Automatic spraying robot for insulator chain and spraying method

Abstract

The invention provides an insulator chain automatic spraying robot and a spraying method, and belongs to the technical field of insulator chain spraying, the automatic spraying robot comprises a robot body, a surrounding spraying device, a visual recognition unit and an unmanned aerial vehicle, and the robot body is used for being connected with an insulator chain to be sprayed and moving in the axial direction of the insulator chain; the surrounding spraying device is connected with the robot body and used for conducting circumferential spraying around an insulator string, the visual recognition unit is connected with the robot body and used for recognizing and positioning the spraying position of the insulator string, and the robot body and the surrounding spraying device are operated in a matched mode to conduct spraying operation on different positions of the insulator string. The unmanned aerial vehicle is used for hoisting the robot body to move between the insulator string and the ground. The automatic spraying robot for the insulator chain and the spraying method have the technical effects that the robot can automatically move and walk in the axial direction of the insulator chain, spraying is conducted in the circumferential direction of the insulator chain, the stability and safety are high, the spraying quality is high, and the spraying position is accurate.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of insulator string spraying, and more particularly to an automatic insulator string spraying robot and a spraying method. BACKGROUND

[0002] In high-voltage and ultra-high-voltage transmission line networks, insulators, as core electrical components, bear the dual key functions of supporting conductors and achieving electrical insulation isolation, and their operation reliability is directly related to the safety and stability of the entire transmission network. An insulator string refers to a component in which two or more insulator elements are combined together to flexibly suspend a conductor, used to support the conductor and maintain insulation. Since the insulator string is exposed to the outdoor complex environment for a long time, the surface is prone to adsorbing dirt, salt, industrial pollutants and other contaminants, which will form a conductive channel under humid conditions, causing a pollution flashover accident, leading to line tripping, large-area power outage and other serious consequences. Therefore, regular anti-pollution spraying treatment is performed on the surface of the insulator string to form a uniform hydrophobic protective coating, which is an essential maintenance means to improve the anti-pollution flashover capability of the insulator and ensure the long-term stable operation of the transmission line.

[0003] At present, the anti-pollution spraying operation of the insulator string in the industry still mainly relies on the traditional manual operation mode. In the specific operation process, the worker needs to climb to the installation height of the insulator by means of climbing equipment (such as an aerial work platform, a ladder) and perform manual spraying by holding a spraying tool in the operation environment of high altitude, narrow space and no effective protection. However, this traditional operation method has many defects that are difficult to overcome: 1) high safety risk: in the high-altitude operation environment, the worker faces the safety hazards of falling and electric shock, and needs to carry the spraying equipment during the operation, which further increases the operation risk and seriously threatens the personal safety of the worker; 2) low operation efficiency: manual spraying is limited by human physical strength and operation range, the covered area is small for a single operation, and the operation position needs to be frequently adjusted, resulting in low overall operation efficiency and difficulty in meeting the maintenance needs of large-scale transmission lines; 3) poor spraying quality: since the insulator string is of a complex umbrella skirt structure, and the manual operation has a visual angle blind area and a limitation in operational flexibility, it is difficult to achieve 360° circumferential full coverage spraying of the key areas such as the inner and outer sides of the insulator umbrella skirt, the umbrella skirt gap and the connection part between the strings, and problems such as uneven spraying, missed spraying and inconsistent coating thickness are prone to occur; 4) high labor intensity: the worker needs to maintain a specific posture for a long time during high-altitude operation, and needs to hold the spraying equipment to complete the reciprocating spraying action, which is of great labor intensity and is prone to further affect the spraying quality and operation safety due to fatigue operation.

[0004] In summary, the traditional manual spraying method cannot meet the requirements of safety, efficiency and quality stability for the maintenance operation of modern high-voltage transmission line insulator strings, and an automatic and intelligent insulator string spraying device and method are urgently needed to solve the above problems. SUMMARY

[0005] The present application aims to provide an insulator string automatic spraying robot and a spraying method, and aims to solve the technical problems of high safety risk, low operation efficiency, poor spraying quality and high labor intensity in the conventional manual operation during the insulator string spraying operation.

[0006] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is to provide an insulator string automatic spraying robot, comprising: A robot body is used to connect the insulator string to be sprayed and has the axial movement freedom along the insulator string. A surrounding spraying device is connected to the robot body and is used to spray the insulator string around the circumference of the insulator string, and the surrounding spraying device can spray along the axial direction of the insulator string by means of the robot body. A visual recognition unit is connected to the robot body and is used to identify and locate the spraying position of the insulator string, and the robot body and the surrounding spraying device are cooperatively operated to realize the spraying operation on different positions of the insulator string. A UAV is used to connect the robot body and hoist the robot body to move between the insulator string and the ground.

[0007] In a possible implementation, the UAV is connected with a lifting rope, one end of the lifting rope is connected to the bottom end of the UAV, and the other end is connected with a lifting tool, and the lifting tool is used to detachably connect the robot body.

[0008] In a possible implementation, the robot body comprises: A support platform is located below the insulator string. Four sets of walking mechanisms are evenly distributed on both sides of the support platform and are located on both sides of the insulator string, two sets of walking mechanisms on each side of the support platform are arranged at intervals, and each set of walking mechanism has the axial movement freedom along the insulator string, the upper end of the walking mechanism is used to hang the insulator string, and the walking mechanisms on both sides of the support platform are alternately moved and hung with the insulator string, so that the support platform moves axially along the insulator string.

[0009] In a possible implementation, the walking mechanism comprises: A translation slide is connected to the side of the support platform and has a translation end with the axial extension freedom along the insulator string. A lifting slide is connected to the translation end of the translation slide and has a lifting end with the vertical extension freedom. The swing arm, connected to the lifting end of the lifting slide, has a hook end that allows for swinging freedom in a plane perpendicular to the insulator string axis. The hook end is used to hook onto or detach from the insulator string. When the hook ends of the two sets of swing arms on one side of the support platform detach from the insulator string, the translation slide extends and retracts and moves along the insulator string axis. After moving, the swing arm hooks onto the insulator string again. Then, the two sets of swing arms on the other side of the support platform detach from the insulator string. By alternating the operation of the translation slides on both sides, the support platform moves along the insulator string axis.

[0010] In one possible implementation, a locking block is installed at the upper end of the swing arm. The shape of the locking block matches the shape of the insulator string and is used to attach the upper end of the insulator string.

[0011] In one possible implementation, the surrounding spraying device includes: A longitudinally moving slide is connected to the upper end of the robot body and has a degree of freedom to move along the axial direction of the insulator string; A bracket is connected to the longitudinal sliding table, which allows it to move axially along the insulator string. The toothed ring, connected to the bracket, has a circumferential rotational degree of freedom around the insulator string; A drive unit is connected to the bracket, and the power output end of the drive unit is connected to the gear ring and used to drive the gear ring to rotate. A nozzle, connected to the toothed ring, is used to perform circumferential spraying on the insulator string by means of the rotation of the toothed ring. The nozzle position on the insulator string is adjusted by means of the longitudinal moving slide.

[0012] In one possible implementation, the support includes: The base is connected to the longitudinal moving slide and can move along the axial direction of the insulator string by means of the longitudinal moving slide. Two sets of vertical plates are spaced apart and their bottom ends are fixedly connected to the upper end of the base. The gear ring is located between the two sets of vertical plates. The power output end of the drive unit passes through one set of vertical plates and is connected to the gear ring for power transmission, thereby driving the gear ring to rotate circumferentially around the insulator string. Multiple guide rollers are rotatably connected to two sets of vertical plates. The guide rollers are used to roll in contact with the sidewall of the toothed ring and support the toothed ring to rotate circumferentially around the insulator string.

[0013] In one possible implementation, the driving unit includes: Multiple rotating motors are connected to both sides of the bracket, and their power output ends pass through the vertical plate; Multiple gears are disposed between the two sets of vertical plates, and both ends are rotatably connected to the two sets of vertical plates. The multiple gears are used to mesh with the gear ring. The power output end of the surrounding motor is connected to the gears and used to drive the gears to rotate, thereby driving the gear ring to rotate. The gears are arranged to avoid the guide rollers.

[0014] In one possible implementation, the number of gears is greater than the number of orbiting motors. The gears connected to the orbiting motors are defined as driving gears, and the gears not connected to the orbiting motors are defined as driven gears. The driving gears are coaxially connected to a driving roller, and the driven gears are coaxially connected to a driven roller. A conveyor belt is connected between the driving rollers and the driven rollers to drive them together so that the multiple gears rotate synchronously.

[0015] The beneficial effects of the automatic insulator string spraying robot provided by this invention are as follows: Compared with the prior art, the automatic insulator string spraying robot of this invention includes a robot body, a surrounding spraying device, a vision recognition unit, and a drone. The robot body is used to connect to the insulator string to be sprayed and has the freedom of movement along the axial direction of the insulator string. The surrounding spraying device is connected to the robot body and is used to spray the insulator string circumferentially. The surrounding spraying device can spray along the axial direction of the insulator string with the help of the robot body. The vision recognition unit is connected to the robot body and is used to identify and locate the spraying position of the insulator string. Through the cooperation of the robot body and the surrounding spraying device, spraying operations can be carried out on different positions of the insulator string. The drone is used to connect to the robot body and lift the robot body to move between the insulator string and the ground. This solves the technical problems of high safety risks, low work efficiency, poor spraying quality, and high labor intensity in the traditional manual operation of insulator string spraying. It has the technical effects of being able to move and walk autonomously along the axial direction of the insulator string, being able to spray circumferentially around the insulator string, having high stability and safety, high spraying quality, and accurate spraying position.

[0016] The present invention also provides an automatic spraying method for insulator strings, comprising the following steps: The robot body is lifted by a drone and connected to an insulator string. The robot body moves along the axis of the insulator string; The visual recognition unit connected to the robot body is used to identify and locate the spraying position of the insulator string; The surrounding spraying device connected to the robot body rotates around the insulator string in a circumferential direction and performs spraying operations on the insulator string. By using the surrounding spraying device in conjunction with the robot body, spraying operations can be performed on different positions of the insulator string.

[0017] The beneficial effects of the automatic spraying method for insulator strings provided by this invention are as follows: Compared with the prior art, the automatic spraying method for insulator strings of this invention uses a drone to attach the robot body to the insulator string, then uses a visual recognition unit to identify and locate the spraying position of the insulator string, and then uses a circumferential spraying device to spray the insulator string around its circumference. By using the circumferential spraying device in conjunction with the robot body, spraying operations can be carried out on different positions of the insulator string. This solves the technical problems of high safety risks, low work efficiency, poor spraying quality, and high labor intensity in the traditional manual operation of insulator string spraying. It has the technical effects of being able to move autonomously along the axial direction of the insulator string, being able to spray around the circumference of the insulator string, having high stability and safety, high spraying quality, and precise spraying position. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of an automatic insulator string spraying robot in spraying mode, provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of an automatic insulator string spraying robot provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the robot body structure of an automatic insulator string spraying robot provided in an embodiment of the present invention; Figure 4 for Figure 3 The diagram shows another view of the robot body structure of an automatic insulator string spraying robot and spraying method. Figure 5 for Figure 3 The diagram shows another view of the robot body structure of an automatic insulator string spraying robot and spraying method. Figure 6 This is a schematic diagram of the surrounding spraying device of an automatic insulator string spraying robot provided in an embodiment of the present invention; Figure 7 for Figure 6 A schematic diagram of the internal structure of the surrounding spraying device; Figure 8 for Figure 5 A schematic diagram of the lifting slide structure in the middle; Figure 9 for Figure 1The diagram shows the surrounding spraying device in spraying mode and the state after the traveling mechanism is connected to the insulator string.

[0020] Explanation of reference numerals in the attached figures: 10. Robot body; 11. Support platform; 12. Walking mechanism; 121. Translation slide; 1211. Translation motor; 1212. Translation block; 122. Lifting slide; 1221. Lifting motor; 1222. Lifting block; 123. Swing arm; 1231. Swing motor; 1232. Swing arm body; 124. Locking block; 13. Lifting rod; 20. Circumferential spraying device; 21. Longitudinal moving slide; 211. Longitudinal moving motor; 212. Push rod; 22. Support; 221. Base; 222. Vertical plate; 223. Guide roller; 224. Sleeve; 225. Guide rod; 23. Gear ring; 24. Drive unit; 241. Circumferential motor; 242. Gear; 25. Spray nozzle; 26. Conveyor belt; 30. Visual recognition unit; 40. Drone; 41. Sling; 42. Lifting gear. Detailed Implementation

[0021] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0022] 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.

[0023] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present 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 present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] It should be noted that when a component is said to be "attached" to another component, it can be directly on the other component or it can be in the middle of another component. When a component is said to be "set" to another component, it can be directly set to the other component or it may also be in the middle of another component. When a component is said to be "fixed" to another component, it can be directly fixed to the other component or it may also be in the middle of another component.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0026] Please refer to the following: Figures 1 to 9 The present invention provides an automatic insulator string spraying robot. The automatic insulator string spraying robot includes a robot body 10, a surrounding spraying device 20, a vision recognition unit 30, and a drone 40. The robot body 10 is used to connect to the insulator string to be sprayed and has the freedom of movement along the axial direction of the insulator string. The surrounding spraying device 20 is connected to the robot body 10 and is used to spray the insulator string circumferentially. The surrounding spraying device 20 can spray along the axial direction of the insulator string with the help of the robot body 10. The vision recognition unit 30 is connected to the robot body 10 and is used to identify and locate the spraying position of the insulator string. Through the coordinated operation of the robot body 10 and the surrounding spraying device 20, spraying operations can be performed on different positions of the insulator string. The drone 40 is used to connect to the robot body 10 and to lift the robot body 10 to move between the insulator string and the ground.

[0027] The present invention provides an automatic insulator string spraying robot. Compared with the prior art, by using a robot body 10 that can automatically move along the insulator string axis, in conjunction with a circumferential spraying device 20 and a vision recognition unit 30, it can perform spraying operations on the positions to be sprayed on the insulator string. The robot body 10 can be hoisted and connected to the insulator string by a drone 40, and the spraying operation can be performed automatically. It solves the technical problems of high safety risks, low work efficiency, poor spraying quality and high labor intensity in the traditional manual operation of insulator string spraying. It has the technical effects of being able to move autonomously along the insulator string axis, spraying around the insulator string in a circumferential direction, having high stability and safety, high spraying quality and precise spraying position.

[0028] In this embodiment, the visual recognition unit 30 can identify the spraying position on the insulator (insulator string) that needs to be sprayed, thereby accurately locating the spraying position and facilitating spraying around the spraying device 20. The robot body 10 can move autonomously on the insulator string, achieving precise and uniform spraying at different positions. The operation process is safe and efficient. The invention has a lightweight structure, is easy to deploy, significantly reduces manual risks, and improves spraying quality and efficiency, possessing good safety, reliability, and engineering application value.

[0029] When the spraying operation starts, the vision recognition unit 30 performs feature extraction and spatial reconstruction on the image of the insulator string to obtain the precise position and attitude angle of the insulator. Based on this information, a spraying path is generated, and the surrounding spraying device 20 is controlled to spray along the path, wherein the spraying speed and spray width angle are dynamically adjusted according to the curvature of the sprayed surface.

[0030] During the spraying process, the vision recognition unit 30 continuously monitors airflow disturbances and attitude changes. When the detected offset exceeds a threshold, it automatically pauses spraying and recalibrates the nozzle position. If insufficient spray coverage is detected, the control program calculates the difference area based on real-time images and automatically triggers a respray command. After spraying is completed, the nozzle automatically shuts off and returns to its initial state. The recognition method of the vision recognition unit 30, as well as the methods for identifying and locating the insulator string, can all utilize existing technologies. After the vision recognition unit 30 detects or senses the position on the insulator string, it activates the robot body 10 and the surrounding spraying device 20 to perform the spraying operation on the insulator string.

[0031] The invention also includes a remote controller (existing technology, not shown in the figures), which controls the flight of the drone 40 and the operation of the robot body 10 and the surrounding spraying device 20. A display is installed on the remote controller to show the drone 40's movements and information, as well as the spraying information for the insulator strings, thus enabling remote control of the insulator string spraying operation and achieving manual control of the spraying operation. A wireless communication unit is connected to the robot body 10, and the remote controller communicates with the wireless communication unit. Both the robot body 10 and the surrounding spraying device 20 are also wirelessly connected to the wireless communication unit.

[0032] In this embodiment, the drone 40 is a multi-rotor heavy-duty drone, which can lift the robot body 10 and move it between the ground and the insulator string. That is, when spraying operations are needed, the robot body 10 is lifted onto the insulator string, and when the spraying operation is completed, the robot body 10 is lifted away from the insulator string. The drone 40 is equipped with a large-capacity power battery pack, a high-precision GPS positioning module, a millimeter-wave obstacle avoidance radar, and a two-way communication link with the ground control console. It also integrates a micro power distribution unit, which can provide emergency power to the batteries of the robot body 10, the surrounding spraying device 20, and the vision recognition unit 30, realizing the multiple functions of the drone 40.

[0033] To facilitate the lifting of the robot body 10 by the drone 40, please refer to the following embodiments in some cases. Figures 1 to 2 The drone 40 is connected to a sling 41, one end of which is connected to the bottom of the drone 40, and the other end is connected to a lifting device 42. The lifting device 42 is used to detachably connect to the robot body 10. The sling 41 is a rigid rod. The drone 40 is fixedly connected to the upper end of the rod, and the lower end of the rod is connected to the lifting device 42. The lifting device 42 is a component that can automatically open and close. When the component is in the closed state, it can suspend the robot body 10, and when it is switched to the open state, it can detach from the robot body 10, thereby realizing automatic connection and detachment of the robot body 10. The drone 40 can control the opening and closing of the lifting device 42.

[0034] In some embodiments, please refer to Figures 1 to 9 The robot body 10 includes a support platform 11 and four sets of walking mechanisms 12. The support platform 11 is located below the insulator string. The four sets of walking mechanisms 12 are evenly distributed on both sides of the support platform 11 and on both sides of the insulator string. The two sets of walking mechanisms 12 on each side of the support platform 11 are spaced apart and each has a degree of freedom to move along the axial direction of the insulator string. The upper end of the walking mechanism 12 is used to attach to the insulator string. The walking mechanisms 12 on both sides of the support platform 11 move alternately and attach to the insulator string, so that the support platform 11 can move along the axial direction of the insulator string. The upper end of the support platform 11 is flat and located below the insulator. The upper end of the support platform 11 is used to place the surrounding spraying device 20 and the vision recognition unit 30. Through the alternating operation of the four sets of walking mechanisms 12, automatic walking movement on the insulator string can be realized. The cooperation between the robot body 10 and the surrounding spraying device 20 enables spraying along the axial direction of the insulator string, which is beneficial for all-round spraying of the insulator string, improving the spraying quality and expanding the spraying range.

[0035] Two sets of walking mechanisms 12 on one side of the support platform 11 are connected to the upper ends of a boom 13. The boom 13 is in the shape of a gate. The lower end of the boom 13 is fixedly connected to the upper ends of the two sets of walking mechanisms 12. A groove is provided in the middle of the upper end of the boom 13. The lifting device 42 is located in the groove and is connected to the boom 13, so as to meet the lifting of the robot body 10 and not detach from the boom 13 during the lifting process.

[0036] In some embodiments, please refer to Figures 1 to 9 The traveling mechanism 12 includes a translation slide 121, a lifting slide 122, and a swing arm 123. The translation slide 121 is connected to the side of the support platform 11 and has a translation end with a degree of freedom to extend and retract along the axial direction of the insulator string. The lifting slide 122 is connected to the translation end of the translation slide 121 and has a lifting end with a degree of freedom to extend and retract vertically. The swing arm 123 is connected to the lifting end of the lifting slide 122 and has a hook end with a degree of freedom to swing in a plane perpendicular to the axial direction of the insulator string. The hook end is used to hook or detach from the insulator string. When the hook ends of the two sets of swing arms 123 on one side of the support platform 11 detach from the insulator string, the translation slide 121 extends and retracts and moves along the axial direction of the insulator string. After moving, the swing arm 123 hooks back onto the insulator string. Then, the two sets of swing arms 123 on the other side of the support platform 11 detach from the insulator string. By alternating the operation of the two translation slides 121, the support platform 11 moves along the axial direction of the insulator string. The translation slide 121 can extend and retract within a certain range. By alternating the use of the translation slides 121 on both sides of the support platform 11, the swing arms 123 on both sides can be alternately connected to the insulator string, thus allowing movement along the axial direction of the insulator string. The lifting slide 122 can extend and retract vertically, thereby adjusting the attachment height with the insulator string to meet the needs of attaching insulator strings of different heights. The lower end of the swing arm 123 can rotate, while its upper end can swing, thus enabling attachment or separation from the insulator string. After attachment, the position of the robot body 10 can be fixed, and after separation, the extension and retraction of the translation slide 121 can allow the swing arm 123 to be reattached to different positions on the insulator string.

[0037] Specifically, the lower end of the boom 13 is connected to the upper end of the two swing arms 123 respectively.

[0038] It should be noted that the hook position of the swing arm 123 is the core part of the insulator string, and the moving distance of the translation slide 121 is greater than the distance between two adjacent umbrella skirts, that is, the swing arm 123 can move between the cores on both sides of the umbrella skirt.

[0039] The translation slide 121 includes a translation motor 1211 connected to the side of the support platform 11 and a translation block 1212 connected to the power output end of the translation motor 1211. The translation motor 1211 can push the translation block 1212 to move horizontally, thereby adjusting the horizontal position of the swing arm 123. The translation end is the translation block 1212. The lifting slide 122 includes a lifting motor 1221 and a lifting block 1222 (located above the lifting motor 1221). The lifting block 1222 is the lifting end. The lifting motor 1221 is connected to the translation block 1212. Through the operation of the lifting motor 1221, the lifting block 1222 can be driven to move vertically up and down, thereby adjusting the height of the swing arm 123. The swing arm 123 includes a swing motor 1231 and a swing arm body 1232. The swing arm body 1232 is curved. The swing motor 1231 is connected to the upper end of the lifting end, and the power output end of the swing motor 1231 is connected to the lower end of the swing arm body 1232, thereby driving the swing arm body 1232 to swing. The upper end of the swing arm body 1232 is the hooking end, which can be hooked and detached from the insulator string. Through the coordinated operation of the translation slide 121, the lifting slide 122, and the swing arm 123, the drive support platform 11 can be moved along the axial direction of the insulator string.

[0040] The walking mechanisms 12 located on both sides of the support platform 11 are arranged symmetrically with the length direction of the support platform 11 as the axis of symmetry; and the two sets of walking mechanisms 12 located on one side of the support platform 11 are also arranged symmetrically with the width direction of the support platform 11 as the axis of symmetry; the top view of the support platform 11 is rectangular.

[0041] In some embodiments, please refer to Figures 2 to 3 A locking block 124 is installed at the upper end of the swing arm 123. The shape of the locking block 124 matches the shape of the insulator string and is used to hook the upper end of the insulator string. The locking block 124 is V-shaped, which can hook onto the upper end of the insulator string and will not detach from the insulator string naturally. The two sets of swing arms 123 located on both sides of the support platform 11 operate simultaneously, that is, they hook onto or detach from the insulator string at the same time. After hooking, the two sets of swing arms 123 on the other side of the support platform 11 separate, and then the translation slide 121 extends and retracts, so that the swing arm 123 moves along the axial direction of the insulator string, and then hooks the swing arm 123 onto the insulator string, and then separates the two sets of swing arms 123 on the other side of the support platform 11 from the insulator. The above steps are repeated. By alternating use of the traveling mechanism 12 on the support platform 11, the support platform 11 can move along the axial direction of the insulator string.

[0042] Specifically, the boom 13 is connected to the upper end of the locking block 124.

[0043] In some embodiments, please refer to Figures 5 to 7The circumferential spraying device 20 includes a longitudinal moving slide 21, a support 22, a gear ring 23, a drive unit 24, and a nozzle 25. The longitudinal moving slide 21 is connected to the upper end of the robot body 10 and has a degree of freedom to move along the axial direction of the insulator string. The support 22 is connected to the longitudinal moving slide 21 and can move along the axial direction of the insulator string by means of the longitudinal moving slide 21. The gear ring 23 is connected to the support 22 and has a degree of freedom to rotate around the insulator string in a circumferential direction. The drive unit 24 is connected to the support 22, and the power output end of the drive unit 24 is connected to the gear ring 23 and used to drive the gear ring 23 to rotate. The nozzle 25 is connected to the gear ring 23 and is used to perform circumferential spraying on the insulator string by means of the rotation of the gear ring 23. The nozzle 25 adjusts the spraying position on the insulator string by means of the longitudinal moving slide 21. The longitudinal moving slide 21 includes a longitudinal moving motor 211 (electric cylinder) and a push rod 212. The push rod 212 is connected to the bracket 22, which can push the bracket 22 to move horizontally. After the bracket 22 moves horizontally, the spraying position of the nozzle 25 can be adjusted. The gear ring 23 is mostly semi-circular. The gear ring 23 is driven to rotate by the drive unit 24, so that the gear ring 23 can rotate. The rotation angle of the gear ring 23 is greater than 180° and will not detach from the bracket 22. There are two nozzles 25, which are respectively connected to the two ends of the gear ring 23. The two nozzles 25 spray simultaneously, which can spray around the circumference of the insulator string, and can achieve full spraying of the insulator string.

[0044] In this embodiment, the spray nozzle 25 is connected to a painting assembly (not shown in the figure, located at the top of the robot body 10, including a paint bucket for holding the paint, a pump body for pumping the paint, and a pipeline connecting the pump body and the spray nozzle 25) via a pipeline. By controlling the operation of the pump body, the spraying operation can be controlled. The paint is an anti-flashover coating for insulators (RTV / PRTV), which can effectively prevent discharge faults in equipment (such as the insulator strings in this invention) caused by harsh external environments. After RTV spraying, the equipment is exposed outdoors year-round, suffering corrosion from harsh climatic conditions such as sunlight, rain, high temperatures, and extreme cold, as well as the effects of ultraviolet radiation and strong electromagnetic fields. In this invention, the visual recognition unit 30 includes a control system (with a built-in PLC controller) and a machine vision recognition component, both of which are existing technologies. The control system is electrically connected to the robot body 10 and the surrounding spraying device 20, and can control their operation separately. The machine vision recognition component collects and identifies information about the insulator strings, thereby determining or providing the location information that needs to be sprayed. This allows the system to send instructions to the control system, which then directs the robot body 10 and the surrounding spraying device 20 to operate according to the instructions, thus achieving automatic operation of spraying the insulator strings.

[0045] In some embodiments, please refer to Figures 5 to 6The support 22 includes a base 221, two sets of vertical plates 222, and multiple guide rollers 223. The base 221 is connected to a longitudinal moving slide 21 and can move along the axial direction of the insulator string by means of the longitudinal moving slide 21. The two sets of vertical plates 222 are spaced apart and their bottom ends are fixedly connected to the upper end of the base 221. The gear ring 23 is disposed between the two sets of vertical plates 222. The power output end of the drive unit 24 passes through one set of vertical plates 222 and is connected to the gear ring 23 for power transmission, thereby driving the gear ring 23 to rotate around the circumference of the insulator string. The multiple guide rollers 223 are rotatably connected to the two sets of vertical plates 222. The guide rollers 223 are used to roll and contact the side wall of the gear ring 23 and support the gear ring 23 to rotate around the circumference of the insulator string. A sleeve 224 is provided at the bottom of the base 221, and a guide rod 225 is provided at the upper end of the support platform 11. The sleeve 224 is fitted onto the guide rod 225, allowing the sleeve 224 to move axially along the guide rod 225. One end of the push rod 212 is connected to the base 221, which pushes the base 221 to move horizontally, thereby achieving horizontal adjustment of the nozzle 25 position. A receiving space is formed between the two sets of vertical plates 222, and a toothed ring 23 is set inside this receiving space. By rotating the toothed ring 23, the nozzle 25 can rotate around the insulator string, thus achieving circumferential spraying. The guide roller 223 rolls in contact with the side wall of the toothed ring 23, serving to limit and support the toothed ring 23.

[0046] Mounting holes are provided on both sets of vertical plates 222, and the guide roller 223 is rotatably connected to the mounting holes, so that the inner sidewall of the guide roller 223 rolls in contact with the sidewall of the toothed ring 23.

[0047] In some embodiments, please refer to Figures 5 to 7 The drive unit 24 includes multiple orbiting motors 241 and multiple gears 242. The orbiting motors 241 are respectively connected to both sides of the bracket 22, and their power output ends pass through the vertical plate 222. The multiple gears 242 are all located between the two sets of vertical plates 222, and both ends are rotatably connected to the two sets of vertical plates 222. The multiple gears 242 are used to mesh with the gear ring 23. The power output ends of the orbiting motors 241 are connected to the gears 242 and are used to drive the gears 242 to rotate, thereby driving the gear ring 23 to rotate. The gears 242 are arranged to avoid the guide roller 223. The orbiting motors 241 are a type of motor in the prior art that can drive the gears 242 to rotate. After the gears 242 rotate, they can drive the gear ring 23 to rotate, which in turn can make the spray head 25 rotate circumferentially to adjust the spraying position on the insulator string.

[0048] In some embodiments, please refer to Figures 6 to 7The number of gears 242 is greater than the number of orbiting motors 241. Gears 242 connected to the orbiting motors 241 are defined as driving gears, and gears 242 not connected to the orbiting motors 241 are defined as driven gears. Driving gears are coaxially connected to driving rollers, and driven gears are coaxially connected to driven rollers. A conveyor belt 26 connects the driving and driven rollers for power transmission, enabling the multiple gears 242 to rotate synchronously. In this embodiment, four gears 242 and two orbiting motors 241 are arranged in a matrix. The two orbiting motors 241 drive the two lower gears 242 to rotate, and the two upper gears 242 transmit power to the two lower gears 242 via the conveyor belt 26. Thus, the four gears 242 can rotate synchronously and mesh with the gear ring 23, facilitating the circumferential rotation of the gear ring 23 and the spraying operation on the insulator string.

[0049] The present invention also provides an automatic spraying method for insulator strings, comprising the following steps: The robot body 10 is lifted by a drone 40 and connected to an insulator string. Move the robot body 10 along the axis of the insulator string; The vision recognition unit 30 connected to the robot body 10 is used to identify and locate the spraying position of the insulator string; The surrounding spraying device 20 connected to the robot body 10 rotates around the insulator string in a circumferential direction and performs spraying operations on the insulator string. By using the surrounding spraying device 20 in conjunction with the robot body 10, spraying operations can be performed on different positions of the insulator string.

[0050] The beneficial effects of the automatic spraying method for insulator strings provided by this invention are as follows: Compared with the prior art, the automatic spraying method for insulator strings of this invention uses a drone 40 to attach a robot body 10 to the insulator string, then uses a vision recognition unit 30 to identify and locate the spraying position of the insulator string, and then uses a circumferential spraying device 20 to spray the insulator string around its circumference. By using the circumferential spraying device 20 in conjunction with the robot body 10, spraying operations can be performed on different positions of the insulator string. This solves the technical problems of high safety risks, low work efficiency, poor spraying quality, and high labor intensity in the traditional manual operation of insulator string spraying. It has the technical effects of being able to move autonomously along the axial direction of the insulator string, being able to spray around the circumference of the insulator string, having high stability and safety, high spraying quality, and precise spraying position.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic spraying robot for insulator strings, characterized in that, include: The robot body is used to connect to the insulator string to be sprayed and has the degree of freedom to move along the axial direction of the insulator string; A circumferential spraying device, connected to the robot body, is used to spray the insulator string circumferentially around the insulator string. The circumferential spraying device can spray along the axial direction of the insulator string with the help of the robot body. A visual recognition unit, connected to the robot body, is used to identify and locate the spraying position of the insulator string. Through the cooperation of the robot body and the surrounding spraying device, spraying operations can be performed on different positions of the insulator string. A drone is used to connect to the robot body and to lift the robot body between the insulator string and the ground.

2. The automatic spraying robot for insulator strings as described in claim 1, characterized in that, The drone is connected to a sling, one end of which is connected to the bottom of the drone and the other end is connected to a lifting device, which is used to detachably connect to the robot body.

3. The automatic spraying robot for insulator strings as described in claim 1, characterized in that, The robot body includes: The support platform is located below the insulator string; Four sets of traveling mechanisms are evenly distributed on both sides of the support platform and on both sides of the insulator string. The two sets of traveling mechanisms on each side of the support platform are spaced apart and each has the freedom to move along the axial direction of the insulator string. The upper end of the traveling mechanism is used to attach to the insulator string. The traveling mechanisms on both sides of the support platform move alternately and attach to the insulator string so that the support platform can move along the axial direction of the insulator string.

4. The automatic insulator string spraying robot as described in claim 3, characterized in that, The walking mechanism includes: A translation slide, connected to the side of the support platform, has a translation end with a degree of freedom to extend and retract along the axial direction of the insulator string; A lifting slide, connected to the translation end of the translation slide, and a lifting end having a vertical extension and retraction degree of freedom; The swing arm, connected to the lifting end of the lifting slide, has a hook end that allows for swinging freedom in a plane perpendicular to the insulator string axis. The hook end is used to hook onto or detach from the insulator string. When the hook ends of the two sets of swing arms on one side of the support platform detach from the insulator string, the translation slide extends and retracts and moves along the insulator string axis. After moving, the swing arms hook onto the insulator string again at different positions. Then, the two sets of swing arms on the other side of the support platform detach from the insulator string. By alternating the use of the translation slides on both sides, the support platform can move along the insulator string axis.

5. The automatic insulator string spraying robot as described in claim 4, characterized in that, A locking block is installed at the upper end of the swing arm. The shape of the locking block matches the shape of the insulator string and is used to attach the upper end of the insulator string.

6. The automatic insulator string spraying robot as described in claim 1, characterized in that, The surrounding spraying device includes: A longitudinally moving slide is connected to the upper end of the robot body and has a degree of freedom to move along the axial direction of the insulator string; A bracket is connected to the longitudinally movable slide, and the bracket can move along the axial direction of the insulator string by means of the longitudinally movable slide. A toothed ring, connected to the bracket, has a circumferential rotational degree of freedom around the insulator string; The drive unit is connected to the bracket, and the power output end of the drive unit is connected to the gear ring and used to drive the gear ring to rotate; The nozzle is connected to the toothed ring. The nozzle rotates with the help of the toothed ring to perform circumferential spraying on the insulator string. The nozzle position on the insulator string is adjusted by the longitudinal moving slide.

7. An automatic insulator string spraying robot as described in claim 6, characterized in that, The support includes: The base is connected to the longitudinal moving slide and can move along the axial direction of the insulator string by means of the longitudinal moving slide. Two sets of vertical plates are spaced apart and their bottom ends are fixedly connected to the upper end of the base. The gear ring is located between the two sets of vertical plates. The power output end of the drive unit passes through one set of vertical plates and is connected to the gear ring for power transmission, thereby driving the gear ring to rotate circumferentially around the insulator string. Multiple guide rollers are rotatably connected to two sets of vertical plates. The guide rollers are used to roll in contact with the sidewall of the toothed ring and support the toothed ring to rotate circumferentially around the insulator string.

8. The automatic spraying robot for insulator strings as described in claim 7, characterized in that, The drive unit includes: Multiple rotating motors are connected to both sides of the bracket, and their power output ends pass through the vertical plate; Multiple gears are disposed between the two sets of vertical plates, and both ends are rotatably connected to the two sets of vertical plates. The multiple gears are used to mesh with the gear ring. The power output end of the surrounding motor is connected to the gears and used to drive the gears to rotate, thereby driving the gear ring to rotate. The gears are arranged to avoid the guide rollers.

9. An automatic insulator string spraying robot as described in claim 8, characterized in that, The number of gears is greater than the number of the orbiting motors. The gears connected to the orbiting motors are defined as driving gears, and the gears not connected to the orbiting motors are defined as driven gears. The driving gears are coaxially connected to a driving roller, and the driven gears are coaxially connected to a driven roller. A conveyor belt is connected between the driving rollers and the driven rollers to drive the gears to rotate synchronously.

10. An automatic spraying method for insulator strings, characterized in that, Includes the following steps: The robot body is lifted by a drone and connected to an insulator string. The robot body moves along the axis of the insulator string; The visual recognition unit connected to the robot body is used to identify and locate the spraying position of the insulator string; The surrounding spraying device connected to the robot body rotates around the insulator string in a circumferential direction and performs spraying operations on the insulator string. By using the surrounding spraying device in conjunction with the robot body, spraying operations can be performed on different positions of the insulator string.

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