Intelligent electric pole climbing spraying operation robot and method

Abstract

The application relates to the technical field of spraying devices, in particular to an intelligent electric-pole climbing spraying operation robot and method, which comprises a sliding installation arm, two installation platforms, two rotating foot buckles and a plurality of abutting foot pedals. The two installation platforms are distributed along the long side direction of the sliding installation arm, one installation platform slides relative to the sliding installation arm, and the other installation platform is fixedly connected with the sliding installation arm. The rotating foot buckles are rotationally connected to the installation platforms, the rotating shafts of the rotating foot buckles are consistent with the long side direction of the sliding installation arm, and the opening directions of the rotating foot buckles on the two installation platforms are oppositely arranged. The abutting foot pedals slide relative to the installation platforms, and a through cavity can be formed between the abutting foot pedals and the rotating foot buckles. The spraying unit is connected with the sliding installation arm and is used for completing a spraying operation. The application has the effect of reducing the influence of obstacles on the electric pole on the climbing of the robot along the height direction of the electric pole.

Description

Technical Field

[0001] This application relates to the field of spraying device technology, and in particular to an intelligent pole climbing spraying robot and method. Background Technology

[0002] Because power lines are exposed to complex natural environments for extended periods, and lines and poles are frequently affected by weather changes, they are highly susceptible to equipment damage and line safety issues. To ensure the safety of power transmission, regular maintenance of power lines is of paramount importance. To further enhance the insulation performance of power facilities, workers need to perform spraying operations on relevant power equipment, i.e., climb the poles and spray insulating coatings onto the equipment to prevent short circuits or other safety-related issues caused by environmental factors.

[0003] The prior art discloses a cross-locking pole-climbing robot, which includes a climbing mechanism and a load-bearing platform. The climbing mechanism includes a frame composed of a first frame, a second frame, a left front column, a right front column, a left rear column, and a right rear column. The first frame and the second frame intersect. The middle parts of the front frame beams of the first frame and the second frame, and the middle parts of the rear frame beams of the first frame and the second frame are respectively hinged by hinge pins. The left front and left rear parts of the first frame are respectively hinged to the lower ends of the left front column and the left rear column. The right front and right rear parts of the first frame are respectively hinged to right sliding sleeves that are slidably mounted on the right front column and the right rear column. The left front and left rear parts of the second frame are respectively hinged to left sliding sleeves that are slidably mounted on the left front column and the left rear column. The right front and right rear parts of the second frame are respectively hinged to the lower ends of the right front column and the right rear column.

[0004] Regarding the aforementioned technologies, the left and right sliding sleeves can roll after contacting the utility pole, enabling the load-bearing platform to move vertically and thus lift the painting unit to the working height. However, under normal circumstances, in order to ensure the positional stability of the utility pole or to achieve certain functions, there are usually obstacles on the utility pole that affect the climbing, such as cable stays, electrical boxes, or cameras. In this case, the climbing structure formed by the cooperation of the left and right sliding sleeves is no longer applicable and has a limited scope of application. Summary of the Invention

[0005] To reduce the impact of obstacles on utility poles on the robot's ascent along the pole's height, this application provides an intelligent utility pole climbing and spraying robot and method.

[0006] The intelligent pole climbing spraying robot and method provided in this application adopts the following technical solution:

[0007] In one aspect, this application provides an intelligent pole climbing and spraying robot.

[0008] A smart pole climbing and spraying robot includes:

[0009] Sliding mounting arm;

[0010] Two mounting platforms are distributed along the long side of the sliding mounting arm, with one mounting platform sliding relative to the sliding mounting arm and the other mounting platform fixedly connected to the sliding mounting arm.

[0011] Two rotating feet are rotatably connected to the mounting platform. The rotation axis of the rotating feet is aligned with the long side of the sliding mounting arm, and the opening directions of the rotating feet on the two mounting platforms are opposite.

[0012] Multiple clamping foot pedals are provided, which slide relative to the mounting platform, and a through cavity can be formed between the clamping foot pedals and the rotating foot buckle.

[0013] A spraying unit, which is connected to the sliding mounting arm, is used to complete the spraying operation.

[0014] By adopting the above technical solution, firstly, the position of the sliding mounting arm is adjusted to keep it parallel to the pole, and the distance between the sliding mounting arm and the pole is controlled so that the rotating foot catch and the clamping foot pedal can engage to position the pole within the installation cavity. Next, the rotating foot catch and the clamping foot pedal connected to the fixed mounting platform are locked to the pole. Then, the sliding mounting platform is slid upwards relative to the sliding mounting arm until it reaches its designated position. Subsequently, the sliding mounting platform is locked to the pole, and the fixed mounting platform is released from the pole. The sliding mounting arm then drives the spraying unit and the fixed mounting platform to climb upwards to their designated positions. Finally, the climbing action is repeated until... The spraying unit moves to the target height and starts spraying operations. The designed intelligent pole climbing spraying robot uses a sliding mounting arm as a fixed or movable base for the mounting platform. The mounting platform connects the rotating foot buckles and the clamping foot pedals. The combination of the rotating foot buckles and the clamping foot pedals allows for fixing or releasing the robot to the pole. By coordinating with the movement of the two mounting platforms, the robot can reduce the impact of obstacles on the pole on its ascent. The repeated movements of the two mounting platforms enable the sliding mounting arm to climb vertically along the pole, thereby moving the spraying unit to the target height. The spraying unit then performs surface spraying operations on various devices on the pole.

[0015] In one specific implementation scheme, the installation platform includes:

[0016] A connecting plate, which is slidably or fixedly connected to the sliding mounting arm;

[0017] Mounting plate, which is rotatably connected to the connecting plate, rotating foot buckle is rotatably connected to the mounting plate, and the pressing foot pedal is slidably connected to the mounting plate.

[0018] By adopting the above technical solution, the designed installation platform can be easily connected to the sliding installation arm via the connecting plate. The installation plate can serve as the mounting base for the rotating foot catches and the bracing foot pedals. The relatively rotatable connecting plate and installation plate allow for adjustment of the relative angle between the rotating foot catches and the bracing foot pedals and the utility pole, thereby enhancing the ability to overcome obstacles on the utility pole during climbing. At the same time, the adjusted angle of the rotating foot catches and the bracing foot pedals can also improve the reliability of the connection between the rotating foot catches and the utility pole by utilizing the overall weight of the equipment.

[0019] In one specific implementation, a clamping unit for driving the foot pedal to slide is connected to the mounting plate, the clamping unit comprising:

[0020] A fixed slide rail is connected to the mounting plate, and a sliding block is slidably connected to the fixed slide rail, and the sliding block is connected to the foot pedal.

[0021] A drive screw is rotatably connected to the mounting plate, and the drive screw passes through and is threadedly connected to the sliding block.

[0022] By adopting the above technical solution, the designed clamping unit can be used as a sliding platform for the sliding block through the fixed slide rail. The sliding block, in conjunction with the drive screw, can enable the clamping foot pedal to move towards or away from the pole, thereby achieving clamping or releasing with the pole.

[0023] In one specific implementation scheme, a transmission nut is connected to the sliding block, and a compensating transmission rod is threaded onto the transmission nut. One end of the compensating transmission rod is rotatably connected to the foot pedal, and the rotation axis of the foot pedal is parallel to the rotation axis of the rotating foot buckle. The compensating transmission rod passes through the mounting plate, and a rotation gap is left between the compensating transmission rod and the mounting plate.

[0024] By adopting the above technical solution, the designed transmission nut and compensating transmission rod can compensate for the movement path of the clamping foot pedal, thereby improving the adaptability to poles of different diameters. Furthermore, the clamping foot pedal, which is rotatably connected to the compensating transmission rod, can automatically adjust its angle after initial contact with the pole, thereby improving the reliability of the contact with the pole.

[0025] In one specific implementation, the spraying unit includes:

[0026] A height-adjusting arm, which is slidable relative to the sliding mounting arm;

[0027] A horizontal swing arm is rotatably connected to the height adjustment arm, and the rotation axis of the horizontal swing arm is parallel to the rotation axis of the rotating foot buckle.

[0028] The spraying assembly is rotatably connected to the end of the horizontal swing arm away from the height adjustment arm, and the spraying assembly is capable of three-dimensional spatial movement along three orthogonal axes.

[0029] By adopting the above technical solution, the designed spraying unit can realize the vertical movement of the spraying assembly through the height adjustment arm and the horizontal movement of the spraying assembly through the horizontal swing arm. The spraying assembly itself is rotatably connected to the horizontal swing arm, and after cooperation, the spraying assembly can perform three-dimensional spatial movement along three orthogonal axes. The spraying assembly can realize the spraying operation of various equipment on the pole.

[0030] In a specific feasible implementation, it also includes:

[0031] A climbing fixing frame is sleeved on the sliding mounting arm, and any of the mounting platforms is connected to the climbing fixing frame to achieve relative sliding with the sliding mounting arm;

[0032] An adjusting bracket is sleeved on the height adjusting arm and connected to the sliding mounting arm;

[0033] Multiple rollers are rotatably connected to the climbing frame or adjusting frame, and the rollers are rotatably connected to the sliding mounting arm or height adjusting arm;

[0034] Two lifting control mechanisms are respectively mounted on the sliding mounting arm and the height adjusting arm, and the lifting control mechanisms are connected to the rollers to control the relative position of the rollers with respect to the sliding mounting arm or the height adjusting arm.

[0035] By adopting the above technical solution, the designed climbing frame, rollers, and lifting control mechanism can be used to enable the sliding of an installation platform relative to the sliding installation arm, thereby enabling the painting unit to be raised in height in conjunction with the fixed installation platform. By adjusting the frame, rollers, and lifting control mechanism, the height adjustment arm can be made to slide relative to the sliding installation arm, thereby enabling the height adjustment of the horizontal swing arm.

[0036] In one specific implementation, the lifting control mechanism includes:

[0037] A control motor is provided, which is connected to the sliding mounting arm or the height adjusting arm, and a drive wheel is coaxially connected to the output shaft of the control motor.

[0038] A timing belt is sleeved on and rotatably connected to the sliding mounting arm or height adjusting arm, and the timing belt simultaneously engages with the drive wheel and the rolling wheel.

[0039] By adopting the above technical solution, the designed lifting control mechanism can achieve relative position adjustment between the rolling wheel and the sliding mounting arm or height adjustment arm by controlling the motor, drive wheel and synchronous belt.

[0040] In one specific implementation, both the rotating foot buckle and the abutting foot pedal are connected to a wear friction strip for contacting the utility pole.

[0041] By adopting the above technical solution, the designed wear friction strip can replace the rotating foot buckle and the clamping foot pedal to abut against the pole, thereby reducing the wear of the rotating foot buckle and the clamping foot pedal and extending their service life.

[0042] Secondly, this application provides a method for pole climbing and spraying operations.

[0043] A method for spraying paint on utility poles includes:

[0044] S1: The device is in place, keeping the sliding mounting arm parallel to the pole, and controlling the distance between the sliding mounting arm and the pole so that the rotating foot buckle and the clamping foot pedal can work together to keep the pole inside the installation cavity;

[0045] S2: The platform climbs, so that the rotating foot buckle and the anti-clamp foot pedal connected to the fixed installation platform are locked to the pole. Then, the sliding installation platform slides upward relative to the sliding installation arm until the sliding installation platform slides into place.

[0046] S3: The spraying unit climbs up, locking the sliding mounting platform and the pole, and releasing the fixed mounting platform and the pole. Then, the sliding mounting arm drives the spraying unit and the fixed mounting platform to climb up into place.

[0047] S4: Repeat steps S2 and S3 until the spraying unit moves to the target height, then start the spraying unit to perform the spraying operation.

[0048] By adopting the above technical solution, firstly, the position of the sliding mounting arm is adjusted to keep it parallel to the pole, and the distance between the sliding mounting arm and the pole is controlled so that the rotating foot catch and the clamping foot pedal can engage to position the pole within the installation cavity. Next, the rotating foot catch and the clamping foot pedal connected to the fixed mounting platform are locked to the pole. Then, the sliding mounting platform is slid upwards relative to the sliding mounting arm until it reaches its designated position. Subsequently, the sliding mounting platform is locked to the pole, while the fixed mounting platform is released. The sliding mounting arm then drives the spraying unit and the fixed mounting platform to climb upwards to their designated positions. Finally, the climbing action is repeated until the spraying unit reaches the target height, at which point the spraying unit is activated. The designed pole-climbing spraying method utilizes a sliding mounting arm as a fixed or movable base for the mounting platform. The platform connects rotating foot catches and clamping foot pedals, allowing for fixation or release from the pole. The coordinated movement of the two mounting platforms reduces the impact of obstacles on the robot's ascent. The repeated motion of the two platforms enables the sliding mounting arm to climb vertically along the pole, thus moving the spraying unit to the target height. The spraying unit then performs surface spraying on various devices on the pole, replacing manual labor and avoiding the potential safety risks associated with manual climbing to high poles for spraying.

[0049] In summary, this application includes at least one of the following beneficial technical effects:

[0050] 1. The designed intelligent pole climbing and spraying robot uses a sliding mounting arm as a fixed or movable base for the mounting platform. The mounting platform connects the rotating foot buckles and the clamping foot pedals. The combination of the rotating foot buckles and the clamping foot pedals allows for fixing or releasing the robot to the pole. Furthermore, by coordinating the movement of the two mounting platforms, the robot can reduce the impact of obstacles on the pole on its climbing height. The repeated movements of the two mounting platforms enable the sliding mounting arm to climb vertically along the pole, thereby moving the spraying unit to the target height. The spraying unit can then perform surface spraying operations on various devices on the pole.

[0051] 2. The designed intelligent pole climbing and spraying robot can be easily connected to the sliding mounting arm via a connecting plate. The mounting plate serves as the mounting base for the rotating foot catches and the clamping foot pedals. The relatively rotatable connecting plate and mounting plate allow for adjustment of the relative angle between the rotating foot catches and the clamping foot pedals and the pole, thereby enhancing the robot's ability to overcome obstacles on the pole during climbing. At the same time, the adjusted angle of the rotating foot catches and the clamping foot pedals can also improve the reliability of the connection between the rotating foot catches and the pole by utilizing the overall weight of the equipment.

[0052] 3. The designed intelligent pole climbing and spraying robot can compensate for the movement path of the clamping foot pedal through the transmission nut and the compensation transmission rod, thereby improving its adaptability to poles of different diameters. Furthermore, the clamping foot pedal, which is rotatably connected to the compensation transmission rod, can automatically adjust its angle after initial contact with the pole, thereby improving the reliability of the contact with the pole.

[0053] 4. The designed intelligent pole climbing and spraying robot can move the spraying assembly vertically through the height adjustment arm and horizontally through the horizontal swing arm. The spraying assembly itself is rotatably connected to the horizontal swing arm, and together they enable the spraying assembly to perform three-dimensional spatial movement along three orthogonal axes. The spraying assembly can be used to spray various equipment on the pole.

[0054] 5. The designed intelligent pole climbing spraying robot can achieve the sliding of an installation platform relative to a sliding installation arm through the cooperation of a climbing fixed frame, rolling wheels and lifting control mechanism. This, in turn, allows the spraying unit to be raised in height in conjunction with the fixed installation platform. By adjusting the fixed frame, rolling wheels and lifting control mechanism, the height adjustment arm can be made to slide relative to the sliding installation arm, thereby achieving the height adjustment of the horizontal swing arm. Attached Figure Description

[0055] Figure 1 This is a structural schematic diagram of the intelligent pole climbing and spraying robot according to an embodiment of this application.

[0056] Figure 2 yes Figure 1 A partial structural diagram.

[0057] Figure 3 yes Figure 2 The planar structural diagram is mainly used to illustrate the structure of the clamping unit.

[0058] Figure 4 Is Figure 1 A three-dimensional structural diagram showing the addition of a spraying unit to the original structure.

[0059] Figure 5 yes Figure 4A magnified structural diagram of part A in the diagram.

[0060] Explanation of reference numerals in the attached drawings: 1. Sliding mounting arm; 11. Climbing fixing frame; 2. Mounting platform; 21. Connecting plate; 22. Mounting plate; 23. Spatial attitude adjuster; 3. Rotating foot buckle; 4. Clamping foot pedal; 5. Spraying unit; 51. Height adjusting arm; 511. Adjusting fixing frame; 52. Horizontal swing arm; 53. Spraying assembly; 6. Clamping unit; 61. Fixed slide rail; 62. Sliding block; 63. Drive screw; 64. Transmission nut; 65. Compensating transmission rod; 7. Rolling wheel; 8. Lifting control mechanism; 81. Control motor; 82. Drive wheel; 83. Synchronous belt; 9. Wear friction strip. Detailed Implementation

[0061] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0062] This application discloses an intelligent pole climbing spraying robot and method.

[0063] In one aspect, embodiments of this application disclose an intelligent pole climbing and spraying robot.

[0064] Reference Figure 1 A smart pole climbing and spraying robot includes a sliding mounting arm 1 and two mounting platforms 2. In the working state, the sliding mounting arm 1 is in a vertical state, and the two mounting platforms 2 are distributed along the long side of the sliding mounting arm 1, that is, the two mounting platforms 2 are distributed in the vertical direction. One of the two mounting platforms 2 can slide relative to the sliding mounting arm 1, while the other mounting platform 2 is fixedly connected to the sliding mounting arm 1. In this application, the mounting platform 2 located above the sliding mounting arm 1 can be fixedly connected to the sliding mounting arm 1, or the mounting platform 2 located below the sliding mounting arm 1 can be fixedly connected to the sliding mounting arm 1. In this embodiment, the mounting platform 2 located above the sliding mounting arm 1 is fixedly connected to the sliding mounting arm 1. For easy distinction, the mounting platform 2 fixedly connected to the sliding mounting arm 1 is further named the upper mounting platform 2, and the mounting platform 2 located below the sliding mounting arm 1 is named the lower mounting platform 2.

[0065] Reference Figure 1 Furthermore, in order to fix the installation platform 2 to the pole, it also includes two rotating foot buckles 3 and multiple clamping foot pedals 4. The two rotating foot buckles 3 are rotatably connected to the upper installation platform 2 and the lower installation platform 2 respectively, and the rotation axis of the rotating foot buckle 3 is consistent with the long side direction of the sliding installation arm 1. The opening direction of the rotating foot buckle 3 installed on the upper installation platform 2 is opposite to that of the rotating foot buckle 3 installed on the lower installation platform 2. The clamping foot pedals 4 are crescent-shaped and slide relative to the installation platform 2. After the clamping foot pedals 4 and the rotating foot buckles 3 are engaged, they can form a through cavity for the power pole to pass through.

[0066] Reference Figure 1 In order to extend the service life of the rotating foot buckle 3 and the clamping foot pedal 4 and improve the safety during climbing, both the rotating foot buckle 3 and the clamping foot pedal 4 are connected with wear friction strips 9. By abutting against the pole through the wear friction strips 9, the rotation foot buckle 3 and the clamping foot pedal 4 can be fixed and the wear rate during use can be reduced.

[0067] Reference Figure 2 Specifically, the installation platform 2 includes a connecting plate 21 and an installation plate 22. The connecting plate 21 is slidably connected to the sliding installation arm 1 or fixedly connected by bolts. The installation plate 22 is rotatably connected to the connecting plate 21, and the rotation axis of the installation plate 22 is set horizontally and perpendicular to the vertical plane containing the line connecting the rotation axis of the rotating foot buckle 3 and the center axis of the pole. The rotating foot buckle 3 is rotatably connected to the installation plate 22 and slides against the foot pedal 4. Furthermore, the installation platform 2 also includes a spatial attitude adjuster 23. One end of the spatial attitude adjuster 23 is rotatably connected to the installation plate 22, and the other end is rotatably connected to the sliding installation arm 1 or the component that enables the connecting plate 21 to slide.

[0068] Reference Figure 2 and Figure 3 Furthermore, the mounting plate 22 is connected to a clamping unit 6 for driving the foot pedal 4 to slide. The clamping unit 6 includes a fixed slide rail 61, a sliding block 62, and a drive screw 63. The fixed slide rail 61 is bolted to the mounting plate 22, the sliding block 62 is slidably connected to the fixed slide rail 61, and the drive screw 63 is rotatably connected to the mounting plate 22 through a bearing. A sliding motor is bolted to one end of the fixed slide rail 61, and the output shaft of the sliding motor is coaxially connected to the drive screw 63, thereby realizing the rotation of the drive screw 63.

[0069] Reference Figure 3 Specifically, since the diameter of the utility poles varies, a transmission nut 64 is welded and fixed to the bottom wall of the sliding block 62. A compensating transmission rod 65 is threaded onto the transmission nut 64. One end of the compensating transmission rod 65 is rotatably connected to the foot pedal 4, and the rotation axis of the foot pedal 4 is parallel to the rotation axis of the rotating foot buckle 3. The compensating transmission rod 65 passes through the mounting plate 22, and a rotation gap is left between the compensating transmission rod 65 and the mounting plate 22, so as to apply force to the foot pedal 4 to realize the rotation of the compensating transmission rod 65, thereby adjusting the relative positional relationship between the compensating transmission rod 65 and the transmission nut 64.

[0070] Reference Figure 4Furthermore, to perform painting operations on the various devices on the pole after climbing to the target height, a painting unit 5 is also included. The painting unit 5 is connected to the sliding mounting arm 1 and is used to complete the painting operation. Specifically, the painting unit 5 includes a height adjusting arm 51, a horizontal swing arm 52, and a painting assembly 53. The height adjusting arm 51 can slide relative to the sliding mounting arm 1. The horizontal swing arm 52 is rotatably connected to the height adjusting arm 51, and the rotation axis of the horizontal swing arm 52 is parallel to the rotation axis of the rotating foot catch 3. The painting assembly 53 is located away from the horizontal swing arm 52 and away from the height adjusting arm 51. One end is rotatably connected via a motor, and the spraying assembly 53 can achieve three-dimensional spatial movement along three orthogonal axes under the joint operation of the height adjustment arm 51, the horizontal swing arm 52, and the motor. Specifically, in this application, the horizontal swing arm 52 can be a single section, two sections, or multiple sections. In this embodiment, the horizontal swing arm 52 is preferably two sections. The first section is rotatably connected to the top of the height adjustment arm 51 via a rotary motor, and the second section is rotatably connected to the end of the first section away from the height adjustment arm 51. The second section is driven by rotation via a motor in conjunction with a chain and sprocket.

[0071] Reference Figure 5 Furthermore, in order to achieve relative sliding between the lower mounting platform 2 and the sliding mounting arm 1, and to achieve relative sliding between the height adjustment arm 51 and the sliding mounting arm 1, a climbing fixing frame 11, an adjusting fixing frame 511, a rolling wheel 7, and a lifting control mechanism 8 are also included. The climbing fixing frame 11 is sleeved on the sliding mounting arm 1, and the lower mounting platform 2 is welded and fixed to the climbing fixing frame 11. One end of the space attitude adjuster 23 located below is rotatably connected to the climbing fixing frame 11. The adjusting fixing frame 511 is sleeved on the height adjustment arm 51, and the adjusting fixing frame 511 is welded and fixed to the sliding mounting arm 1. In this application, in order to facilitate a stable connection between the adjusting fixing frame 511 and the sliding mounting arm 1, there are two adjusting fixing frames 511. The two adjusting fixing frames 511 are respectively bolted to both ends of the long side of the sliding mounting arm 1.

[0072] Reference Figure 5 Specifically, in this application, the climbing fixing frame 11 and the adjusting fixing frame 511 have the same structure, including two clamping plates and multiple fixing shafts. The two clamping plates are arranged in parallel, and the two ends of the fixing shafts are respectively welded perpendicularly to the two clamping plates. There are multiple rolling wheels 7, and the rolling wheels 7 are coaxially rotatably connected to the fixing shafts. The rolling wheels 7 are rotatably connected to the sliding mounting arm 1 or the height adjusting arm 51.

[0073] Reference Figure 4 and Figure 5Furthermore, there are two lifting control mechanisms 8, which are respectively installed on the sliding mounting arm 1 and the height adjusting arm 51. The lifting control mechanism 8 is connected to the roller 7 and is used to control the relative position of the roller 7 with the sliding mounting arm 1 or the height adjusting arm 51. Specifically, the lifting control mechanism 8 includes a control motor 81, a drive wheel 82 and a synchronous belt 83. The control motor 81 is bolted to the lower end of the sliding mounting arm 1 or the height adjusting arm 51, and the output shaft of the control motor 81 is coaxially connected with the drive wheel 82. The synchronous belt 83 is sleeved on and rotatably connected to the sliding mounting arm 1 or the height adjusting arm 51, and the synchronous belt 83 is engaged with both the drive wheel 82 and the roller 7.

[0074] The implementation principle of the intelligent pole climbing and spraying robot in this application embodiment is as follows: First, adjust the position of the sliding mounting arm 1 to keep it parallel to the pole, and control the distance between the sliding mounting arm 1 and the pole so that the rotating foot buckle 3 and the clamping foot pedal 4 can cooperate to keep the pole in the through cavity; then, lock the rotating foot buckle 3 and the clamping foot pedal 4 connected to the upper mounting platform 2 to the pole; then, control the motor 81 to drive the drive wheel 82 to rotate, and the drive wheel 82 applies force to the rolling wheel 7 through the synchronous belt 83, so that the lower mounting platform 2 moves relative to the sliding mounting arm 1. The upper mounting platform 2 is slid upwards until it reaches its designated position. Then, the rotating foot catch 3 and the clamping foot pedal 4 on the lower mounting platform 2 engage to lock the lower mounting platform 2 to the pole. The rotating foot catch 3 and the clamping foot pedal 4 on the upper mounting platform 2 engage to release the upper mounting platform 2 from the pole. Then, the lifting control mechanism 8 applies force to the sliding mounting arm 1, causing the sliding mounting arm 1 to lift the spraying unit 5 and the upper mounting platform 2 upwards to their designated positions. The lifting action is repeated until the spraying unit 5 reaches the target height, at which point the spraying unit 5 is activated to perform the spraying operation.

[0075] The sliding mounting arm 1 can serve as a fixed or movable base for the mounting platform 2. The mounting platform 2 can connect the rotating foot buckle 3 and the clamping foot pedal 4. The rotating foot buckle 3 and the clamping foot pedal 4 can be used to fix or release the robot to the pole. In addition, by coordinating with the movement of the two mounting platforms 2, the influence of obstacles on the pole on the robot's climbing along the pole height can be reduced. The repeated movements of the two mounting platforms 2 can also be used to make the sliding mounting arm 1 climb vertically along the pole, thereby driving the spraying unit 5 to move to the target height. The spraying unit 5 can then be used to spray the surface of various devices on the pole.

[0076] Secondly, this application discloses a method for pole climbing spraying operation.

[0077] Reference Figures 1 to 5A method for pole climbing and spraying operations, implemented using the intelligent pole climbing and spraying robot disclosed in the first aspect of the embodiments of this application, includes:

[0078] S1: The device is in place, keeping the sliding mounting arm 1 parallel to the pole, and controlling the distance between the sliding mounting arm 1 and the pole so that the rotating foot buckle 3 and the pressing foot pedal 4 can cooperate to keep the pole inside the installation cavity;

[0079] S2: The platform climbs, so that the rotating foot buckle 3 and the pressing foot pedal 4 connected to the fixed installation platform 2 are locked with the pole. Then, the sliding installation platform 2 slides upward relative to the sliding installation arm 1 until the sliding installation platform 2 slides into place.

[0080] S3: The spraying unit 5 climbs up, locking the sliding mounting platform 2 and the pole, and releasing the fixed mounting platform 2 and the pole. Then, the sliding mounting arm 1 drives the spraying unit 5 and the fixed mounting platform 2 to climb up into place.

[0081] S4: Repeat steps S2 and S3 until the spraying unit 5 moves to the target height and starts the spraying unit 5 to perform the spraying operation.

[0082] First, adjust the position of the sliding mounting arm 1 to keep it parallel to the pole, and control the distance between the sliding mounting arm 1 and the pole so that the rotating foot buckle 3 and the clamping foot pedal 4 can engage to position the pole within the installation cavity. Next, engage the rotating foot buckle 3 and the clamping foot pedal 4 connected to the fixed mounting platform 2 to lock them in place with the pole. Then, slide the sliding mounting platform 2 upward relative to the sliding mounting arm 1 until it reaches its position. Subsequently, lock the sliding mounting platform 2 to the pole and release the fixed mounting platform 2 from the pole. Then, move the sliding mounting arm 1 to drive the spraying unit 5 and the fixed mounting platform 2 upward to their positions. Finally, repeat the climbing action until the spraying unit 5 reaches the target height and start the spraying operation.

[0083] The sliding mounting arm 1 serves as the fixed or movable base for the mounting platform 2. The mounting platform 2 connects the rotating foot buckle 3 and the clamping foot pedal 4. The rotating foot buckle 3 and the clamping foot pedal 4 work together to fix or release the robot from the pole. By coordinating with the movement of the two mounting platforms 2, the impact of obstacles on the pole on the robot's ascent along the pole's height can be reduced. The repeated movements of the two mounting platforms 2 can also achieve the vertical ascent of the sliding mounting arm 1 along the pole, thereby moving the spraying unit 5 to the target height. The spraying unit 5 can perform surface spraying operations on various devices on the pole, replacing manual labor and avoiding the potential safety risks associated with manually climbing to high places on the pole for spraying operations.

[0084] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A smart pole climbing and spraying robot, characterized in that: include: Sliding mounting arm (1); Two mounting platforms (2) are distributed along the long side of the sliding mounting arm (1), and one mounting platform (2) slides relative to the sliding mounting arm (1), while the other mounting platform (2) is fixedly connected to the sliding mounting arm (1). Two rotating foot buckles (3) are rotatably connected to the mounting platform (2). The rotation axis of the rotating foot buckle (3) is consistent with the long side direction of the sliding mounting arm (1), and the opening directions of the rotating foot buckles (3) on the two mounting platforms (2) are opposite. Multiple clamping foot pedals (4) are provided, which slide relative to the mounting platform (2), and a through cavity can be formed between the clamping foot pedals (4) and the rotating foot buckle (3); Spraying unit (5), which is connected to the sliding mounting arm (1) and is used to complete the spraying operation; The installation platform (2) includes: A connecting plate (21) is slidably or fixedly connected to the sliding mounting arm (1); Mounting plate (22), the mounting plate (22) is rotatably connected to the connecting plate (21), the rotating foot buckle (3) is rotatably connected to the mounting plate (22), and the pressing foot pedal (4) is slidably connected to the mounting plate (22); The mounting plate (22) is connected to a clamping unit (6) for driving the foot pedal (4) to slide. The clamping unit (6) includes: A fixed slide rail (61) is connected to the mounting plate (22). A sliding block (62) is slidably connected on the fixed slide rail (61), and the sliding block (62) is connected to the foot pedal (4). A drive screw (63) is rotatably connected to the mounting plate (22), and the drive screw (63) passes through and is threadedly connected to the sliding block (62); A transmission nut (64) is connected to the sliding block (62), and a compensating transmission rod (65) is threaded onto the transmission nut (64). One end of the compensating transmission rod (65) is rotatably connected to the foot pedal (4), and the rotation axis of the foot pedal (4) is parallel to the rotation axis of the rotating foot buckle (3). The compensating transmission rod (65) passes through the mounting plate (22), and a rotation gap is left between the compensating transmission rod (65) and the mounting plate (22).

2. The intelligent pole climbing and spraying robot according to claim 1, characterized in that: The spraying unit (5) includes: A height adjustment arm (51) is slidable relative to the sliding mounting arm (1); A horizontal swing arm (52) is rotatably connected to the height adjustment arm (51), and the rotation axis of the horizontal swing arm (52) is parallel to the rotation axis of the rotating foot buckle (3). The spraying assembly (53) is rotatably connected to the end of the horizontal swing arm (52) away from the height adjustment arm (51), and the spraying assembly (53) is capable of three-dimensional spatial movement along three orthogonal axes.

3. The intelligent pole climbing and spraying robot according to claim 2, characterized in that: Also includes: A climbing fixing frame (11) is sleeved on the sliding mounting arm (1), and any of the mounting platforms (2) is connected to the climbing fixing frame (11) to achieve relative sliding with the sliding mounting arm (1); Adjustable fixing bracket (511), the adjustable fixing bracket (511) is sleeved on the height adjusting arm (51), and the adjustable fixing bracket (511) is connected to the sliding mounting arm (1); Multiple rollers (7) are rotatably connected to the climbing frame (11) or the adjusting frame (511), and the rollers (7) are rotatably connected to the sliding mounting arm (1) or the height adjusting arm (51). Two lifting control mechanisms (8) are respectively installed on the sliding mounting arm (1) and the height adjusting arm (51), and the lifting control mechanism (8) is connected to the roller (7) to control the relative position of the roller (7) and the sliding mounting arm (1) or the height adjusting arm (51).

4. The intelligent pole climbing and spraying robot according to claim 3, characterized in that: The lifting control mechanism (8) includes: A control motor (81) is connected to the sliding mounting arm (1) or the height adjusting arm (51), and a drive wheel (82) is coaxially connected to the output shaft of the control motor (81). A timing belt (83) is fitted and rotatably connected to the sliding mounting arm (1) or the height adjusting arm (51), and the timing belt (83) simultaneously engages with the drive wheel (82) and the rolling wheel (7).

5. The intelligent pole climbing and spraying robot according to claim 1, characterized in that: Both the rotating foot buckle (3) and the pressing foot pedal (4) are connected to a wear friction strip (9) for contacting the pole.

6. A method for spraying paint on utility poles while climbing, characterized in that: This is achieved using the intelligent pole climbing and spraying robot as described in any one of claims 1-4, comprising: S1: The device is in place, so that the sliding mounting arm (1) is parallel to the pole, and the distance between the sliding mounting arm (1) and the pole is controlled so that the rotating foot buckle (3) and the pressing foot pedal (4) can cooperate to make the pole inside the installation cavity; S2: The platform climbs up, so that the rotating foot buckle (3) and the pressing foot pedal (4) connected to the fixed installation platform (2) are locked with the pole. Then the sliding installation platform (2) slides upward relative to the sliding installation arm (1) until the sliding installation platform (2) slides into place. S3: The spraying unit (5) climbs up, so that the sliding installation platform (2) and the pole are locked, and the fixed installation platform (2) and the pole are released. Then the sliding installation arm (1) drives the spraying unit (5) and the fixed installation platform (2) to climb up to the position. S4: Repeat steps S2 and S3 until the spraying unit (5) moves to the target height and starts the spraying unit (5) to perform the spraying operation.

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