A spraying device and its control method for an insulator spraying robot

Abstract

This invention relates to the field of insulator spraying technology, specifically to a spraying device and its control method for an insulator spraying robot. The device includes a base connectable to the spraying robot, on which a circulation unit is mounted. A spraying unit is mounted on one side of the base via a lifting mechanism. The spraying unit includes a semi-enclosed spraying chamber with several through holes around its perimeter. An electrostatic spraying component is connected to each through hole and is connected to the base via a paint delivery hose. The semi-enclosed spraying chamber is connected to a sliding base capable of driving its rotation. The circulation unit includes an axial flow fan connected to the semi-enclosed spraying chamber via an aerosol extraction hose, and an auxiliary circulation structure connected to the semi-enclosed spraying chamber via an auxiliary airflow input hose. This invention improves paint utilization efficiency, reduces environmental pollution, achieves uniform spraying of complex-shaped insulators, meets the requirements for uniform spraying of insulator surfaces, and significantly improves operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of insulator spraying technology, specifically to a spraying device and its control method for an insulator spraying robot. Background Technology

[0002] Insulators are indispensable key components in power transmission and distribution systems, used to support and isolate conductors and prevent current leakage. To improve the weather resistance and anti-flashover capabilities of insulators, a functional coating is usually sprayed onto their surface.

[0003] A search revealed that invention patent CN112058556A discloses a tool and robot for spraying anti-flashover coating on substation insulators, including a circling mechanism, a spraying structure, and a camera, which can achieve circling spraying around the insulator, and the camera enables the circling mechanism to be positioned around the insulator; invention patent CN117339812A discloses an insulator spraying equipment, including a support, a clamp, a rotation adjustment mechanism, and a spraying mechanism, which can achieve automatic high-altitude spraying of insulators.

[0004] While the circumferential spraying mechanism used in the aforementioned patent is beneficial for improving spraying uniformity, its spraying effect on insulators with complex multi-skirt surfaces is still not ideal, with the following problems: poor coating uniformity; the complex shapes of the inner and outer surfaces, edges, and grooves of the insulator skirts easily lead to insufficient coating adhesion in recessed areas, while the coating accumulates too thickly in edge areas; low coating utilization rate; overspraying and droplet drift are prone to occur when spraying complex surfaces of insulators, increasing spraying costs and exacerbating environmental pollution. Summary of the Invention

[0005] The spraying device for insulator spraying robots designed in this invention is based on the principle of rotary jet electrostatic spraying. This invention is an end effector suitable for insulator spraying operations, and can also be applied to various operating platforms such as drones, long-arm aerial work platforms, and hydraulic lifting platforms.

[0006] The technical solution of this invention is as follows:

[0007] A spraying device for an insulator spraying robot includes a base that can be connected to the spraying robot, on which a circulation unit is provided, and the spraying unit is provided on one side of the base via a lifting mechanism.

[0008] The spraying unit includes an opening and closing mechanism and a semi-enclosed spraying chamber connected to it and capable of being opened and closed by it. Several through holes are opened around the semi-enclosed spraying chamber, and an electrostatic spraying component is connected in the through holes. The electrostatic spraying component is connected to the base through a paint delivery hose.

[0009] The semi-enclosed spraying chamber is also connected to a sliding base that can drive its rotation.

[0010] The circulation unit includes an axial flow fan connected to a semi-enclosed spraying chamber via an aerosol extraction hose, and an auxiliary circulation structure connected to the semi-enclosed spraying chamber via an auxiliary airflow input hose.

[0011] This design ensures that the airflow and paint inside the semi-enclosed spraying chamber flow along a predetermined trajectory, reducing uncertainty.

[0012] The lifting mechanism includes a liftable sliding base, and the spraying unit is mounted on the sliding base;

[0013] A connecting rod is vertically connected to one side of the opening and closing mechanism. The lower end of the connecting rod is slidably connected to the sliding base, and the sliding trajectory is an arc with the center coinciding with the axis of the semi-enclosed spraying chamber.

[0014] The connecting rod is essential; it serves both as a transmission mechanism and as a support for the opening and closing mechanism.

[0015] The semi-enclosed spraying chamber includes an arc-shaped guide rail at the bottom, and a first drive motor that is driven and cooperates with the arc-shaped guide rail is also provided on the sliding base.

[0016] The inner side of the arc-shaped guide rail is provided with mating teeth, and the first drive motor is driven by the output gear that meshes with the mating teeth to cooperate with the arc-shaped guide rail.

[0017] Compared to other transmission methods, gears are more efficient, and they can also keep the semi-enclosed spraying chamber in an upright position, with the axis of the semi-enclosed spraying chamber parallel to the axis of the insulator.

[0018] The semi-enclosed spraying chamber has two opposing through holes, which are electrostatic spraying connection holes;

[0019] The electrostatic spraying assembly includes a planar fan-shaped nozzle group and induction electrodes; the planar fan-shaped nozzle group is installed at equal intervals along a straight line in the electrostatic spraying connection hole, and the induction electrodes are arranged in pairs on both sides of the planar fan-shaped nozzle group.

[0020] The opposing electrostatic spraying connection holes allow the insulator to be sprayed from opposite directions. Combined with the rotation of the arc track, the insulator can be sprayed in all directions. Because they are set opposite each other and the rotation speed is stable, the spraying effect is uniform.

[0021] The auxiliary circulation structure has several layers of collection grids inside.

[0022] The collecting grid can trap charged droplets that have not settled on the insulator, thus playing a filtering role. The axial flow fan can further control the direction of airflow inside the auxiliary circulation structure, allowing the collecting grid to better perform its collecting function. The collected droplets can be reused, saving resources and protecting the environment.

[0023] A method for controlling a spraying device in an insulator spraying robot includes the following steps:

[0024] S1. Statistically analyze the dimensional parameters of different types of insulators, construct an insulator dimensional parameter database, extract the dimensional parameters of different types of insulators, and combine the cavity length and cavity diameter of the semi-enclosed spraying chamber to simulate the rotation of the insulator to the jet spraying, obtain the spraying thickness on the surface of the insulator, as well as the sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate and induced charge voltage corresponding to the spraying thickness, and construct a database of the spraying effect on the surface of different types of insulators.

[0025] S2. Using the insulator type, sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate, and induced charge voltage from the spraying effect database as input variables, construct the mean function and covariance function; solve the mean function and covariance function to obtain the correlation between the input variables and the spraying thickness, infer the hyperparameters based on the correlation, and construct a Gaussian process regression surrogate model of the effect of rotation on the spraying effect of jet insulator surface based on the input variables and hyperparameters.

[0026] S3. Based on the required insulator type and coating thickness, determine the sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate, and induced charge voltage using a Gaussian process regression proxy model.

[0027] S4. Spray the insulator located in the semi-enclosed spraying chamber according to the cavity diameter, sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate and induced charge voltage; after the spraying is completed, the semi-enclosed spraying chamber moves downward along the insulator axis by one cavity length.

[0028] S5. Repeat S4 until the spraying operation on the entire insulator is completed.

[0029] As described in S4, the spraying task is performed according to the cavity diameter, sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate, and induced charge voltage to complete the spraying operation on the insulators in the semi-enclosed spraying chamber. Specifically, the semi-enclosed spraying chamber is closed, enclosing part of the insulators within it; the output gear drives the semi-enclosed spraying chamber to rotate at linear velocity; simultaneously, the paint delivery hose delivers paint; the planar fan-shaped nozzle group performs spraying operations at the paint spraying flow rate; the auxiliary airflow input hose delivers auxiliary airflow into the semi-enclosed spraying chamber at the auxiliary airflow flow rate; the induction electrode applies charge to the paint at the induced charge voltage; and the mist extraction hose extracts excess paint droplets from the semi-enclosed spraying chamber, completing the spraying operation on this part of the insulators.

[0030] The mean function and covariance function mentioned in S2 are specifically as follows:

[0031] The mean function is zero mean. ;in For input variables, This refers to the insulator model. The sliding linear velocity, For paint spraying flow rate, To assist airflow, It is the voltage of the induced charge;

[0032] The covariance function is the average exponential kernel function based on automatic correlation determination:

[0033] ,

[0034] in, K It is the average exponential kernel function. X i , X j These are any two input variables during the simulation. For signal variance, Let V be the variance of the noise component. M It is a diagonal matrix.

[0035] The hyperparameter inference based on correlation described in S2 is specifically performed as follows:

[0036] Initialize hyperparameters ,in, For hyperparameters, For signal variance, l It is the feature length parameter. The variance of the noise component;

[0037] Inferring hyperparameters:

[0038] ,

[0039] ,

[0040] ,

[0041] in, , , X For input variables, X i 、X j These are any two input variables during the simulation. p In order to obtain Th The probability of L is the sum of the probabilities of pair L.p Take the negative logarithmic value. Th For coating thickness, I Let tr be the identity matrix, and tr be the rank of the matrix. θ j For hyperparameters θ The first in the array j One hyperparameter.

[0042] The specific operation for simulating the rotating jet spraying of insulators as described in S1 is as follows: Based on the cavity length and cavity diameter, a finite element model of the semi-enclosed rotating jet flow field of the insulator is constructed. In the finite element model, the movement and deposition process of the coating in the semi-enclosed flow field under the rotating jet spraying method is simulated. The sliding linear velocity of the semi-enclosed spraying chamber along the arc-shaped guide rail, the coating spraying flow rate, the auxiliary airflow flow rate, and the induced charge voltage are set to complete the simulation of rotating jet spraying of insulators.

[0043] The beneficial effects of this invention are as follows:

[0044] 1. The designed semi-enclosed spraying chamber can effectively shield the ambient crosswinds during spraying operations, reduce the risk of non-target drift of paint droplets, and at the same time ensure the full development of the jet flow field due to the rotation inside the chamber, which is conducive to the uniform deposition of paint on the insulator.

[0045] 2. The auxiliary circulation structure enables the air-coating mixture to circulate within the semi-enclosed spraying chamber, avoiding the disorderly diffusion of paint droplets sprayed by conventional spraying methods. It also allows for the secondary recycling of residual paint droplets that have not deposited on the insulator surface, improving paint utilization efficiency and reducing environmental pollution.

[0046] 3. During spraying, the reciprocating rotation of the semi-enclosed spraying chamber, the airflow-assisted deposition within the semi-enclosed chamber, and the surrounding adsorption effect of electrostatic droplets overcome the shortcomings of traditional insulator spraying devices, such as limited coverage and weak adaptability to complex surfaces like sheds, thus achieving uniform spraying of insulators with complex surfaces.

[0047] 4. The control method of this application fully matches the operating characteristics of the rotating jet insulator electrostatic spraying mechanism under semi-enclosed flow field constraints. The constructed absolute Gaussian process regression proxy model can quickly determine the required parameters according to the specific type of insulator to be sprayed, meet the requirements of uniform spraying operation on the insulator surface, and greatly improve the operating efficiency. Attached Figure Description

[0048] In the attached diagram:

[0049] Figure 1 This is a schematic diagram showing the connection between the spraying device and the spraying robot of the present invention;

[0050] Figure 2This is a schematic diagram of the overall structure of the spraying device of the present invention;

[0051] Figure 3 This is a front view schematic diagram of the overall structure of the spraying device of the present invention;

[0052] Figure 4 This is a schematic diagram of the overall structure of the semi-enclosed spraying chamber in this invention;

[0053] Figure 5 This is a schematic diagram showing the direction of aerosol movement in a semi-enclosed spraying chamber.

[0054] Figure 6 This is a schematic diagram of the overall structure of the opening and closing mechanism;

[0055] Figure 7 This is a schematic diagram of the internal structure of the auxiliary loop.

[0056] Figure 8 This is a flowchart of the control method for the spraying device.

[0057] The components represented by the various reference numerals in the diagram are:

[0058] 1. Base; 2. Auxiliary circulation structure; 201. Collection grid; 3. Linear guide rail; 4. Sliding base; 401. Output gear; 402. Connecting rod; 5. Semi-enclosed spraying chamber; 501. First aerosol shell; 502. Second aerosol shell; 503. Arc-shaped guide rail; 6. Opening and closing mechanism; 7. Electrostatic spraying assembly; 701. Planar fan-shaped nozzle assembly; 702. Induction electrode; 8. Paint delivery hose; 9. Auxiliary airflow input hose; 10. Aerosol extraction hose; 11. Axial flow fan. Detailed Implementation

[0059] Example:

[0060] This embodiment provides a spraying device for an insulator spraying robot, combined with Figure 1 , Figure 2 It includes a base 1 that can be connected to a spraying robot, on which a circulation unit is provided, and a spraying unit is provided on one side of the base 1 via a lifting mechanism.

[0061] The following is combined with Figure 2 The structure of base 1 will be described in detail.

[0062] In this embodiment, the base 1 includes a paint interface and a power interface; the paint interface is connected to the spraying unit and is used to spray the received paint in the spraying unit; the power interface is used to receive electrical energy and provide a power source for the spraying device.

[0063] Base 1 is used to connect the insulator spraying robot; after connection, as follows: Figure 1As shown, the painting robot is equipped with a paint tank, and a lidar is used for the robot to perceive environmental information and achieve autonomous walking operations. The painting device for insulator painting robots designed in this invention is an end effector suitable for insulator painting operations, and can also be applied to various operating platforms such as drones, long-arm aerial work platforms, and hydraulic lifting platforms.

[0064] The following is combined with Figure 2 The structure of the lifting mechanism is described in detail.

[0065] In this embodiment, the lifting mechanism includes a linear guide rail 3 vertically mounted on the base 1, and a sliding base 4 that can be lifted and lowered, with the spraying unit mounted on the sliding base 4.

[0066] The sliding base 4 is also equipped with a first drive motor that is in transmission cooperation with the spraying unit.

[0067] The following is combined with Figures 2 to 7 The structure of the spraying unit is described in detail.

[0068] In this embodiment, the spraying unit includes an opening and closing mechanism 6 and a semi-enclosed spraying chamber 5 connected to and driven by the mechanism to open and close. Several through holes are opened around the semi-enclosed spraying chamber 5, and an electrostatic spraying component 7 is connected in the through holes.

[0069] The opening and closing mechanism 6 includes a second drive motor, a main drive gear, multiple opening and closing driven gears and a reversing gear, and two opening and closing clamps arranged opposite to each other; such as Figure 6 As shown, the opening and closing motor can sequentially drive the main drive gear, the driven gear, and the reverse gear. The reverse gear is connected to the opening and closing clamp. The opening and closing clamp is fixedly connected to the semi-enclosed spraying chamber 5. The opening and closing mechanism 6 can control the opening and closing of the semi-enclosed spraying chamber 5. When the semi-enclosed spraying chamber 5 is closed, the insulator is wrapped inside it for efficient electrostatic spraying. When the semi-enclosed spraying chamber 5 is open, the insulator can be replaced.

[0070] Furthermore, a connecting rod 402 is vertically connected to one side of the opening and closing mechanism 6. The lower end of the connecting rod 402 is slidably connected to the sliding base 4, and the sliding trajectory is an arc shape whose center coincides with the axis of the semi-enclosed spraying chamber 5.

[0071] The semi-enclosed spraying chamber 5 includes two oppositely arranged arc-shaped shells with baffles above and below them. During the spraying operation, the semi-enclosed spraying chamber 5 can effectively shield the ambient crosswinds, reduce the risk of non-target drift of paint droplets, and at the same time ensure the full development of the jet flow field due to the rotation inside the chamber, which is conducive to the uniform deposition of paint on the insulator.

[0072] The semi-enclosed spraying chamber 5 includes an arc-shaped guide rail 503 at the bottom, see [link / reference]. Figure 3To make it easier to understand, the inner side of the arc-shaped guide rail 503 is provided with mating teeth. The first drive motor is driven by the output gear 401 that meshes with the mating teeth and the arc-shaped guide rail 503, so that the semi-enclosed spraying chamber 5 can rotate around the axis.

[0073] The semi-enclosed spraying chamber 5 has elongated holes spaced 90° apart around its circumference. Two opposing through holes on the semi-enclosed spraying chamber 5 are electrostatic spraying connection holes for connecting the electrostatic spraying assembly 7. Another pair of opposing through holes in the semi-enclosed spraying chamber 5 are gas-liquid extraction holes, with a second aerosol shell 502 fitted on the outside, communicating with the circulation unit.

[0074] A first aerosol shell 501 is fitted over the outside of the electrostatic spraying connection hole, see [reference]. Figure 4 An electrostatic spraying assembly 7 is disposed within the first aerosol shell 501; the electrostatic spraying assembly 7 includes a planar fan-shaped spray nozzle group 701 and an induction electrode 702; see also Figure 5 The planar fan-shaped nozzle group 701 is installed at equal intervals along a straight line at the electrostatic spraying connection hole, atomizing the supplied paint pressure into a planar fan-shaped liquid film, and further atomizing it into a discrete group of droplets. The induction electrodes 702 are arranged in pairs on both sides of the planar fan-shaped nozzle group 701.

[0075] The electrostatic spraying assembly 7 also includes a paint flow regulating valve, a long strip-shaped airflow nozzle, an airflow regulating valve, and a high-voltage electrostatic generator. The inlet of the paint flow regulating valve is connected to the base 1, and the outlet is connected to the planar fan-shaped nozzle assembly 701, used to regulate the spray flow and atomization effect. The positive electrode of the high-voltage electrostatic generator is connected to the induction electrode 702, and the negative electrode is connected to the planar fan-shaped nozzle assembly 701. The induced electric field formed causes the leading edge of the planar fan-shaped liquid film to carry a negative charge, and causes the paint droplets to carry a negative charge. The long strip-shaped airflow nozzle is arranged parallel to both sides of the planar fan-shaped nozzle assembly 701. The output auxiliary airflow forces the charged paint droplets to migrate and deposit on the surface of the insulator. The inlet of the airflow regulating valve is connected to the circulation unit, and the outlet is connected to the long strip-shaped airflow nozzle, used to regulate the auxiliary airflow flow.

[0076] In this embodiment, the circulation unit includes a paint delivery hose 8, an auxiliary airflow input hose 9, an aerosol extraction hose 10, an axial flow fan 11 connected to the semi-enclosed spraying chamber 5 via the aerosol extraction hose 10, and an auxiliary circulation structure 2 connected to the semi-enclosed spraying chamber 5 via the auxiliary airflow input hose 9.

[0077] The auxiliary circulation structure 2 is installed on the upper surface of the base 1, and the axial flow fan 11 is installed on the upper surface of the auxiliary circulation structure 2, with one end connected to the aerosol extraction hose 10 and the other end connected to the auxiliary circulation structure 2; the auxiliary circulation structure 2 is internally equipped with several layers of collection grilles 201, such as... Figure 7 As shown, the bottom is connected to the auxiliary airflow input hose 9.

[0078] The collecting grid 201 is used to trap charged droplets that have not been deposited on the insulator; the auxiliary circulation structure 2 also includes a residual paint collecting box for receiving paint droplets that flow down along the surface of the collecting grid 201.

[0079] The auxiliary circulation structure 2 enables the air-coating mixture to circulate within the semi-enclosed spraying chamber 5, avoiding the disorderly diffusion of paint droplets sprayed by conventional spraying methods. It also allows for the secondary recycling of residual paint droplets that have not deposited on the insulator surface, thereby improving the utilization efficiency of the paint and reducing environmental pollution.

[0080] The outlet of the axial flow fan 11 faces the auxiliary circulation structure 2, and the inlet is connected to the semi-enclosed spraying chamber 5. This allows the droplets collected from the semi-enclosed spraying chamber 5 to be deposited in the auxiliary circulation structure 2. Furthermore, the axial flow fan 11 is located on the upper surface of the auxiliary circulation structure 2 to ensure that the droplets at the outlet can pass through each layer of collection grid 201, thereby improving the recovery efficiency.

[0081] The auxiliary airflow input hose 9 and the paint delivery hose 8 pass through the first aerosol shell 501 and the planar fan-shaped nozzle group 701 and are connected to the semi-enclosed spraying chamber 5. The axial flow fan 11 is set on the upper surface of the auxiliary circulation structure 2, with one end connected to the aerosol extraction hose 10 and the other end connected to the auxiliary circulation structure 2. The outlet of the axial flow fan 11 is connected to the elongated airflow nozzle through the auxiliary airflow input hose 9, and the inlet of the axial flow fan 11 is connected to the gas-liquid extraction hole through the aerosol extraction hose 10, forming an external flow channel for the aerosol mixed fluid.

[0082] Furthermore, in this invention, one end of the paint delivery hose 8 is connected to the semi-enclosed spraying chamber 5, and the other end is connected to the base 1; one end of the auxiliary airflow input hose 9 passes through the electrostatic spraying assembly 7 and is connected to the semi-enclosed spraying chamber 5, and the other end is connected to the auxiliary circulation structure 2; one end of the aerosol extraction hose 10 is connected to the gas-liquid extraction hole of the semi-enclosed spraying chamber 5, and the other end is connected to the axial flow fan 11, thereby completing the circulation of paint and airflow.

[0083] The spraying device also includes a spraying control unit, which is mounted on the sliding base 4. The spraying control unit controls the semi-enclosed spraying chamber 5 to move linearly from one end of the insulator to the other along the linear guide rail 3 according to the length information of the insulator to be sprayed. At the same time, it controls the semi-enclosed spraying chamber 5 to slide back and forth along the arc-shaped guide rail 503, driving the electrostatic spraying assembly 7 to move around the insulator to achieve spraying of the insulator. At the same time, according to the insulator model parameters and spraying thickness requirements, it controls the paint flow regulating valve, the airflow regulating valve and the high-voltage electrostatic generator to adjust the spraying flow, auxiliary airflow and charging voltage, and complete the rotational jet electrostatic spraying of the insulator.

[0084] During spraying, the reciprocating rotation of the semi-enclosed spraying chamber 5, the airflow-assisted deposition within the semi-enclosed chamber, and the surrounding adsorption effect of electrostatic droplets overcome the shortcomings of traditional insulator spraying devices, such as limited coverage due to mechanical surrounding and weak adaptability to complex surfaces like sheds, thus achieving uniform spraying of insulators with complex surfaces.

[0085] A control method for a spraying device used in an insulator spraying robot, see [link to relevant documentation]. Figure 8 This includes the following steps:

[0086] S1. Collect the dimensional parameters of different types of insulators, construct an insulator dimensional parameter database, extract the dimensional parameters of different types of insulators, and combine the cavity length and cavity diameter of the semi-enclosed spraying chamber 5 to simulate the rotational jet spraying of the insulators, obtain the spraying thickness on the surface of the insulator, as well as the sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate and induced charge voltage corresponding to the spraying thickness, and construct a database of spraying effect on the surface of different types of insulators.

[0087] The simulation of rotating jet spraying of insulators is carried out as follows: Based on the cavity length and cavity diameter, a finite element model of the semi-enclosed rotating jet flow field of the insulator is constructed. The motion and deposition process of the coating in the semi-enclosed flow field under the rotating jet spraying method is simulated in the finite element model. The sliding linear velocity of the semi-enclosed spraying chamber 5 along the arc guide rail 503, the coating spraying flow rate, the auxiliary airflow flow rate, and the induced charge voltage are set to complete the simulation of rotating jet spraying of insulators.

[0088] Specifically, in the finite element model, the following is adopted: A turbulence model is used to simulate a semi-closed flow field. The rotating jet is simulated using a sliding mesh method, and the motion of paint droplets in the semi-closed flow field is simulated using a DPM model. The sliding linear velocity of the semi-closed spraying chamber 5 along the arc-shaped guide rail 503 is set. Paint spraying flow rate Auxiliary airflow induced charge voltage This allows for the simulation of insulator rotation and jet surface spraying, thus obtaining the spraying thickness on the insulator surface. A database of surface coating effects for different types of insulators was constructed, and the above data was correlated with insulator type, sliding linear velocity, etc. Paint spraying flow rate Auxiliary airflow induced charge voltage Coating thickness Store as a group.

[0089] S2. Using insulator type, sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate, and induced charge voltage from the spraying effect database as input variables, construct the mean function and covariance function; solve the mean function and covariance function to obtain the correlation between the input variables and the spraying thickness, infer hyperparameters based on the correlation, and construct a Gaussian process regression surrogate model of the effect of rotation on the spraying effect on the surface of the jet insulator based on the input variables and hyperparameters. .

[0090] Set the mean function to zero mean, that is ;in For input variables, This refers to the insulator model. The sliding linear velocity, For paint spraying flow rate, To assist airflow, It is the voltage of the induced charge;

[0091] The covariance function is the average exponential kernel function based on automatic correlation determination:

[0092] ,

[0093] in, K It is the average exponential kernel function. X i , X j These are any two input variables during the simulation. This represents the signal variance, and its initial value is typically set to 1. Let Variance be the variance of the noise component. It is a diagonal matrix. It is the feature length parameter.

[0094] Initialize hyperparameters ,in, For hyperparameters, For signal variance, l It is the feature length parameter. The variance of the noise component;

[0095] The maximum marginal likelihood method is used to infer and determine the hyperparameters that determine the GPR model. The hyperparameters are optimized using the partial differential conjugate gradient method.

[0096] ,

[0097] ,

[0098] ,

[0099] in, , , X For input variables, X i 、X j These are any two input variables during the simulation. p In order to obtain Th The probability of L is the sum of the probabilities of pair L. p Take the negative logarithmic value. Th Let I be the coating thickness, tr be the identity matrix, and tr be the rank of the matrix. θ j For hyperparameters θ The j-th hyperparameter in the array.

[0100] Therefore, a Gaussian process regression surrogate model can be used to determine the effect of rotation on the surface coating of jet insulators. .

[0101] S3. Based on the required insulator type and coating thickness, determine the sliding linear velocity, coating flow rate, auxiliary airflow flow rate, and induced charge voltage using a Gaussian process regression surrogate model.

[0102] S4. Spray the insulator located in the semi-enclosed spraying chamber 5 according to the cavity diameter, sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate and induced charge voltage; after the spraying is completed, the semi-enclosed spraying chamber 5 moves downward along the insulator axis by one cavity length.

[0103] Specifically, the semi-enclosed spraying chamber 5 is closed, enclosing part of the insulator inside; the output gear 401 drives the semi-enclosed spraying chamber 5 to rotate at a linear speed; at the same time, the paint delivery hose 8 delivers paint; the planar fan-shaped nozzle group 701 performs spraying operation at the paint spraying flow rate; the auxiliary airflow input hose 9 delivers auxiliary airflow into the semi-enclosed spraying chamber 5 at the auxiliary airflow flow rate; the induction electrode 702 applies charge to the paint with an induced charge voltage; and the mist extraction hose 10 extracts excess paint droplets from the semi-enclosed spraying chamber 5, completing the spraying operation for this part of the insulator.

[0104] The spraying control unit sends a command to the sliding base 4, causing the sliding base 4 to move downward along the linear guide rail 3, which in turn drives the semi-enclosed spraying chamber 5 to move downward along the insulator axis.

[0105] S5. Repeat S4 until the spraying operation on the entire insulator is completed.

[0106] The control method of this application fully matches the operating characteristics of the rotating jet insulator electrostatic spraying mechanism under semi-enclosed flow field constraints. The constructed Gaussian process regression surrogate model can quickly determine the required parameters according to the specific type of insulator to be sprayed, meet the requirements of uniform spraying operation on the insulator surface, and greatly improve the operating efficiency.

Claims

1. A control method for a spraying device used in an insulator spraying robot, characterized in that, Includes the following steps: S1. Statistically analyze the size parameters of different types of insulators, construct an insulator size parameter database, extract the size parameters of different types of insulators, combine the cavity length and cavity diameter of the semi-enclosed spraying chamber (5), conduct insulator rotation on jet spraying simulation, obtain the spraying thickness on the surface of the insulator, as well as the sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate and induced charge voltage corresponding to the spraying thickness, and construct a spraying effect database for the surface of different types of insulators; S2. Using the insulator type, sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate, and induced charge voltage from the spraying effect database as input variables, construct the mean function and covariance function; solve the mean function and covariance function to obtain the correlation between the input variables and the spraying thickness, infer the hyperparameters based on the correlation, and construct a Gaussian process regression surrogate model of the effect of rotation on the spraying effect of jet insulator surface based on the input variables and hyperparameters. S3. Based on the required insulator type and coating thickness, determine the sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate, and induced charge voltage using a Gaussian process regression proxy model. S4. Spray the insulators located in the semi-enclosed spraying chamber (5) according to the cavity diameter, sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate and induced charge voltage. After the spraying is completed, the semi-enclosed spraying chamber (5) moves downward along the insulator axis by one chamber length. S5. Repeat S4 until the spraying operation on the entire insulator is completed. The device includes a base (1) that can be connected to a spraying robot. A circulation unit is provided on the base (1), and a spraying unit is provided on one side of the base (1) via a lifting mechanism. The spraying unit includes an opening and closing mechanism (6) and a semi-closed spraying chamber (5) connected to it and capable of being opened and closed by it. The semi-closed spraying chamber (5) has several through holes around its perimeter, and an electrostatic spraying component (7) is connected to the through holes. The electrostatic spraying component (7) is connected to the base (1) through a paint delivery hose (8). The semi-enclosed spraying chamber (5) is also connected to a sliding base (4) that can drive its rotation. The spraying unit is mounted on the sliding base (4); The opening and closing mechanism (6) is vertically connected to a connecting rod (402) on one side. The lower end of the connecting rod (402) is slidably connected to the sliding base (4), and the sliding trajectory is an arc shape whose center coincides with the axis of the semi-closed spraying chamber (5). The semi-enclosed spraying chamber (5) includes an arc-shaped guide rail (503) at the bottom, and the sliding base (4) is also provided with a first drive motor that is in transmission cooperation with the arc-shaped guide rail (503); The circulation unit includes an axial flow fan (11) connected to a semi-enclosed spraying chamber (5) via an aerosol extraction hose (10), and an auxiliary circulation structure (2) connected to the semi-enclosed spraying chamber (5) via an auxiliary airflow input hose (9). The semi-enclosed spraying chamber (5) has two opposing through holes, which are electrostatic spraying connection holes; The electrostatic spraying assembly (7) includes a planar fan-shaped nozzle group (701) and an induction electrode (702); the planar fan-shaped nozzle group (701) is installed at equal intervals along a straight line in the electrostatic spraying connection hole, and the induction electrode (702) is arranged in pairs on both sides of the planar fan-shaped nozzle group (701).

2. The control method for a spraying device of an insulator spraying robot according to claim 1, characterized in that, The inner side of the arc-shaped guide rail (503) is provided with mating teeth, and the first drive motor is driven by the output gear (401) that meshes with the mating teeth to cooperate with the arc-shaped guide rail (503).

3. The control method for a spraying device of an insulator spraying robot according to claim 1, characterized in that, The auxiliary circulation structure (2) has several layers of collection grids (201) inside.

4. The control method for a spraying device of an insulator spraying robot according to claim 1, characterized in that, The spraying task described in S4 is performed according to the cavity diameter, sliding linear velocity, paint spraying flow rate, auxiliary airflow flow rate, and induced charge voltage to complete the spraying operation of the insulators in the semi-closed spraying chamber (5). Specifically, the semi-closed spraying chamber (5) is closed, and part of the insulators are wrapped in the semi-closed spraying chamber (5); the output gear (401) drives the semi-closed spraying chamber (5) to rotate at linear velocity. At the same time, the paint delivery hose (8) delivers paint, the planar fan-shaped nozzle group (701) performs spraying operation at the paint spraying flow rate, the auxiliary airflow input hose (9) delivers auxiliary airflow into the semi-closed spraying chamber (5) at the auxiliary airflow flow rate, the induction electrode (702) applies charge to the paint at the induced charge voltage, and the mist extraction hose (10) extracts excess paint droplets from the semi-closed spraying chamber (5) to complete the spraying operation of this part of the insulators.

5. The control method for a spraying device of an insulator spraying robot according to claim 1, characterized in that, The specific operation of the insulator rotation jet spraying simulation described in S1 is as follows: Based on the cavity length and cavity diameter, construct a finite element model of the semi-enclosed rotation jet flow field of the insulator, simulate the movement and deposition process of the coating in the semi-enclosed flow field under the rotation jet spraying mode in the finite element model, set the sliding linear velocity of the semi-enclosed spraying chamber (5) along the arc guide rail (503), the coating spraying flow rate, the auxiliary airflow flow rate, and the induced charge voltage, and complete the insulator rotation jet spraying simulation.

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