Paint spraying method and paint spraying equipment for extra-high voltage iron tower

Abstract

The invention discloses a paint spraying method for an extra-high voltage iron tower, and belongs to the technical field of extra-high voltage power transmission equipment surface treatment.The paint spraying starting position is determined through an infrared positioning module, camera image collection and laser distance measuring sensor data are combined, and the type of a to-be-sprayed area is recognized through a control system; specific paint spraying control strategies are adopted for a main rod straight section area, an inclined strut inclined area and a joint intersection area, and uniform paint spraying in different areas is achieved through cooperative action of a crawler belt assembly, a feeding driving mechanism, a lifting driving piece and a rotating air cylinder. The automatic paint spraying device can adapt to the complex structure of a tower body, eliminates paint spraying blind areas, improves paint spraying uniformity and efficiency, guarantees the corrosion resistance of the iron tower, and is suitable for automatic paint spraying operation of various extra-high voltage iron towers. The invention further relates to paint spraying equipment for implementing the paint spraying method.

Description

Technical Field

[0001] This invention relates to the field of surface treatment technology for ultra-high voltage power transmission equipment, and in particular to a painting method for ultra-high voltage iron towers and a painting device for implementing the above-mentioned painting method. Background Technology

[0002] Ultra-high voltage (UHV) transmission towers require surface painting during the factory prefabrication stage to form a standardized anti-corrosion protective layer, laying the foundation for subsequent on-site installation. In factory prefabrication scenarios, the towers need to be placed horizontally on a work platform for processing. Their structure is complex, including main poles, crossarms, diagonal braces, and other components. The structure at the connection points (intersection areas) of these components is irregular. The main poles are mostly straight sections of regular polygons with gradually changing cross-sections, while the diagonal braces are connected to the main poles at angles of 30-60°. The spatial layout differences in various areas under horizontal placement make it difficult for traditional painting processes to adapt to their structural characteristics, failing to ensure the consistency of painting on prefabricated components.

[0003] Conventional mechanical painting equipment is mostly designed for the upright state of iron towers and has not optimized its motion trajectory and positioning logic for horizontal placement scenarios. This makes it difficult to achieve full coverage of ultra-high voltage iron towers, resulting in unstable painting quality, poor adaptability, and affecting the factory qualification rate of iron tower prefabricated components. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, one of the objectives of this invention is to provide a painting method for ultra-high voltage transmission towers. By using zone identification and a dedicated painting strategy, precise and uniform painting of different structural areas can be achieved, thereby improving the quality and efficiency of painting and ensuring the corrosion resistance of the towers.

[0005] To overcome the shortcomings of the existing technology, the second objective of this invention is to provide a painting device for ultra-high voltage transmission towers. Through zone identification and a dedicated painting strategy, it can achieve precise and uniform painting of different structural areas, improve painting quality and efficiency, and ensure the corrosion resistance of the towers.

[0006] One of the objectives of this invention is achieved through the following technical solution: A painting method for ultra-high voltage transmission towers includes the following steps: Pre-processing: Place the UHV tower on a horizontal surface and adjust the tower's posture so that its length direction is parallel to the length direction of the crossbeam. The painting mechanism on the crossbeam is located above the UHV tower. The infrared positioning module emits an infrared signal, and the infrared receiver at the corresponding starting position of the tower receives the signal, thereby confirming the starting position of the painting. Identification and painting of the current area to be painted: The camera takes a picture of the current area to be painted and transmits it to the control system. A laser rangefinder sensor collects the distance in the height direction between the crossbeam and the current area to be painted and transmits it to the control system. The control system determines the type of the current area to be painted based on the image and distance data, and controls the movement mode of the track assembly, feed drive mechanism, and painting mechanism, specifically including: If the current area to be painted is rectangular and the spacing data is stable without sudden changes, then the current area to be painted is determined to be the main shaft straight section area. The control system controls the track assembly to drive the crossbeam to move at a constant speed of 0.3-0.5m / s along the width direction of the main shaft straight section area. The feed drive mechanism drives the painting mechanism to perform reciprocating linear motion along the length direction of the crossbeam. The stroke is adaptively adjusted according to the length of the main shaft, so that the nozzle of the painting assembly completely covers the circumference of the main shaft in the horizontal direction, with no blind spots in the painting. If the current area to be painted is rectangular and the spacing data is unstable with sudden changes, then the current area to be painted is determined to be an inclined area of ​​the diagonal support. The control system controls the track assembly to drive the crossbeam to move at a constant speed of 0.1-0.2 m / s along the inclined direction of the diagonal support. The feed drive mechanism drives the painting mechanism to perform reciprocating linear motion along the length of the crossbeam, and the stroke is adaptively set according to the length of the diagonal support. The control system drives the nozzle to adjust the spray angle so that it is always perpendicular to the surface of the diagonal support. At the same time, the lifting drive component matches the slope of the diagonal support and performs a stepped lifting motion, pausing for 0.1-0.5s every 0.5-1m, so that the nozzle can spray paint evenly on the inclined surface. If the image of the area to be painted is in the shape of a cross or a star, it is determined that the area to be painted is a node intersection area. The control system controls the feed drive mechanism to switch to jog mode, and the painting assembly makes small reciprocating adjustments along the length of the crossbeam. The lifting drive drives the mounting bracket to float up and down, and in conjunction with the rotary cylinder, the spray head can switch 360° to fully cover the nodes, corners, and gaps. Full-area painting: After the current area to be painted is completed, repeat the above steps of identifying and painting the current area to be painted until the entire length of the tower is painted.

[0007] Furthermore, the painting method for ultra-high voltage towers also includes a painting detection step. The painting detection step is between the identification of the current area to be painted and the painting step and the full area painting step. Specifically, the painting detection step involves: detecting the coating thickness of the painted area in real time through a thickness sensor, transmitting the detection data to the control system, and if the thickness is lower than a preset value, the control system controls the nozzle to decelerate, increase the flow rate, or perform a return spray.

[0008] Furthermore, in the identification and painting steps of the current area to be painted, the feed drive mechanism is driven by a servo motor, and the speed of the reciprocating linear motion is adaptively adjusted according to the type of the painting area. The movement speed of the straight section of the main rod is 0.5-0.8 m / s, and the movement speed of the inclined section of the diagonal brace is 0.3-0.5 m / s.

[0009] Furthermore, in the identification and painting steps of the current area to be painted, the spray flow rate of the nozzle is 0.8-1.2L / min, the spray pressure is 0.3-0.5MPa, and the control system can fine-tune the spray flow rate and pressure according to the type of the area to be painted. The spray flow rate in the node intersection area is reduced to 0.5-0.7L / min.

[0010] Furthermore, in the identification and painting steps of the current area to be painted, the control system adopts a PLC controller with built-in image recognition algorithm and spacing data analysis algorithm, and quickly determines the type of the area to be painted, with a determination response time ≤0.5s.

[0011] The second objective of this invention is achieved by the following technical solution: A painting device for ultra-high voltage transmission towers, used to implement any of the painting methods for ultra-high voltage transmission towers described above, includes a frame, the frame including a crossbeam, and further includes a control system, an infrared positioning module, a camera, a laser rangefinder, a painting mechanism, a feed drive mechanism, and two walking mechanisms; Two traveling mechanisms are arranged opposite each other at the bottom of the crossbeam. Each traveling mechanism includes a track support and a track assembly. The crossbeam is located between the two track supports and is fixedly connected to the track supports. The length direction of the crossbeam is parallel to the length direction of the tower. The track assembly is used to drive the track support and the crossbeam to move in a direction perpendicular to the length of the tower. The feed drive mechanism is mounted on the crossbeam and is used to drive the painting mechanism to move along the length of the crossbeam. The painting mechanism includes a painting assembly, which includes a lifting drive, a mounting frame, a rotary cylinder, and a spray head. The rotary cylinder and the spray head are both mounted on the mounting frame. The lifting drive is used to drive the mounting frame and the spray head to move up and down, and the rotary cylinder is used to drive the spray head to rotate toward the area of ​​the iron tower to be painted. The infrared positioning module includes at least two infrared transmitters and corresponding infrared receivers, which are respectively installed at both ends of the crossbeam and the starting position of the tower body, and are used to determine the starting position of the paint spraying. The camera is mounted on the crossbeam and located above the iron tower. It is used to take pictures of the area to be painted and transmit the images to the control system. Multiple laser rangefinders are evenly arranged along the crossbeam to collect the distance between the crossbeam and the current area to be painted in the height direction and transmit it to the control system. The control system determines the type of the current area to be painted based on the image of the current area to be painted and the distance data, and controls the movement mode of the track assembly, the feed drive mechanism and the painting mechanism.

[0012] Furthermore, the traveling mechanism also includes a motor, a reducer, and two track assemblies. The two track assemblies are symmetrically mounted on the track support via a rotating shaft. Each track assembly includes a drive wheel, a guide wheel, a load-bearing wheel, and a track. The motor is connected to the drive wheel via the reducer. The track is wound around the drive wheel, guide wheel, and load-bearing wheel. The motor drives the drive wheel to rotate and, through the track, drives the track support, crossbeam, feed drive mechanism, and painting mechanism to move along the transmission direction of the track. The transmission direction of the track is perpendicular to the length direction of the crossbeam.

[0013] Furthermore, the frame also includes a guide rail, which is disposed on the side of the crossbeam along the length of the crossbeam. The painting mechanism also includes a slide plate, which is slidably mounted on the guide rail by a slider and fixedly connected to the painting assembly.

[0014] Furthermore, the painting mechanism also includes a paint bucket and a diaphragm pump. Both the diaphragm pump and the paint bucket are mounted on the crossbeam. The inlet of the diaphragm pump is connected to the paint bucket, and the outlet of the diaphragm pump is connected to the inlet of the spray head through an outlet pipe.

[0015] Furthermore, the painting equipment for ultra-high voltage towers also includes a thickness sensor, which is mounted on the crossbeam and communicates with the control system. The thickness sensor is used to detect the thickness of the painted area.

[0016] Compared with existing technologies, the painting method and painting equipment of the present invention for ultra-high voltage iron towers have the following beneficial effects:

[0017] (1) This application adopts a special painting strategy for different areas. The straight section of the main pole ensures no blind spots, the inclined section of the diagonal support ensures that the nozzle is perpendicular to the surface and the paint is applied evenly, and the intersection of nodes is covered by multi-angle adjustment to cover the corner gaps, effectively avoiding problems such as missed spraying, paint accumulation, and uneven painting, and improving the anti-corrosion performance of the tower.

[0018] (2) This application realizes area identification, mechanism movement adjustment and painting operation through the control system, without manual intervention, reducing labor intensity and safety hazards. At the same time, the motion parameters of each mechanism are adaptively adjusted to improve painting efficiency, which is suitable for large-scale ultra-high voltage iron tower painting operations.

[0019] (3) This application optimizes the transmission structure of the walking mechanism and the painting mechanism through modular design, thereby improving the stability of equipment operation; it can adapt to the painting needs of various tower structures according to the adjustment parameters of the size of different specifications of UHV towers, and has a wide range of applications. Attached Figure Description

[0020] Figure 1 This is a flowchart of the painting method for ultra-high voltage transmission towers according to the present invention; Figure 2 This is a schematic diagram of the painting equipment for ultra-high voltage transmission towers according to the present invention; Figure 3 for Figure 2 A partial structural diagram of a painting equipment used for ultra-high voltage transmission towers; Figure 4 for Figure 2 A schematic diagram of the structure of a painting equipment used for ultra-high voltage transmission towers during operation.

[0021] In the diagram: 10. Frame; 11. Crossbeam; 12. Cable support; 13. Cable; 14. Guide rail; 20. Control system; 30. Walking mechanism; 31. Motor; 32. Reducer; 33. Track assembly; 331. Drive wheel; 332. Idler wheel; 333. Load-bearing wheel; 334. Track; 34. Track support; 40. Feed drive mechanism; 50. Painting mechanism; 51. Slide plate; 52. Painting assembly; 521. Lifting drive component; 522. Mounting bracket; 523. Spray nozzle; 53. Paint bucket; 54. Diaphragm pump; 60. Infrared positioning module; 61. Infrared transmitter; 62. Infrared receiver; 70. Camera; 80. Laser rangefinder; 90. Tower body; 91. Straight section of main pole; 92. Inclined section of diagonal brace; 93. Intersection area. Detailed Implementation

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] like Figure 1 As shown, a painting method for ultra-high voltage transmission towers includes the following steps: Pre-processing: Place the UHV tower on a horizontal surface, adjust the tower's posture so that its length direction is parallel to the length direction of the crossbeam 11, move the crossbeam 11 to the top of the tower, and emit an infrared signal through the infrared positioning module 60. The infrared receiver 62 at the starting position of the tower body 90 receives the signal, completing the positioning of the starting position for painting. At this time, the initial distance between the spray nozzle 523 of the painting mechanism 50 and the surface of the tower body 90 is 0.5m. Identification and painting of the current area to be painted: The camera 70 takes a picture of the current area to be painted and transmits it to the control system 20. The laser rangefinder 80 collects the distance in the height direction between the crossbeam 11 and the current area to be painted and transmits it to the control system 20. The control system 20 determines the type of the current area to be painted based on the image and distance data, and controls the movement mode of the track assembly 33, the feed drive mechanism 40, and the painting mechanism 50, specifically including: If the current area to be painted is rectangular and the spacing data (0.50m, 0.51m, 0.49m, 0.50m, 0.50m, 0.51m, 0.49m, 0.50m, 0.50m, 0.51m) is stable and without sudden changes, then the current area to be painted is determined to be the main rod straight section 91 (hexagonal cross section, with dimensions gradually changing from bottom to top). The track assembly 33 drives the crossbeam 11 to move along the width direction of the main rod straight section 91 at a uniform speed of 0.3-0.5m / s. The feed drive mechanism 40 drives the painting assembly 52 to perform reciprocating linear motion along the length direction of the crossbeam 11. The stroke is adaptively adjusted to 16m according to the length of the main rod (15m), so that the nozzle 523 of the painting mechanism 50 completely covers the circumference of the main rod in the horizontal direction, with no blind spots in the painting. If the current area to be painted is rectangular and the spacing data (0.50m, 0.62m, 0.48m, 0.75m, 0.55m) is unstable and has sudden changes, then the current area to be painted is determined to be the inclined area 92 of the diagonal support (45° angle with the main rod). The track assembly 33 drives the crossbeam 11 to move at a constant speed of 0.1-0.2m / s along the width direction of the inclined area 92 of the diagonal support. The feed drive mechanism 40 drives the painting assembly 52 to make reciprocating linear motion along the length direction of the crossbeam 11. The stroke is set to 8.5m according to the length of the diagonal support (8m). The control system 20 drives the nozzle 523 to adjust the spray angle so that it is always perpendicular to the surface of the diagonal support. At the same time, the lifting drive component 521 matches the slope of the diagonal support and makes a step-like lifting motion. Every 0.5-1m of lifting and lowering, it pauses for 0.1-0.5s, so that the nozzle 523 can spray paint evenly on the inclined surface. If the current area to be painted is in the shape of a cross or a star, it is determined that the current area to be painted is the node intersection area 93. The feed drive mechanism 40 switches to jog mode, and the painting mechanism 50 makes small reciprocating adjustments along the length of the crossbeam 11 at ±0.1m. The lifting drive component 521 drives the mounting bracket 522 to float up and down, and in conjunction with the rotary cylinder, the spray head 523 can switch 360° to fully cover the node edges and gaps. In this embodiment, the control system 20 adopts Siemens S7-1200. The PLC controller has a built-in image recognition algorithm and spacing data analysis algorithm, with a decision response time of 0.3s; the infrared positioning module 60 uses two infrared transmitters 61 (model: IR300) and corresponding infrared receivers 62, installed at both ends of the crossbeam 11, with a positioning accuracy of ±0.02m; the laser rangefinder 80 is model LDM4x, with a measurement accuracy of ±0.01m and a sampling frequency of 10Hz; the feed drive mechanism 40 uses a servo motor (model: MSME102G1V), with a reciprocating speed of 0.6m / s in the straight section 91 of the main rod and 0.4m / s in the inclined section 92 of the diagonal brace; the lifting drive component 521 is an electric push rod (model: DTZ300), with a lifting stroke of 0-5m; the nozzle 523 has a spray flow range of 0.5-1.2L / min and a spray pressure of 0.3-0.5MPa; the rotary cylinder is model CDRQ2B50-90S, which can achieve 360° continuous rotation.

[0026] Full-area painting: After the current area to be painted is completed, the track assembly 33 drives the crossbeam 11 to move to the next area to be painted. The identification and painting steps of the current area to be painted are repeated. The cyclic identification and painting of the main pole straight section 91, the inclined brace 92, and the node intersection area 93 are completed in sequence until the entire length (30m) of the tower body 90 is covered, and the painting operation of the entire tower is completed.

[0027] The aforementioned painting method for ultra-high voltage transmission towers also includes a painting detection step. This step occurs between the identification of the current area to be painted and the painting step, and between the full-area painting step. Specifically, the painting detection step involves: using a thickness sensor to detect the coating thickness of the painted area in real time, transmitting the detection data to the control system 20. If the thickness is lower than a preset value, the control system 20 controls the nozzle 523 to decelerate, increase the flow rate, or perform a return stroke for repainting. Specifically, if an ultrasonic thickness gauge detects a local coating thickness of 65 μm, the control component instructs the nozzle 523 to decelerate to 0.15 m / s, increase the flow rate to 6 L / min, and perform a return stroke to repaint that area.

[0028] This application employs a dedicated painting strategy for different areas. The straight section 91 of the main pole ensures coverage without blind spots, the inclined section 92 of the diagonal brace ensures that the nozzle 523 is perpendicular to the surface and sprays paint evenly, and the intersection area 93 of the node is covered by multi-angle adjustment to cover the corners and gaps, effectively avoiding problems such as missed spraying, paint accumulation, and uneven spraying, and improving the corrosion resistance of the tower.

[0029] This application realizes area identification, mechanism movement adjustment and painting operation through the control system 20 without manual intervention, reducing labor intensity and safety hazards. At the same time, the motion parameters of each mechanism are adaptively adjusted to improve painting efficiency, which is suitable for large-scale ultra-high voltage iron tower painting operations.

[0030] like Figure 2-4 As shown, this application also provides a painting device for ultra-high voltage iron towers for implementing the above-mentioned painting method, including a frame 10, a control system 20, two walking mechanisms 30, a feed drive mechanism 40, a painting mechanism 50, an infrared positioning module 60, a camera 70, and a laser rangefinder sensor 80.

[0031] The frame 10 includes a crossbeam 11, a cable bracket 12, a cable 13, and a guide rail 14. The cable bracket 12 is located above the crossbeam 11 and is used to place the cable 13. The guide rail 14 is located on the side of the crossbeam 11 along its length.

[0032] Two traveling mechanisms 30 are arranged opposite each other at the bottom of the crossbeam 11. The traveling mechanism 30 includes a motor 31, a reducer 32, two track assemblies 33, and a track support 34.

[0033] The crossbeam 11 is located between the two track supports 34 and is fixedly connected to the track supports 334. The length direction of the crossbeam 11 is parallel to the length direction of the tower.

[0034] Two track assemblies 33 are symmetrically mounted on the track 334 support via a pivot. The track assembly 33 includes a drive wheel 331, an idler wheel 332, a load-bearing wheel 333, and a track 334. The motor 31 is connected to the drive wheel 331 via a reducer 32. The track 334 is wound around the drive wheel 331, the idler wheel 332, and the load-bearing wheel 333. The motor 31 drives the drive wheel 331 to rotate and drives the track 334 support, the crossbeam 11, the feed drive mechanism 40, and the painting mechanism 50 to move along the transmission direction of the track 334. The transmission direction of the track 334 is perpendicular to the length direction of the crossbeam 11.

[0035] The feed drive mechanism 40 is mounted on the crossbeam 11 and is used to drive the painting mechanism 50 to move along the length of the crossbeam 11. The feed drive mechanism 40 includes a servo motor, a ball screw and a screw nut. The servo motor is fixed to the end of the crossbeam 11. The ball screw is connected to the output end of the servo motor. The screw nut is sleeved on the ball screw and fixed to the slide plate 51. It is used to drive the slide plate 51 and the painting assembly 52 to reciprocate along the guide rail 14.

[0036] The painting mechanism 50 includes a slide plate 51, a painting assembly 52, a paint bucket 53, and a diaphragm pump 54.

[0037] The slide plate 51 is slidably mounted on the guide rail 14 via a slider and is fixedly connected to the paint spraying assembly 52.

[0038] The painting assembly 52 includes a lifting drive 521, a mounting bracket 522, a rotary cylinder, and a spray head 523. The rotary cylinder and the spray head 523 are both mounted on the mounting bracket 522. The lifting drive 521 is used to drive the mounting bracket 522 and the spray head 523 to move up and down. The rotary cylinder is used to drive the spray head 523 to rotate toward the area of ​​the iron tower to be painted.

[0039] The diaphragm pump 54 and the paint bucket 53 are both installed on the crossbeam 11. The inlet of the diaphragm pump 54 is connected to the paint bucket 53, and the outlet of the diaphragm pump 54 is connected to the inlet of the spray head 523 through the outlet pipe.

[0040] The infrared positioning module 60 includes at least two infrared transmitters 61 and corresponding infrared receivers 62, which are installed at both ends of the crossbeam 11 and the starting position of the tower body 90, respectively, to determine the starting position of the paint spraying.

[0041] Camera 70 is mounted on crossbeam 11 and located above the iron tower. It is used to take pictures of the area to be sprayed and transmit the images to control system 20.

[0042] Multiple laser rangefinders 80 are evenly arranged along the crossbeam 11 to collect the distance between the crossbeam 11 and the current area to be painted in the height direction and transmit it to the control system 20. The control system 20 determines the type of the current area to be painted based on the image of the current area to be painted and the distance data, and controls the movement mode of the track assembly 33, the feed drive mechanism 40 and the painting mechanism 50.

[0043] A thickness sensor is mounted on the crossbeam 11 and is connected to the control system 20. The thickness sensor is used to detect the thickness of the painted area.

[0044] This application achieves accurate determination of the straight section area 91 of the main pole, the inclined area 92 of the diagonal brace, and the intersection area 93 of the node by image acquisition by camera 70 and data fusion of laser rangefinder sensor 80. It is adapted to the complex structural characteristics of UHV towers and solves the problem that traditional painting equipment cannot perform targeted operations.

[0045] This application realizes area identification, mechanism movement adjustment and painting operation through the control system 20 without manual intervention, reducing labor intensity and safety hazards. At the same time, the motion parameters of each mechanism are adaptively adjusted to improve painting efficiency, which is suitable for large-scale ultra-high voltage iron tower painting operations.

[0046] This application optimizes the transmission structure of the walking mechanism 30 and the painting mechanism 50 through modular design, thereby improving the stability of equipment operation; it can be adapted to the painting needs of various tower structures according to the adjustment parameters of the size of different specifications of UHV towers, and has a wide range of applications.

[0047] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A paint spraying method for an extra-high voltage tower, characterized by, The method comprises the following steps: Preprocessing: placing the extra-high voltage iron tower on a horizontal plane, adjusting the posture of the iron tower so that the length direction is parallel to the length direction of the cross beam (11), and the paint spraying mechanism (50) on the cross beam (11) is located above the extra-high voltage iron tower, and the infrared positioning module (60) emits an infrared signal, and the infrared receiver (62) corresponding to the starting position of the tower body (90) receives the signal, thereby confirming the starting position of paint spraying; Current to-be-sprayed area identification and paint spraying: taking a photo of the current to-be-sprayed area by the camera (70) and transmitting it to the control system (20), collecting the distance between the cross beam (11) and the current to-be-sprayed area in the height direction by the laser ranging sensor (80) and transmitting it to the control system (20), the control system (20) judging the type of the current to-be-sprayed area according to the current to-be-sprayed area image and the distance data, and controlling the motion mode of the track assembly (33), the feed drive mechanism (40) and the paint spraying mechanism (50), specifically including: If the current to-be-sprayed area image is rectangular and the distance data is stable without mutation, it is determined that the current to-be-sprayed area is a main rod straight section area (91), the control system (20) controls the track assembly (33) to drive the cross beam (11) to move at a uniform speed of 0.3-0.5 m / s along the width direction of the main rod straight section area (91), and the feed drive mechanism (40) drives the paint spraying mechanism (50) to make reciprocating linear motion along the length direction of the cross beam (11), the stroke is adaptively adjusted according to the length of the main rod, so that the spray head (523) of the paint spraying assembly (52) completely covers the horizontal surface of the main rod without a blind area of paint spraying; If the current to-be-sprayed area image is rectangular and the distance data is unstable with mutation, it is determined that the current to-be-sprayed area is a diagonal brace inclined area (92), the control system (20) controls the track assembly (33) to drive the cross beam (11) to move at a uniform speed of 0.1-0.2 m / s along the inclination direction of the diagonal brace inclined area (92), and the feed drive mechanism (40) drives the paint spraying mechanism (50) to make reciprocating linear motion along the length direction of the cross beam (11), the stroke is adaptively set according to the length of the diagonal brace; the control system (20) drives the spray head (523) to adjust the spray angle so that it is always perpendicular to the surface of the diagonal brace, and the lifting drive (521) matches the slope of the diagonal brace to make stepwise lifting motion, stopping for 0.1-0.5 s every 0.5-1 m of lifting, so that the spray head (523) uniformly sprays the inclined surface; If the current to-be-sprayed area image is cross-shaped or rice-shaped, it is determined that the current to-be-sprayed area is a node intersection area (93), the control system (20) controls the feed drive mechanism (40) to switch to the jog mode, the paint spraying assembly (52) makes small reciprocating fine adjustment along the length direction of the cross beam (11), the lifting drive (521) drives the mounting frame (522) to make up and down floating, and cooperates with the rotary cylinder to realize 360° switching of the spray head (523) to completely cover the node corners and gaps, Full area painting: after the current to-be-painted area is painted, the above-mentioned identification and painting of the current to-be-painted area are repeated until the painting of the full length of the tower body (90) is completed.

2. The paint spraying method for an extra-high voltage tower according to claim 1, characterized in that: The painting method for the extra-high voltage iron tower further comprises a painting detection step between the identification and painting of the current to-be-painted area and the full area painting step, and the painting detection step specifically comprises: detecting the coating thickness of the painted area in real time by a thickness sensor, and transmitting the detection data to the control system (20); if the thickness is lower than a preset value, the control system (20) controls the spray head (523) to reduce the speed, increase the flow or return to supplement the painting.

3. The paint spraying method for an extra-high voltage tower according to claim 1, characterized in that: In the identification and painting of the current to-be-painted area, the feeding driving mechanism (40) is driven by a servo motor (31), and the speed of reciprocating linear motion is adaptively adjusted according to the type of the painting area, the movement speed of the straight section of the main rod (91) is 0.5-0.8 m / s, and the movement speed of the inclined strutting inclined section (92) is 0.3-0.5 m / s.

4. The paint spraying method for an extra-high voltage tower according to claim 1, characterized in that: In the identification and painting of the current to-be-painted area, the spray head (523) has a spray flow of 0.8-1.2 L / min and a spray pressure of 0.3-0.5 MPa, and the control system (20) can fine-tune the spray flow and pressure according to the type of the to-be-painted area, and the spray flow of the node intersection area (93) is reduced to 0.5-0.7 L / min.

5. The paint spraying method for an extra-high voltage tower according to claim 1, characterized in that: In the identification and painting of the current to-be-painted area, the control system (20) adopts a PLC controller, and the PLC controller is internally provided with an image recognition algorithm and a spacing data analysis algorithm, and the type of the to-be-painted area is quickly determined according to the type of the to-be-painted area, and the determination response time is ≤0.5 s.

6. A painting apparatus for an extra-high voltage tower for implementing the painting method for an extra-high voltage tower according to any one of claims 1 to 5, comprising a frame (10) comprising a crosspiece (11), characterized in that: Further comprising a control system (20), an infrared positioning module (60), a camera (70), a laser ranging sensor (80), a painting mechanism (50), a feeding driving mechanism (40), two walking mechanisms (30); The two walking mechanisms (30) are oppositely arranged at the bottom of the cross beam (11), the walking mechanism (30) comprises a track support (34) and a track assembly (33), the cross beam (11) is located between the two track supports (34) and is fixedly connected with the track supports (34), the length direction of the cross beam (11) is parallel to the length direction of the iron tower, and the track assembly (33) is used to drive the track support (34) and the cross beam (11) to move in a direction perpendicular to the length direction of the iron tower. The feeding driving mechanism (40) is arranged on the cross beam (11) and is used to drive the painting mechanism (50) to move along the length direction of the cross beam (11). The painting mechanism (50) comprises a painting assembly (52), the painting assembly (52) comprises a lifting driving member (521), a mounting frame (522), a rotating cylinder and a spray head (523), the rotating cylinder and the spray head (523) are both mounted on the mounting frame (522), the lifting driving member (521) is used to drive the mounting frame (522) and the spray head (523) to move up and down, and the rotating cylinder is used to drive the spray head (523) to rotate to face the to-be-painted area of the iron tower. The infrared positioning module (60) comprises at least two infrared emitters (61) and corresponding infrared receivers (62) respectively installed at both ends of the cross beam (11) and the starting position of the tower body (90), and is used for determining the starting position of paint spraying. The camera (70) is arranged on the cross beam (11) and above the iron tower, and is used for photographing the current area to be sprayed and transmitting the image to the control system (20). A plurality of laser ranging sensors (80) are uniformly arranged along the cross beam (11) and are used for collecting the distance between the cross beam (11) and the current area to be sprayed in the height direction and transmitting the distance to the control system (20), and the control system (20) judges the type of the current area to be sprayed according to the image of the current area to be sprayed and the distance data, and controls the movement mode of the track assembly (33), the feeding driving mechanism (40) and the paint spraying mechanism (50).

7. The paint spraying apparatus for UHV tower according to claim 6, characterized in that: The walking mechanism (30) further comprises a motor (31), a speed reducer (32), and two track assemblies (33) which are symmetrically installed on the track support (34) through rotating shafts, the track assembly (33) comprises a power wheel (331), a guide wheel (332), a load wheel (333) and a track (334), the motor (31) is in transmission connection with the power wheel (331) through the speed reducer (32), the track (334) is arranged around the power wheel (331), the guide wheel (332) and the load wheel (333), the motor (31) drives the power wheel (331) to rotate, and drives the track support (34), the cross beam (11), the feeding driving mechanism (40) and the paint spraying mechanism (50) to move along the transmission direction of the track (334) through the track (334), and the transmission direction of the track (334) is perpendicular to the length direction of the cross beam (11).

8. The paint spraying apparatus for UHV tower according to claim 6, characterized in that: The rack (10) further comprises a guide rail (14) which is arranged on the side of the cross beam (11) along the length direction of the cross beam (11), and the paint spraying mechanism (50) further comprises a sliding plate (51) which is in sliding connection with the guide rail (14) through a sliding block and is fixedly connected with the paint spraying assembly (52).

9. The paint spraying apparatus for UHV tower according to claim 6, characterized in that: The paint spraying mechanism (50) further comprises a paint bucket (53) and a diaphragm pump (54), the diaphragm pump (54) and the paint bucket (53) are both arranged on the cross beam (11), the feeding port of the diaphragm pump (54) is in communication with the paint bucket (53), and the discharging port of the diaphragm pump (54) is in communication with the feeding port of the spray head (523) through a discharging pipeline.

10. The paint spraying apparatus for UHV tower according to claim 6, characterized in that: The paint spraying equipment for the extra-high voltage iron tower further comprises a thickness sensor which is arranged on the cross beam (11) and is in communication connection with the control system (20), and is used for detecting the thickness of the area on which the paint spraying has been completed.

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