belt maintaining a fixed length, and guide wheels on both sides of the second synchronous wheel, the second synchronous wheel can still rotate after position adjustment. This design facilitates the rotation of the walking wheels, enabling them to rotate at any position. When overcoming obstacles, the telescopic obstacle-crossing unit opens on one side, allowing the other side to move via the walking wheels. After moving to the other side of the spacer bar, the opened obstacle-crossing rod is driven by an electric push rod to move the toothed plate in the opposite direction, causing the obstacle-crossing rod to move in contact with the power transmission line on the other side of the spacer bar. After moving via the walking wheels, the rear obstacle-crossing rod is opened, allowing the robot to overcome the obstacle. The design is simple, widely applicable, and, to achieve precise movement of the robot on the surface of the power transmission line, an adjustment plate is slidably connected to the surface of the base box. Driven by a fixed motor, the adjustment plate can be adjusted laterally via a mounting plate.To facilitate the movement of the robot's center of gravity, a level is installed inside the base box. This allows the robot to adjust its center of gravity via a fixed motor and a first motor when its tilt exceeds a threshold, preventing skewed movement. Furthermore, a coating unit is installed on the outside of the connecting box, allowing the material tank to supply and spray the coating onto the two coating plates. The two coating plates are arranged in a symmetrical arc shape, and the material tank contains a high-polymer cooling and capacity-enhancing coating material, significantly improving the cooling and capacity-enhancing effect on the power transmission lines. The coating material is precisely sprayed through nozzles inside the coating plates, which efficiently atomize the material, ensuring uniform coating. The lower coating plate sprays less material than the upper one, allowing the coating to accumulate at the bottom of the wire and maintain a uniform surface, thus achieving live coating of the power transmission lines.

[0015] An installation block is fixedly installed at the bottom of the adjustment plate, and a first lead screw is connected inside the installation block through a ball nut. The first lead screw is rotatably connected inside the bottom box.

[0016] A third bevel gear is fixedly connected to the outer wall of the first lead screw, and a fourth bevel gear is meshed with the bottom end of the third bevel gear. The output shaft of the fixed motor is fixedly installed at the bottom end of the fourth bevel gear, and the fixed motor is fixedly installed inside the base box.

[0017] With the above structure, the fixed motor allows the adjustment plate to be adjusted laterally via the mounting plate when the fixed motor is powered on, facilitating the movement of the robot's center of gravity. By installing a level inside the base box, the robot's center of gravity can be adjusted via the fixed motor and the first motor when the tilt exceeds a threshold, preventing the robot from walking crookedly.

[0018] The output end of an electric push rod is fixedly connected to the inner side of the toothed plate, and the electric push rod is fixedly installed on the inner wall of the vertical box. The two toothed plates are arranged in an L-shape and are symmetrically opposite. The outer wall of each toothed plate is fixedly connected to a first slider. The outer wall of the first slider is slidably connected to a first groove, and the first groove is opened on the inner wall of the vertical box.

[0019] The upright box has through slots on both sides to accommodate the lifting and rotating of the crossbar.

[0020] With the above structure, an electric push rod is connected to the inside of the toothed plate. When the electric push rod is energized, the toothed plate is effectively driven inside the vertical box. The sliding connection between the toothed plate and the vertical box ensures the meshing transmission effect of the toothed plate on the outside of the gear, which facilitates the precise transmission of the obstacle-crossing rod.

[0021] The two lifting blocks are symmetrically arranged about the transverse axis of the second bidirectional lead screw, and the lifting blocks are arranged in a "T" shape.

[0022] The top end of the second bidirectional screw rod is fixedly connected to the output end of a second motor, and the second motor is fixedly installed at the top end of the vertical box;

[0023] A falling prevention cover is fixedly connected to the top end of the vertical box, and the falling prevention cover is located above the walking adjustment component.

[0024] With the above structure, under the "T" type action of the lifting block, when the lifting block is driven to move through the second bidirectional screw rod, the lifting block synchronously drives the cross bar to adjust the height through the sleeves on both sides, realizing the accuracy of the second bidirectional screw rod to drive the cross bar to move through the lifting block. And through the setting of the falling prevention cover, the safety of the robot walking is ensured, which is beneficial to improving the walking quality of the robot.

[0025] The walking adjustment component includes a connection box, and the connection box is fixedly installed at one end of the obstacle crossing rod. And a coating unit is fixedly installed on the outer wall of the connection box. Two walking wheels are rotatably connected to the surface of the connection box. Each walking wheel is adjusted to rotate through an adjustment unit, and the two adjustment units are driven and connected through a linkage unit.

[0026] With the above structure, by setting the connection box at one end of the obstacle crossing rod, the obstacle crossing rod can move and walk on the surface of the transmission wire through the walking wheels on the surface of the connection box after crossing the spacer.

[0027] The adjustment unit includes a fixing plate, and the fixing plate is fixedly installed inside the connection box. Two first synchronous wheels are rotatably connected to the surface of the fixing plate. A first synchronous belt is meshed and sleeved on the outer walls of the two first synchronous wheels. A second synchronous wheel is also meshed and sleeved on the inner wall of the first synchronous belt, and the second synchronous wheel is arranged parallel to one side of the first synchronous wheel;

[0028] A rotating rod is fixedly connected to the inside of 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 fixing plate and the connection box;

[0029] 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 meshed with the outer wall of the first synchronous belt, and the first synchronous belt is arranged in a "V" type structure between the second synchronous wheel and the guide wheel;

[0030] A walking wheel is fixedly installed on the surface of the rotating rod, and a through hole for accommodating the lifting and lowering movement of the rotating rod is opened on the surface of the connection box;

[0031] A second sliding block is fixedly connected to the outer wall of the adjustment block, and the outer wall of the second sliding block is slidably connected to a second sliding groove, and the second sliding groove is opened on the inner wall of the connection box.

[0032] With the above structure, under the action of the adjustment unit, the first synchronous wheel drives the second synchronous wheel to rotate through the first synchronous belt. The second synchronous wheel is rotatably connected to the adjustment block through the rotating rod, so the adjustment block can drive the second synchronous wheel to adjust its position. Under the action of the fixed length of the first synchronous belt, and by setting 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 to rotate through the first synchronous belt after the position is adjusted. This causes the rotating rod to drive the walking wheel to rotate, realizing the adjustment and walking of the walking wheel on the outer wall of power transmission lines of different diameters, ensuring the robot's working flexibility and ease of use.

[0033] The linkage unit includes a third bidirectional lead screw, which is rotatably connected inside the connecting box and driven by a third motor. The outer wall of the third bidirectional lead screw is connected to two adjusting blocks by ball nuts, and the two adjusting blocks are symmetrically arranged about the horizontal axis of the connecting box.

[0034] An electric motor is fixedly connected to the inner wall of the connecting box, and a second bevel gear is fixedly connected to the output end of the electric motor. A first bevel gear is fixedly connected to the bottom end of the second bevel gear. A third synchronous pulley is fixedly connected to the other end of the first bevel gear, and the third synchronous pulley is rotatably connected to the surface of the fixed plate. A first synchronous pulley is fixedly installed on the other end of the third synchronous pulley, and the third synchronous pulley and the first synchronous pulley are located on both sides of the fixed plate. A second synchronous belt is fitted around the outer walls of the two third synchronous pulleys.

[0035] The top end of the third bidirectional lead screw is fixedly installed with the output end of the third motor, and the third motor is fixedly installed on the top end of the connecting box.

[0036] With the above structure, the symmetrical adjusting blocks are moved by the third bidirectional lead screw, which in turn causes the two symmetrically arranged adjusting units to rotate the traveling wheels. Furthermore, by fixing the third synchronous pulley to one end of the first synchronous pulley, the two adjusting units achieve synchronous transmission under the action of the second synchronous belt, ensuring the consistency of the two traveling wheels' movement on the outer wall of the power transmission line. Moreover, by connecting the first bevel gear to one end of the third synchronous pulley, and through the meshing connection between the first bevel gear and the second bevel gear, a single electric motor can achieve synchronous rotation of the two adjusting units, saving drive resources and making reasonable use of the internal space of the connecting box.

[0037] The coating unit includes a fixed frame, which is fixedly installed on the outer wall of the connecting box. A fourth bidirectional lead screw is rotatably connected inside the fixed frame and driven by a fourth motor. Two spray plates are symmetrically arranged on the outer wall of the fourth bidirectional lead screw through ball nuts. The two spray plates are slidably connected to the outer wall of the upright and the upright is fixedly installed inside the fixed frame.

[0038] One end of the spray plate is fixedly installed with a connection port, and the outer end of the connection port is fixedly connected with a connecting pipe, and the other end of the connecting pipe is fixedly connected with a material tank.

[0039] With the above structure, spray nozzles are provided on the inner walls of both spray plates, and the spray volume of the lower spray plate is less than that of the upper spray plate. This allows the paint to accumulate at the bottom of the high-voltage wire, maintaining the uniformity of the wire surface. Under the action of the connecting pipe, the material tank supplies material to the spray plates, ensuring uniform coating on the upper and lower ends of the transmission line. This achieves live coating of the transmission line. Furthermore, by connecting a fourth bidirectional lead screw and a fourth motor to one end of each spray plate, the distance between the two spray plates can be flexibly adjusted, facilitating flexible spraying of transmission lines of different diameters. This ensures the coating quality of the wire and features a simple structure with good flexibility.

[0040] The two spraying plates are arranged in a symmetrical arc structure, and a guide plate is fixedly installed on the outer wall of the spraying plate. The guide plate is installed through the inside of the fixing frame. A telescopic spring is sleeved on the outer wall of the guide plate, 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.

[0041] The output end of the fourth bidirectional lead screw is fixedly mounted with a fourth motor, and the fourth motor is fixedly mounted on the outer wall of the fixing frame.

[0042] A drying and anti-drip unit is connected to the outside of the sprayed plate.

[0043] The above structure, with its two arc-shaped spray plates, facilitates precise adhesion and coating between the spray plates and the power transmission lines. Furthermore, by setting guide plates on the outer wall of the spray plates, the spray plates can be slightly adjusted inside the fixed frame under the elastic action of the telescopic springs, making it easy for the spray plates to accurately and stably coat the power transmission lines.

[0044] The drying and anti-drip unit includes two heating plates, which are fixedly installed on the outside of the arc-shaped spray plate, and the two heating plates are arranged in an arc-shaped structure with symmetry.

[0045] A fan is fixedly connected to the top of the heating plate mentioned above, and the air outlet of the fan is located on the inner top wall of the heating plate;

[0046] The heating plate described below has a receiving groove in the middle.

[0047] With the above structure, the heating plate heats and dries the coated cable under the action of the drying and anti-drip unit, which improves the spraying efficiency. Furthermore, by setting an air outlet at the top of the heating plate, the sprayed paint is dried more quickly, effectively preventing paint dripping. At the same time, by opening a receiving groove in the middle of the heating plate below, excess cooling and capacity-enhancing paint is collected through the receiving groove, avoiding paint dripping and causing environmental interference.

[0048] Compared with the prior art, the electrocoating robot of the present invention has the following advantages:

[0049] 1. In this invention, by symmetrically arranging the obstacle-crossing components on the surface of the base box, and through the transmission action of the toothed plates and gears, the upper and lower crossbars can be synchronously opened by a single set of toothed plates. This allows the obstacle-crossing rod to cross obstacles by encountering the spacer bars on one side, and achieves balance in the upper and lower obstacle crossing. At the same time, by setting a walking adjustment component at one end of the obstacle-crossing rod, the obstacle-crossing rod can be adjusted to fit the power transmission line after crossing the obstacle, ensuring the robot's movement effect on the power transmission line. This design avoids the need for workers to repeatedly install and move the robot, achieving stable movement and obstacle crossing of the robot on the surface of the four-split power transmission line, greatly improving the working efficiency and applicability of the live coating robot, and making it highly practical.

[0050] 2. In this invention, under the action of the rotating adjustment setting of the walking wheel on the surface of the walking adjustment component, by setting an adjustment unit inside the connecting box, the first synchronous wheel drives the second synchronous wheel to rotate through the first synchronous belt. The second synchronous wheel is rotatably connected to the adjustment block through the rotating rod, so that the adjustment block can drive the second synchronous wheel to adjust its position. Furthermore, by setting 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 to rotate through the first synchronous belt after the position is adjusted by the adjustment block. This ensures the movement effect of the upper and lower walking wheels on the surface of the power transmission line, and ensures the robot's working flexibility and ease of use.

[0051] 3. In this invention, under the action of the coating unit, by setting a fixed frame on the outside of the connecting box, the robot can perform coating operations on the wires during bidirectional movement, improving the efficiency of live coating. Moreover, by setting the arc shape of the spraying plate, the two spraying plates can uniformly coat the upper and lower ends of the transmission wire, realizing live coating of the transmission wire. Furthermore, by connecting a fourth bidirectional lead screw and a telescopic spring to one end of the two spraying plates, the position of the spraying plates can be adjusted by the fourth bidirectional lead screw, and then finely adjusted inside the fixed frame by the telescopic spring. This facilitates precise and stable coating of the transmission wire by the spraying plates, ensuring the comprehensiveness of the coating of the transmission wire and improving the coating quality.

[0052] 4. In this invention, by setting a drying and anti-drip unit on the outside of the spray plate, the heating plate can quickly heat and dry the coated cable, improving the spraying efficiency. Furthermore, by setting an air outlet on the top of the heating plate, the sprayed paint can be accelerated to dry under the action of a fan, effectively preventing paint dripping. At the same time, by opening a receiving groove in the middle of the heating plate below, excess cooling and capacity-enhancing paint can be collected through the receiving groove, avoiding paint dripping and causing environmental interference. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of an electric coating robot adapted to a four-split transmission line according to the present invention;

[0054] Figure 2 This is a schematic diagram of the structure of the barrier-crossing assembly and mounting plate of the present invention;

[0055] Figure 3 This is a partial cross-sectional structural diagram of an electrified coating robot adapted to a four-split power transmission line according to the present invention.

[0056] Figure 4 This is a side view cross-sectional structural diagram of the obstacle-crossing component in this invention;

[0057] Figure 5 This is a top view cross-sectional structural diagram of the obstacle-crossing component in this invention;

[0058] Figure 6 This is a schematic diagram of the walking adjustment component in this invention;

[0059] Figure 7 This is a side view of the walking adjustment component in this invention.

[0060] Figure 8 In this invention Figure 6 A magnified structural diagram at point A;

[0061] Figure 9This is a schematic diagram of the connection structure between the adjustment unit and the fixed plate in this invention;

[0062] Figure 10 This is a schematic diagram of the connection structure between the fixed plate and the linkage unit in this invention;

[0063] Figure 11 This is a front view schematic diagram of the adjustment unit in this invention;

[0064] Figure 12 This is a three-dimensional structural diagram of the adjustment unit in this invention;

[0065] Figure 13 This is a cross-sectional structural diagram of the adjustment unit in this invention;

[0066] Figure 14 This is a schematic diagram of the coating unit in this invention;

[0067] Figure 15 This is a side view of the sprayed plate structure in this invention;

[0068] Figure 16 This is a side view cross-sectional structural diagram of the bottom box in this invention;

[0069] Figure 17 This is a top view of the telescopic obstacle-crossing unit in this invention.

[0070] In the diagram, 1. Base box; 2. Material tank; 3. Mounting plate; 4. First double-acting screw; 5. Base block; 6. Guide column; 7. First motor; 8. Handle; 9. Vertical box; 10. Second double-acting screw; 11. Lifting block; 12. Sleeve; 13. Guide rod; 1401. Crossbar; 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. Connecting box; 22. Traveling wheel; 23. Fixed plate; 24. First synchronous pulley; 25. First synchronous belt; 26. Second synchronous pulley; 2 7. Rotating rod; 28. Adjusting block; 29. ​​Guide wheel; 30. Second slider; 31. Third double-acting lead screw; 32. Third motor; 33. Third synchronous pulley; 34. Second synchronous belt; 35. First bevel gear; 36. Second bevel gear; 37. Electric motor; 38. Second slide groove; 39. Fixing frame; 40. Fourth double-acting lead screw; 41. Spraying plate; 42. Connection port; 43. Connecting pipe; 44. Fourth motor; 45. Guide plate; 46. Telescopic spring; 47. Upright pole; 48. Adjusting plate; 49. Mounting block; 50. First lead screw; 51. Third bevel gear; 52. Fourth bevel gear; 53. Fixed motor; 54. Fall arrestor; 55. Heating plate; 56. Receiving trough; 57. Fan. Detailed Implementation

[0071] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0072] like Figures 1-17As shown, a live-line coating robot adapted to a four-split power transmission line includes a base box 1, a material tank 2, a mounting plate 3, a first bidirectional lead screw 4, a base block 5, a guide column 6, a first motor 7, a handle 8, a vertical box 9, a second bidirectional lead screw 10, a lifting block 11, a sleeve 12, a guide rod 13, a crossbar 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 groove 19, a second motor 20, a connecting box 21, a traveling wheel 22, a fixed plate 23, a first synchronous pulley 24, a first synchronous belt 25, a second synchronous pulley 26, a rotating rod 27, an adjusting block 28, a guide wheel 29, and a second... The system includes a slider 30, a third bidirectional lead screw 31, a third motor 32, a third synchronous pulley 33, a second synchronous belt 34, a first bevel gear 35, a second bevel gear 36, an electric motor 37, a second slide rail 38, a fixed frame 39, a fourth bidirectional lead screw 40, a spray plate 41, a connection port 42, a connecting pipe 43, a fourth motor 44, a guide plate 45, a telescopic spring 46, a vertical pole 47, an adjusting plate 48, a mounting block 49, a first lead screw 50, a third bevel gear 51, a fourth bevel gear 52, a fixed motor 53, a fall arrestor 54, a heating plate 55, a material receiving trough 56, and a fan 57. Multiple material tanks 2 are fixedly inserted inside the base box 1 to facilitate the movement of the coating material by the robot. An adjusting plate 48 is slidably connected to the surface of the base box 1. Specifically, the adjusting plate... A mounting block 49 is fixedly installed at the bottom of the plate 48, and a first lead screw 50 is connected to the inside of the mounting block 49 via a ball nut. The first lead screw 50 is rotatably connected to the inside of the base box 1. A third bevel gear 51 is fixedly connected to the outer wall of the first lead screw 50, and a fourth bevel gear 52 is meshed at the bottom end of the third bevel gear 51. The output shaft of a fixed motor 53 is fixedly installed at the bottom end of the fourth bevel gear 52, and the fixed motor 53 is fixedly installed inside the base box 1. With this arrangement, a mounting plate 3 is fixedly installed on the surface of the adjusting 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 four sides of the adjusting plate 48, which facilitates the user's handling and operation of the robot and improves the robot's portability. At the same time, the surface of the mounting plate 3 can rotate... A first bidirectional lead screw 4 is dynamically connected and driven by a first motor 7. Specifically, the output end of the first motor 7 is fixedly connected to one end of the first bidirectional lead screw 4, and the first motor 7 is fixedly mounted on the surface of the mounting plate 3. Two base blocks 5 are connected to the surface of the first bidirectional lead screw 4 via ball nuts, and guide posts 6 are slidably connected inside the base blocks 5. The guide posts 6 are fixedly mounted on the surface of the mounting plate 3. An obstacle-crossing assembly is fixedly connected to the surface of both base blocks 5, and the two base blocks 5 are symmetrically arranged about the central axis of the base box 1. With this arrangement, the first bidirectional lead screw 4 is stably driven by the first motor 7, facilitating the synchronous and symmetrical adjustment of the two base blocks 5 by rotating the first bidirectional lead screw 4.This allows the two base blocks 5 to precisely adjust the surface's opening and closing obstacle-crossing components;

[0073] Furthermore, the obstacle-crossing assembly includes a vertical box 9, which is fixedly mounted on the surface of the base block 5. A second bidirectional lead screw 10 is rotatably connected inside the vertical box 9. The second bidirectional lead screw 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 lead screw 10, and the second motor 20 is fixedly mounted on the top of the vertical box 9. Simultaneously, two lifting blocks 11 are connected to the outer wall of the second bidirectional lead screw 10 via ball nuts. The two lifting blocks 11 are symmetrically arranged about the transverse axis of the second bidirectional lead screw 10, and the lifting blocks 11 form a "T" shape. The structure is designed such that two sleeves 12 are fixedly connected inside the lifting block 11, 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 parallel to the second bidirectional screw 10. With this arrangement, under the "T" action of the lifting block 11, when the lifting block 11 is driven to move by the second bidirectional screw 10, the lifting block 11 simultaneously drives the crossbar 1401 to adjust its height through the sleeves 12 on both sides, thus achieving the accuracy of the second bidirectional screw 10 driving the telescopic obstacle-crossing unit to move through the lifting block 11.

[0074] In this configuration, fixed gears 15 are rotatably connected to the outer walls of both sleeves 12. Telescopic obstacle-crossing units are fixedly connected to the outer ends of the fixed gears 15. Tooth plates 16 are meshed with the outer walls of the fixed gears 15, and these tooth plates 16 slide and extend within the vertical housing 9. The tooth plates 16 have a certain length to facilitate synchronous meshing and transmission of the two fixed gears 15. The output end of an electric push rod 17 is fixedly connected to the inner side of the tooth plates 16, and the electric push rod 17 is fixedly installed on the inner wall of the vertical housing 9. The two tooth plates 16 are arranged in an L-shape, symmetrically opposite direction. First sliders 18 are fixedly connected to the outer walls of both tooth plates 16, and the outer walls of the first sliders 18 are slidably connected to… A first sliding groove 19 is provided on the inner wall of the upright box 9. An electric push rod 17 is connected to the inner side of the toothed plate 16. When the electric push rod 17 is energized, the toothed plate 16 is effectively driven inside the upright box 9. The sliding connection between the toothed plate 16 and the upright box 9 ensures the meshing transmission effect of the toothed plate 16 on the outside of the fixed gear 15, facilitating precise transmission of the telescopic obstacle-crossing unit. Furthermore, to achieve a stable opening and closing effect for the telescopic obstacle-crossing unit, through slots are provided on both sides of the upright box 9 to accommodate the lifting and rotating of the crossbar 1401. The two telescopic obstacle-crossing units are symmetrically arranged in an "L" shape, and the obstacle-crossing bar 1405... A walking adjustment component is fixedly connected to the end away from the crossbar 1401 to ensure the robot's walking effect on the power transmission line surface. Meanwhile, a fall arrestor 54 is fixedly connected to the top of the vertical box 9, positioned above the walking adjustment component. To achieve stable opening and closing of the obstacle-crossing component, the telescopic obstacle-crossing unit drives the crossbar 1401 and obstacle-crossing rod 1405 to extend and retract. Specifically, the telescopic obstacle-crossing unit includes a crossbar 1401, which is fixedly installed on the outside of the fixed gear 15. A support plate 1402 is fixedly installed between the upper and lower crossbars 1401, and an electric telescopic mechanism is fixedly installed on the surface of the support plate 1402. The output end of the electric telescopic pole 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 obstacle-crossing poles 1405. The obstacle-crossing poles 1405 are perpendicular to the crossbar 1401, and a telescopic inner pole 1406 is fixedly installed on one side of the obstacle-crossing pole 1405. The telescopic inner pole 1406 is slidably connected to the inner wall of the crossbar 1401. With this arrangement, the electric telescopic pole 1403 can drive the obstacle-crossing pole 1405 to telescopically move when energized, which facilitates the obstacle-crossing pole 1405 on one side to cross the obstacle first, and helps to achieve the stability and safety of the obstacle-crossing pole 1405 when crossing the obstacle.

[0075] Furthermore, the walking adjustment assembly includes a connecting box 21, which is fixedly installed at one end of the obstacle crossing bar 1405. By setting the connecting box 21 at one end of the obstacle crossing bar 1405, the obstacle crossing bar 1405 can move and walk on the surface of the power transmission line via 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 to facilitate live coating of the power transmission line during walking. Specifically, the connecting box 21 is rotatably connected to two walking wheels 22, and the rotation of each walking wheel 22 is adjusted by a uniform adjustment unit, and the two adjustment units are driven and connected by a linkage unit.

[0076] The adjustment unit includes a fixed plate 23, which is fixedly installed inside the connecting box 21. Two first synchronous pulleys 24 are rotatably connected to the surface of the fixed plate 23. A first synchronous belt 25 is fitted onto the outer walls of the two first synchronous pulleys 24. A second synchronous pulley 26 is fitted onto the inner wall of the first synchronous belt 25. The second synchronous pulley 26 is arranged parallel to one side of the first synchronous pulleys 24. A rotating rod 27 is fixedly connected inside the second synchronous pulley 26 and rotatably connected to the surface of an adjusting block 28. 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 sliding groove 38 is slidably connected to the outer wall of the second slider 30. The second sliding groove 38 is located on the inner wall of the connecting box 21. A traveling wheel 22 is fixedly installed on the surface of the rotating rod 27. A through hole is provided on the surface of the connecting box 21 to accommodate the lifting and lowering movement of the rotating rod 27. Guide wheels 29 are symmetrically arranged on both sides of the second synchronous pulley 26. The guide wheel 29 is rotatably connected to the surface of the adjusting block 28. The outer wall of the guide wheel 29 is meshed with the outer wall of the first synchronous belt 25. The first synchronous belt 25 is arranged in a "V" shape between the second synchronous wheel 26 and the guide wheel 29. With this arrangement, the first synchronous wheel 24 drives the second synchronous wheel 26 to rotate through the first synchronous belt 25. The second synchronous wheel 26 is rotatably connected to the adjusting block 28 through the rotating rod 27, which allows the adjusting block 28 to drive the second synchronous wheel 26 to adjust its position. With the first synchronous belt 25 at a fixed length and the guide wheels 29 on both sides of the second synchronous wheel 26, the tension of the first synchronous belt 25 is stabilized. This allows the second synchronous wheel 26 to continue to rotate through the first synchronous belt 25 after its position is adjusted. The rotating rod 27 then drives the walking wheel 22 to rotate, enabling the walking wheel 22 to adjust and move along the outer wall of power transmission lines of different diameters, ensuring the robot's working flexibility and ease of use.

[0077] Furthermore, to achieve synchronous driving of the two adjustment units, the two adjustment units are synchronously transmitted through a linkage unit. The linkage unit includes a third bidirectional lead screw 31, which is rotatably connected inside the connecting box 21 and driven by a third motor 32. The output end of the third motor 32 is fixedly installed at the top of the third bidirectional lead screw 31, and the third motor 32 is fixedly installed at the top of the connecting box 21. Two adjusting blocks 28 are connected to the outer wall of the third bidirectional lead screw 31 via ball nuts. The two adjusting blocks 28 are symmetrically arranged about the transverse axis of the connecting box 21. Simultaneously, an electric motor 37 is fixedly connected to the inner wall of the connecting box 21, and a second bevel gear 36 is fixedly connected to the output end of the electric motor 37. A first bevel gear 35 is fixedly connected to the bottom end of the second bevel gear 36, and a third synchronous pulley 33 is fixedly connected to the other end of the first bevel gear 35. The third synchronous pulley 33 is rotatably connected to the fixed plate 23. On the surface, the other end of the third synchronous pulley 33 is fixedly installed with the first synchronous pulley 24, and the third synchronous pulley 33 and the first synchronous pulley 24 are respectively located on both sides of the fixed plate 23. The outer walls of the two third synchronous pulleys 33 are meshed with the second synchronous belt 34. The symmetrical adjustment block 28 is moved by the third bidirectional lead screw 31, so that the two symmetrically arranged adjustment units drive the walking wheel 22 to adjust and rotate. Moreover, by fixing the third synchronous pulley 33 to one end of the first synchronous pulley 24, the two adjustment units achieve synchronous transmission under the transmission action of the second synchronous belt 34, ensuring the consistency of the two walking wheels 22 in walking on the outer wall of the power transmission line. Furthermore, by connecting the first bevel gear 35 to one end of the third synchronous pulley 33, and by the meshing connection between the first bevel gear 35 and the second bevel gear 36, a single electric motor 37 can achieve synchronous rotation of the two adjustment units, saving drive resources and making reasonable use of the internal space of the connecting box 21.

[0078] Furthermore, to achieve stable charged coating during robot movement, the coating unit includes a mounting frame 39, which is fixedly installed on the outer wall of the connecting box 21. A fourth bidirectional lead screw 40 is rotatably connected inside the mounting frame 39 and driven by a fourth motor 44. Specifically, the output end of the fourth bidirectional lead screw 40 is fixedly mounted with the fourth motor 44, which is also fixedly installed on the outer wall of the mounting frame 39. Simultaneously, two spray plates 41 are symmetrically arranged on the outer wall of the fourth bidirectional lead screw 40 via ball nuts. The two spray plates 41 are slidably connected to the outer wall of the upright 47, which is fixedly installed inside the mounting frame 39. Considering coating quality, the two spray plates 41 are arranged symmetrically. The coating features an arc-shaped structure with spray nozzles on the inner walls of both spray plates 41. The arc shape of the two spray plates 41 facilitates precise application and coating of the power transmission lines. A guide plate 45 is fixedly mounted on the outer wall of each spray plate 41, extending through the interior of the mounting frame 39. A telescopic spring 46 is fitted onto the outer wall of the guide plate 45, with its two ends fixedly connected to the outer wall of the spray plate 41 and the inner side of the mounting frame 39, respectively. The elasticity of the telescopic spring 46 allows for minor adjustments to the spray plate 41 within the mounting frame 39, facilitating precise and stable coating of the power transmission lines and achieving cooling and capacity-enhancing effects. Furthermore, to achieve the desired coating effect on the power transmission lines... The material supply is achieved by fixing a connector 42 at one end of the spray plate 41, with a connecting pipe 43 fixedly connected to the outer end of the connector 42, and a material tank 2 fixedly connected to the other end of the connecting pipe 43. This arrangement allows the material tank 2 to supply material to the spray plate 41 for spraying, ensuring uniform coating of the upper and lower ends of the power transmission wire by both spray plates 41. Furthermore, by connecting a fourth bidirectional lead screw 40 to one end of each spray plate 41, and driving it with a fourth motor 44, the distance between the two spray plates 41 can be flexibly adjusted. This facilitates flexible spraying of power transmission wires of different diameters, ensuring the coating quality of the wires. The structure is simple, flexible, and further... To further facilitate the receiving and drying of the coated cable, a drying and anti-drip unit is connected to the outside of the spraying plate 41. This unit includes two heating plates 55, which are fixedly installed on the outside of the arc-shaped spraying plate 41 and arranged symmetrically in an arc shape. A fan 57 is fixedly connected to the top of the upper heating plate 55, with its outlet located on the inner top wall of the heating plate 55. A receiving groove 56 is provided in the middle of the lower heating plate 55. This arrangement allows the heating plates 55 to heat and dry the coated cable, improving spraying efficiency. Furthermore, the outlet at the top of the heating plate 55 accelerates the drying of the sprayed paint, effectively preventing paint dripping.By creating a receiving trough 56 in the middle of the lower heating plate 55, excess cooling and capacity-enhancing coating is collected through the trough 56, preventing coating dripping and environmental pollution.

[0079] The working principle of this invention is as follows: In use, by symmetrically arranging the obstacle-crossing components on the surface of the base box 1, the first bidirectional lead screw 4 allows the obstacle-crossing components to be adjusted on the surface of the mounting plate 3 according to the lateral spacing of the power transmission lines. Simultaneously, 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 power transmission lines at one end of the obstacle-crossing rod 1405. Furthermore, under the action of the telescopic obstacle-crossing unit, when the robot travels to a line with a large slope, the electric telescopic rod 1403 is energized, causing one side of the obstacle-crossing rod 1405 to extend or retract, facilitating the first obstacle-crossing by that side of the rod, thus ensuring the overall stability and safety of the robot during obstacle crossing. By setting coating units on the outside of the walking adjustment assembly, the surface of the power transmission wire is stably coated. Furthermore, by setting coating units on the outside of both walking wheels 22, the heating plate 55 heats and dries the coated cable, improving spraying efficiency. An air outlet at the top of the heating plate 55 accelerates the drying of the sprayed paint, effectively preventing paint dripping. Simultaneously, a receiving trough 56 in the middle of the lower heating plate 55 collects excess cooling and capacity-enhancing paint, preventing paint dripping and environmental pollution. When the robot reaches the spacer position, the electric push rod 17 on one side retracts, causing the electric push rod 17 to move the toothed plate 16 inside the vertical box 9. 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. The fixed gear 15 is fixedly connected to one end of the crossbar 1401, causing the crossbar 1401 to rotate and open on one side of the vertical box 9. This allows the obstacle-crossing bar 1405 on one side to open and cross the spacer bar. Simultaneously, to achieve flexible opening of the obstacle-crossing bar 1405 on the outer wall of the power transmission line, the traveling wheel 22 moves on the outer wall of the power transmission guide line, ensuring the flexibility of the telescopic obstacle-crossing unit. Under the action of the third bidirectional lead screw 31, the adjusting block 28 drives the second synchronous wheel 26 to move. The first synchronous belt 25 meshes with the outer wall of the second synchronous wheel 26. Under the fixed length action of the first synchronous belt 25, the second synchronous wheel 26... Guide wheels 29 are provided on both sides of the synchronous wheel 26, allowing the second synchronous wheel 26 to continue rotating after position adjustment. This facilitates the rotation of the walking wheel 22, enabling the walking wheel 22 to rotate at any position. When crossing obstacles, the telescopic obstacle-crossing unit opens one side, allowing the telescopic obstacle-crossing unit on the other side to move via the walking wheel 22. After the opened obstacle-crossing rod 1405 moves to the other side of the spacer bar, the electric push rod 17 drives the toothed plate 16 to move in the opposite direction, allowing the obstacle-crossing rod 1405 to travel close to the power transmission line on the other side of the spacer bar. After moving via the walking wheel 22, the robot completes obstacle crossing by opening the rear obstacle-crossing rod 1405. This design is simple in structure and widely applicable.Furthermore, 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 base box 1. Driven by the fixed motor 53, the adjustment plate 48 can be adjusted laterally via the mounting plate 3, facilitating the movement of the robot's center of gravity. By installing a level inside the base box 1, the robot's center of gravity can be adjusted via the fixed motor 53 and the first motor 7 when the tilt exceeds a threshold, preventing the robot from walking skewed. Moreover, by installing a coating unit on the outside of the connecting box 21, the material tank 2 supplies material to spray the coating plate 41. The two coating plates 41 are symmetrically arranged in an arc shape. The material tank 2 is equipped with a high-polymer cooling and capacity-enhancing coating material, which greatly improves the cooling and capacity-enhancing effect of the power transmission conductor. The coating material is precisely sprayed through nozzles inside the spray plate 41, which efficiently atomizes the material, ensuring uniform coating. Furthermore, the lower spray plate 41 sprays less material than the upper spray plate 41, allowing the coating to accumulate at the bottom of the wire and maintain a uniform surface. This achieves live coating of the power transmission conductor, significantly saving manpower and facilitating efficient coating of four-split power transmission conductors. This completes the working principle of the live coating robot.

[0080] In summary, in this invention, by symmetrically arranging the obstacle-crossing assembly on the surface of the base box 1, and through the transmission action of the toothed plate 16 and the fixed gear 15, the upper and lower crossbars 1401 can be synchronously opened by a single set of toothed plates 16, allowing the obstacle-crossing rod 1405 to cross obstacles on one side against the spacer bar, thus achieving balance in the upper and lower obstacle crossing. Simultaneously, by arranging a walking adjustment assembly at one end of the obstacle-crossing rod 1405, the rod can be adjusted to conform to the power transmission line after crossing the obstacle, ensuring the robot's movement on the power transmission line. This arrangement avoids the need for repeated installation and movement of the robot by personnel, achieving stable movement and obstacle crossing on the surface of the four-split power transmission line, greatly improving the working efficiency and applicability of the live-line coating robot, and demonstrating strong practicality. It solves the technical problems of unstable obstacle crossing and poor cable coating effect of current live-line coating robots on the surface of four-split power transmission lines.

[0081] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A live-line coating robot adapted to a four-split transmission line, comprising a base box (1), characterized in that, Multiple material tanks (2) are fixedly inserted inside the base box (1), and an adjustment plate (48) is slidably connected to the surface of the base box (1). An installation plate (3) is fixedly installed on the surface of the adjustment plate (48). A handle (8) is provided on the outer side of the installation plate (3). The handle (8) is fixedly connected to the four sides of the adjustment plate (48). A first bidirectional screw (4) is rotatably connected to the surface of the installation plate (3). One end of the first bidirectional screw (4) is fixedly connected to the output end of the first motor (7). The first motor (7) is fixedly installed on the surface of the installation plate (3). Two bottom blocks (5) are connected to the surface of the first bidirectional screw (4) through ball nuts. A guide post (6) is slidably connected inside the bottom block (5). The guide post (6) is fixedly installed on the surface of the installation plate (3). An obstacle crossing component is fixedly connected to the surface of both bottom blocks (5). The two bottom blocks (5) are symmetrically arranged about the central axis of the base box (1). The opening and closing obstacle crossing assembly includes a vertical box (9), which is fixedly installed on the surface of the base block (5). The interior of the vertical box (9) is rotatably connected to a second bidirectional lead screw (10). The second bidirectional lead screw (10) is driven by a second motor (20). The outer wall of the second bidirectional lead screw (10) is connected to two lifting blocks (11) through ball nuts. The interior of the lifting blocks (11) is fixedly connected to two sleeves (12). 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 is parallel to the second bidirectional lead screw (10). The outer walls of both sleeves (12) are rotatably connected to fixed gears (15), and 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 meshed with toothed plates (16), and the toothed plates (16) slide and extend inside the vertical box (9). The telescopic obstacle-crossing unit includes a crossbar (1401), which is fixedly installed on the outside of the fixed gear (15). A support plate (1402) is fixedly installed between the upper and lower crossbars (1401), and an electric telescopic rod (1403) is fixedly installed on the surface of the support plate (1402). A fixed side plate (1404) is fixedly installed at the output end of the electric telescopic rod (1403), and obstacle-crossing rods (1405) are fixedly connected to both the upper and lower ends of the fixed side plate (1404). The obstacle-crossing bar (1405) is perpendicular to the crossbar (1401), and a telescopic inner bar (1406) is fixedly installed on one side of the obstacle-crossing bar (1405), and the telescopic inner bar (1406) is slidably connected to the inner wall of the crossbar (1401). The obstacle crossing bar (1405) and the crossbar (1401) are symmetrically arranged in an "L" shape, and the end of the obstacle crossing bar (1405) away from the crossbar (1401) is fixedly connected to a walking adjustment component.

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

3. The live-line coating robot adapted to a four-split transmission line according to claim 1, characterized in that, The output end of an electric push rod (17) is fixedly connected to the inner side of the toothed plate (16), and the electric push rod (17) is fixedly installed on the inner wall of the vertical box (9). The two toothed plates (16) are symmetrically arranged in an "L" shape in the reverse direction, and the outer walls of the toothed plates (16) are fixedly connected with first sliders (18). The outer walls of the first sliders (18) are slidably connected to a first chute (19), and the first chute (19) is opened on the inner wall of the vertical box (9); Through grooves for accommodating the lifting and rotation of the cross bar (1401) are opened on both sides of the vertical box (9).

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

5. A live-line coating robot adapted to a four-split transmission line according to claim 1, characterized in that, The walking adjustment component includes a connection box (21), and the connection box (21) is fixedly installed at one end of the obstacle crossing rod (1405). A coating unit is fixedly installed on the outer wall of the connection box (21). Two walking wheels (22) are rotationally connected to the surface of the connection box (21). Each walking wheel (22) is adjusted and rotated through an adjustment unit, and the two adjustment units are driven and connected through a linkage unit.

6. A live-line coating robot adapted to a four-split transmission line according to claim 5, characterized in that, The adjustment unit includes a fixing plate (23), and the fixing plate (23) is fixedly installed inside the connection box (21). Two first synchronous wheels (24) are rotationally connected to the surface of the fixing plate (23). A first synchronous belt (25) is meshed and sleeved on the outer walls of the two first synchronous wheels (24). A second synchronous wheel (26) is also meshed and sleeved on the inner wall of the first synchronous belt (25), and the second synchronous wheel (26) is arranged in parallel on one side of the first synchronous wheel (24); A rotating rod (27) is fixedly connected to the inside of the second synchronous wheel (26), and the rotating rod (27) is rotationally connected to the surface of the adjusting block (28). The adjusting block (28) is slidably connected between the fixing 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 rotationally connected to the surface of the adjusting block (28). The outer wall of the guide wheel (29) is meshed and connected to the outer wall of the first synchronous belt (25), and the first synchronous belt (25) is arranged in a "ji" shape structure between the second synchronous wheel (26) and the guide wheel (29); The rotating rod (27) is fixedly mounted with a traveling wheel (22), and the surface of the connecting box (21) is provided with a through hole that can accommodate the lifting and lowering movement of the rotating rod (27); The outer wall of the adjusting block (28) is fixedly connected to the second slider (30), and the outer wall of the second slider (30) is slidably connected to the second groove (38), which is opened on the inner wall of the connecting box (21).

7. A live-line coating robot adapted to a four-split transmission line according to claim 6, characterized in that, The linkage unit includes a third bidirectional lead screw (31), which is rotatably connected inside the connecting box (21). The third bidirectional lead screw (31) is driven by a third motor (32). The outer wall of the third bidirectional lead screw (31) is connected to two adjusting blocks (28) by ball nuts. The two adjusting blocks (28) are symmetrically arranged about the horizontal axis of the connecting box (21). An electric motor (37) is fixedly connected to the inner wall of the connecting box (21), and a second bevel gear (36) is fixedly connected to the output end of the electric motor (37). A first bevel gear (35) is fixedly connected to the bottom end of the second bevel gear (36). A third synchronous pulley (33) is fixedly connected to the other end of the first bevel gear (35). The third synchronous pulley (33) is rotatably connected to the surface of the fixed plate (23). A first synchronous pulley (24) is fixedly installed at the other end of the third synchronous pulley (33). The third synchronous pulley (33) and the first synchronous pulley (24) are located on both sides of the fixed plate (23). A second synchronous belt (34) is meshed on the outer wall of the two third synchronous pulleys (33). The top end of the third bidirectional lead screw (31) is fixedly installed with the output end of the third motor (32), and the third motor (32) is fixedly installed on the top end of the connecting box (21).

8. A live-line coating robot adapted to a four-split transmission line according to claim 5, characterized in that, The coating unit includes a fixing frame (39), which is fixedly installed on the outer wall of the connecting box (21). A fourth bidirectional lead screw (40) is rotatably connected inside the fixing frame (39), and the fourth bidirectional lead screw (40) is driven by a fourth motor (44). Two spray plates (41) are symmetrically arranged on the outer wall of the fourth bidirectional lead screw (40) through ball nuts. The two spray plates (41) are slidably connected to the outer wall of the upright (47), and the upright (47) is fixedly installed inside the fixing frame (39). One end of the spray plate (41) is fixedly installed with a connector (42), and the outer end of the connector (42) is fixedly connected with a connecting pipe (43), and the other end of the connecting pipe (43) is fixedly connected with a material tank (2).

9. A live-line coating robot adapted to a four-split transmission line according to claim 8, characterized in that, Two spray plates (41) are arranged in a symmetrical arc structure, and a guide plate (45) is fixedly installed on the outer wall of the spray plate (41). The guide plate (45) is installed through the inside of the fixing frame (39). A telescopic spring (46) is sleeved on the outer wall of the guide plate (45), 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). The output end of the fourth bidirectional lead screw (40) is fixedly mounted with a fourth motor (44), and the fourth motor (44) is fixedly mounted on the outer wall of the fixing frame (39); A drying and anti-drip unit is connected to the outside of the spray plate (41).

10. A live-line coating robot adapted to a four-split transmission line according to claim 9, characterized in that, The drying and anti-drip unit includes two heating plates (55), and the heating plates (55) are fixedly installed on the outside of the arc-shaped spray plate (41), and the two heating plates (55) are arranged in an arc-shaped structure with symmetrical arrangement. A fan (57) is fixedly connected to the top of the heating plate (55) mentioned above, and the air outlet of the fan (57) is located on the inner top wall of the heating plate (55); The heating plate (55) below has a receiving groove (56) in the middle.

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