A high-altitude self-adaptive charged insulating spraying robot for wire surface

Abstract

The application discloses a high-altitude self-adaptive live wire surface insulating spraying robot in the technical field of high-altitude operation robots, which comprises a walking unit and a spraying component, the walking unit comprises a mounting plate and two groups of walking components, the two groups of walking components are arranged at two ends of the top surface of the mounting plate respectively, and the directions of the two groups of walking components are completely opposite; a spraying unit is arranged on the bottom surface of the mounting plate, and a functional unit is arranged on the side surface of the spraying unit. The walking unit composed of the two groups of walking components which are opposite in direction and on the same line is arranged to realize the walking operation of the robot on the wire, the two groups of walking components opposite in direction can firmly support the two sides of the robot on the wire, so that a two-point contact structure can be formed between the robot and the wire, the robot can freely walk on the wire, and the automatic spraying of the wire can be realized in cooperation with the spraying component.

Description

Technical Field

[0001] This invention relates to the field of high-altitude work robot technology, and in particular to a high-altitude adaptive electric conductor surface electrical insulation spraying robot. Background Technology

[0002] High-voltage overhead transmission lines are exposed to complex outdoor environments for extended periods, suffering from wind, rain, fog, icing, ultraviolet corrosion, and external friction. This causes the insulation layer on the conductor surface to age, crack, and peel off, and exposes conductive parts at conductor joints and hardware connections. These factors greatly increase the risk of line flashover, short circuits, and leakage faults, seriously threatening the safe and stable operation of the power grid. To improve the insulation performance of the lines and extend the service life of the transmission conductors, regular insulating spray coating protection work is necessary on the conductor surface.

[0003] Currently, insulation spraying operations for power transmission lines are mainly divided into two methods: manual live-line spraying and traditional simple spraying equipment operations, both of which have many technical shortcomings. 1. Manual high-altitude live-line work is extremely risky. Workers need to climb high-altitude power lines and rely on insulated equipment to work, which can easily lead to safety accidents such as falls from heights, electric shocks, and falling objects. In addition, manual spraying work is inefficient and labor-intensive, and cannot meet the needs of large-scale line operation and maintenance. 2. Existing spraying robots have a fixed structure and poor adaptive performance. The diameter of the wire varies under different working conditions. The traditional robot walking mechanism and spraying mechanism cannot adapt to the wire posture in real time, so they cannot meet the needs of high-altitude adaptive spraying operations for wires of different diameters. Summary of the Invention

[0004] In view of the problems existing in the prior art, the present invention proposes a high-altitude adaptive electric conductor surface electrostatic insulation spraying robot to solve such problems.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a high-altitude adaptive conductor surface electrified insulation spraying robot, comprising a walking unit and spraying components, wherein the walking unit comprises a mounting plate and two sets of walking components, and the two sets of walking components are respectively disposed at both ends of the top surface of the mounting plate, and the two sets of walking components are oriented in completely opposite directions; the bottom surface of the mounting plate is provided with a spraying unit, and the side of the spraying unit is provided with a functional unit; The walking component includes a fixed plate, a drive disk, two sets of walking components and a set of auxiliary components. The fixed plate is fixedly connected to the mounting plate, the drive disk is disposed on the side of the fixed plate, and the drive disk and the fixed plate are threadedly connected at their axial centers. The two sets of walking components and the set of auxiliary components are evenly distributed in a ring on the other side of the fixed plate with the axis of the drive disk as the center, and the same end of the three components passes through the fixed plate and extends to the drive disk. The spraying component includes an extension tube and a spraying assembly, with one end of the extension tube connected to the side of the spraying unit and the other end connected to the spraying assembly.

[0006] As a preferred embodiment of the live insulation spraying robot for the surface of the high-altitude adaptive conductor described in this invention, the fixed plate is provided with three sets of rectangular limiting grooves in an annular shape, and the inner ends of the three sets of limiting grooves are all facing the axis of the fixed plate. At the same time, the two sets of walking components and the one set of auxiliary components pass through the three sets of limiting grooves respectively.

[0007] As a preferred embodiment of the electric insulation spraying robot for the surface of the high-altitude adaptive conductor described in this invention, wherein: one side of the fixed plate is provided with a threaded shaft that is threadedly connected to the drive disk, and multiple sets of balls are embedded on the outer wall of the other side of the fixed plate.

[0008] As a preferred embodiment of the high-altitude adaptive conductor surface electric insulation spraying robot of the present invention, the drive disk is provided with three sets of drive grooves in an annular shape, and the drive grooves are in an arc shape. The arc shape is inclined from the outer end to the inner end of the drive disk. The two sets of walking components and one set of auxiliary components extend into the three sets of drive grooves respectively. A threaded sleeve that is threadedly connected to the threaded shaft is provided at the axial position of the drive disk.

[0009] As a preferred embodiment of the electric insulation spraying robot for high-altitude adaptive conductor surfaces described in this invention, the walking component includes a walking wheel located in a limiting groove, with the outer end of the walking wheel extending into a threaded sleeve, a motor module disposed on the outermost end of the walking wheel, and an auxiliary shaft disposed on the portion of the walking wheel located in the limiting groove.

[0010] As a preferred embodiment of the live insulation spraying robot for high-altitude adaptive conductor surface described in this invention, a collar is provided on the part of the walking wheel located in the drive groove, and limit plates are respectively provided at both ends of the collar, and the two sets of limit plates are respectively attached to both sides of the drive groove.

[0011] As a preferred embodiment of the live insulating spraying robot for the surface of the high-altitude adaptive conductor described in this invention, the auxiliary component includes a bushing located in a limiting groove, a connecting shaft inserted into the center of the bushing, one end of the connecting shaft extending into a threaded sleeve, and a limiting rod vertically disposed at the outer end of the connecting shaft.

[0012] As a preferred embodiment of the live insulating spraying robot for the surface of the high-altitude adaptive conductor described in this invention, the connecting shaft is rotatably connected to the bushing, and the two are interference-fitted. A second collar is provided on the part of the connecting shaft located in the drive groove, and both ends of the second collar are provided with rings, and the two sets of limiting rings are respectively attached to both sides of the drive groove.

[0013] As a preferred embodiment of the electric insulation spraying robot for the surface of the high-altitude adaptive conductor described in this invention, the spraying assembly includes a spray frame one and a spray frame two, both of which are half-ring structures, and multiple sets of nozzles are equally distributed on the inner wall of both rings.

[0014] As a preferred embodiment of the high-altitude adaptive conductor surface electric insulation spraying robot of the present invention, the spray frame one and the spray frame two are staggered, and an extension shaft is laterally connected between the two ends with the same direction. The extension shaft is a hollow columnar structure, and the extension shaft connects the interior of the spray frame one and the spray frame two.

[0015] The beneficial effects of the present invention are as follows: by setting up a walking unit composed of two sets of walking components facing opposite directions but on the same straight line, the robot can walk on the guide wire. The two sets of walking components facing opposite directions can firmly support the two sides of the robot on the guide wire, so that a two-point contact structure can be formed between the robot and the guide wire, allowing the robot to walk freely on the guide wire. At the same time, in conjunction with the spraying component, the automatic spraying of the guide wire can be realized. Meanwhile, the walking component is equipped with two sets of walking components and one set of auxiliary components. The three components are arranged in a ring-shaped and equally divided position on the walking component. The guide wire passes horizontally through the center of the three components, so that the walking component can connect itself to the guide wire from three directions and form three effective contact points with the guide wire. This allows the walking component to make full and stable contact with the guide wire, ensuring sufficient friction during walking. Meanwhile, the distance between the two sets of traveling components and the auxiliary component can be increased or decreased proportionally, so that the traveling component can adaptively adjust the distance between the three components according to the actual diameter of the wire, thereby meeting the needs of high-altitude adaptive spraying operation for wires of different diameters. Furthermore, the spraying component performs the spraying operation on the wire through a spraying assembly composed of two sets of semi-circular ring structures. The two sets of semi-circular ring structures of the spraying assembly can be sleeved around the outside of the wire from the side and combined into a ring spraying structure by rotation, thereby forming a 360° spraying range on the outer wall of the wire, realizing all-round uniform spraying on the outer wall of the wire, avoiding the generation of spraying dead corners, and enhancing the spraying effect. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments 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. Wherein: Figure 1This is a schematic diagram of the overall structure of the electric insulation spraying robot for the surface of high-altitude adaptive conductors according to the present invention.

[0017] Figure 2 This is a schematic diagram of the installation of the electric insulation spraying robot on the surface of the high-altitude adaptive conductor according to the present invention.

[0018] Figure 3 This is a schematic diagram of the walking unit of the electric insulating spraying robot on the surface of the high-altitude adaptive conductor of the present invention.

[0019] Figure 4 This is a schematic diagram of the walking component of the electric insulating spraying robot on the surface of the high-altitude adaptive conductor of the present invention.

[0020] Figure 5 This is a front structural schematic diagram of the walking component of the electric insulating spraying robot on the surface of the high-altitude adaptive conductor of the present invention.

[0021] Figure 6 This is a schematic diagram of the back structure of the walking component of the electric insulating spraying robot on the surface of the high-altitude adaptive conductor of the present invention.

[0022] Figure 7 This is a schematic diagram of the internal structure of the walking component of the electric insulating spraying robot on the surface of the high-altitude adaptive conductor of the present invention.

[0023] Figure 8 This is an exploded view of the walking component of the electric insulating spraying robot on the surface of the high-altitude adaptive conductor of the present invention.

[0024] Figure 9 This is a schematic diagram of the structure of the electric insulation spraying robot spraying assembly for the surface of the high-altitude adaptive conductor of the present invention.

[0025] Figure 10 This is a schematic diagram of the structure of the electric insulating spraying robot spraying component that surrounds the conductor in the high-altitude adaptive conductor surface according to the present invention.

[0026] Reference numerals: 1. Mounting plate; 2. Traveling component; 3. Spraying unit; 4. Functional unit; 5. Extension tube; 6. Spraying assembly; 61. Spray frame one; 62. Spray frame two; 63. Extension shaft; 64. Nozzle; 7. Fixing plate; 71. Limiting groove; 72. Threaded shaft; 73. Ball bearing; 8. Drive plate; 81. Drive groove; 82. Threaded sleeve; 9. Traveling assembly; 91. Motor module; 92. Traveling wheel; 93. Collar one; 94. Auxiliary shaft; 10. Auxiliary assembly; 11. Bushing; 12. Connecting shaft; 13. Limiting rod; 14. Wire; 15. Collar two. Detailed Implementation

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0029] Reference Figures 1 to 10 This invention includes a high-altitude adaptive conductive wire surface electric insulation spraying robot, comprising a walking unit and a spraying component. The walking unit includes a mounting plate 1 and two sets of walking components 2, which are respectively disposed at both ends of the top surface of the mounting plate 1. The two sets of walking components 2 are oriented in completely opposite directions. The two sets of walking components 2 can apply two opposing forces to the conductive wire 14. The two opposing forces resist each other and can firmly limit the walking unit to the conductive wire 14. At the same time, the two sets of walking components 2 also enable the walking unit to be connected to the conductive wire 14 by side cutting in. Reference Figure 1 A spraying unit 3 is provided on the bottom surface of the mounting plate 1, and a functional unit 4 is provided on the side of the spraying unit 3. The spraying unit 3 includes a container for loading paint, a pump body for conveying and spraying paint, and other structures. The functional unit 4 includes the power supply and control module of the robot as a whole. Reference Figure 4 The walking component 2 includes a fixed plate 7, a drive disk 8, two sets of walking components 9 and a set of auxiliary components 10. The fixed plate 7 is fixedly connected to the mounting plate 1. The drive disk 8 is disposed on the side of the fixed plate 7, and the drive disk 8 and the fixed plate 7 are threadedly connected at their axial positions. The two sets of walking components 9 and the set of auxiliary components 10 are evenly distributed in a ring on the other side of the fixed plate 7 with the axis of the drive disk 8 as the center. The same end of the three components passes through the fixed plate 7 and extends to the drive disk 8. The spraying component includes an extension tube 5 and a spraying assembly 6. One end of the extension tube 5 is connected to the side of the spraying unit 3, and the other end is connected to the spraying assembly 6. The extension tube 5 is used to extend and position the distance of the spraying assembly 6 on the conductor 14. The spraying assembly 6 is used to spray insulating coating.

[0030] Furthermore, refer to Figure 2When the robot is connected to the guide wire 14, the two sets of walking parts 2 can provide horizontal limiting and fixing forces from both sides. The two sets of walking components 9 and auxiliary components 10 on each of the two sets of walking parts 2 can also provide vertical limiting and fixing forces. By applying multi-point and multi-directional limiting and fixing forces in the horizontal and vertical directions, the stability of the robot walking on the guide wire 14 can be effectively guaranteed.

[0031] Reference Figure 4 The fixed plate 7 is provided with three sets of rectangular limiting grooves 71 arranged in a ring. The inner ends of the three sets of limiting grooves 71 are all facing the axis of the fixed plate 7. At the same time, the two sets of walking components 9 and the one set of auxiliary components 10 pass through the three sets of limiting grooves 71 respectively. The three sets of limiting grooves 71 restrict the overall movement direction of the two sets of walking components 9 and the one set of auxiliary components 10 through their own shape and orientation, so that the three can only perform a unified inward contraction or outward expansion action under the limitation of the limiting grooves 71.

[0032] Reference Figure 4 One side of the fixed plate 7 is provided with a threaded shaft 72 that is threadedly connected to the drive disk 8. On the other side of the outer wall of the fixed plate 7, multiple sets of balls 73 are embedded. The multiple sets of balls 73 are rolled and embedded on the side of the fixed plate 7 that contacts the wire 14 bracket, which can convert the direct contact friction between the fixed plate 7 and the wire 14 into a rolling connection, thereby reducing the friction between the two and preventing damage to each other. It also makes the walking component 2 move more smoothly and effortlessly.

[0033] Reference Figure 4 The drive disk 8 has three sets of drive grooves 81 arranged in a ring shape, and the drive grooves 81 are arc-shaped. The arc-shaped structure is inclined from the outer end to the inner end of the drive disk 8. The two sets of walking components 9 and one set of auxiliary components 10 extend into the three sets of drive grooves 81 respectively. A threaded sleeve 82 is provided at the axis of the drive disk 8 and is threadedly connected to the threaded shaft 72. The arc-shaped structure of the drive groove 81 allows the pushed structure to move outward or inward with the axis of the drive disk 8 as the origin. The threaded sleeve 82 allows the drive disk 8 to rotate on the outside of the fixed plate 7 without disengaging from the fixed plate 7. At the same time, the threaded engagement between the two has a self-locking effect, which also enables the drive disk 8 to lock its position on the side of the fixed plate 7.

[0034] Reference Figure 8The walking component 9 includes a walking wheel 92 located in the limiting groove 71, with the outer end of the walking wheel 92 extending into the threaded sleeve 82. A motor module 91 is disposed on the outermost end of the walking wheel 92, and an auxiliary shaft 94 is disposed on the portion of the walking wheel 92 located in the limiting groove 71. The walking wheel 92 is provided with a pattern to increase the contact friction, ensuring that the walking wheel 92 and the wire 14 meet the contact friction requirements during walking. The motor module 91 is an independent drive motor structure, which can drive the walking wheel 92 to rotate, thereby realizing the movement of the entire walking component 2 on the wire 14. The outer wall of the auxiliary shaft 94 is smooth, and it is used to cooperate with the limiting groove 71, so that the walking component 9 can be limited by the limiting groove 71 without being obstructed by the limiting groove 71.

[0035] Reference Figure 8 The walking wheel 92 is provided with a collar 93 located in the drive groove 81, and the two ends of the collar 93 are respectively provided with limit pieces, and the two sets of limit pieces are respectively attached to the two sides of the drive groove 81. The way the collar 93 is set ensures that the walking component 9 will not detach from the drive disk 8, so that the walking component 9 is always driven by the drive groove 81 to work.

[0036] Reference Figure 7 The auxiliary component 10 includes a bushing 11 located in the limiting groove 71, a connecting shaft 12 inserted into the center of the bushing 11, with one end of the connecting shaft 12 extending into the drive groove 81, and a limiting rod 13 vertically arranged at the outer end of the connecting shaft 12. The structure and function of the auxiliary component 10 are mostly similar to those of the walking component 9, except that the auxiliary component 10 does not have an active rotation function and can only assist the two sets of walking components 9 in gripping and clamping the wire 14.

[0037] Reference Figure 7 The connecting shaft 12 is rotatably connected to the bushing 11, and the two are interference-fitted. A second collar 15 is provided on the part of the connecting shaft 12 located in the drive groove 81, and both ends of the second collar 15 are provided with rings. The two sets of limiting rings are respectively attached to the two sides of the drive groove 81. The interference fit allows the connecting shaft 12 to drive the limiting rod 13 to rotate and maintain a fixed posture, thereby enabling it to further position the setting direction of the limiting rod 13. When the wire 14 enters the traveling component 2 for connection, the limiting rod 13 rotates to the downward direction through the connecting shaft 12, which does not hinder the normal entry of the wire 14. After entering, it rotates to the vertical upward direction, thereby limiting the wire 14 from the horizontal direction.

[0038] Reference Figure 7Furthermore, when the auxiliary component 10 is driven by the drive disk 8 to move, it will move laterally in the horizontal direction in sync with the drive disk 8 through the collar 2 15. The laterally moving auxiliary component 10 will drive the limiting rod 13 to move closer to the outer wall of the wire 14, thereby providing lateral limiting protection for the wire 14 and preventing the wire 14 from detaching from the traveling component 2, thus further ensuring the working safety of the traveling component 2. At the same time, the moving distance of the limiting rod 13 is synchronized with the distance between the two sets of traveling components 9 and the auxiliary component 10 adjusted by the drive disk 8 according to the diameter of the wire 14. Therefore, while the traveling component 2 adjusts its own range according to the diameter of the wire 14, it also realizes the function of laterally adjusting the distance of the limiting rod 13, which further increases the flexibility of the device.

[0039] Reference Figure 9 The spraying assembly 6 includes a first spray frame 61 and a second spray frame 62. Both the first spray frame 61 and the second spray frame 62 are half-ring structures. Multiple sets of nozzles 64 are evenly distributed on the inner wall of both rings. The half-ring structure of the first spray frame 61 and the second spray frame 62 allows them to be combined into a ring structure by rotation. The ring structure of the spraying assembly 6, together with multiple evenly distributed nozzles 64, can achieve 360° spraying of the wire 14 around the circumference without dead angles.

[0040] Furthermore, the extension tube 5 is made of a metal serpentine tube with good shaping effect, which can limit and fix the spraying component 6 in a designated position according to actual needs, so that the wire 14 and the spraying component 6 can be concentric and coaxial, thereby meeting the needs of subsequent spraying work along the wire 14. At the same time, the split structure of the spray frame 1 61 and spray frame 2 62 allows the spraying component 6 to be installed from the side of the wire 14, making its installation method simpler and faster.

[0041] Reference Figure 10 Sprayer 1 61 and sprayer 2 62 are offset from each other, and an extension shaft 63 is horizontally connected between their ends facing the same direction. The extension shaft 63 is a hollow columnar structure that connects the interior of sprayer 1 61 and sprayer 2 62. Through its unique structure, the extension shaft 63 enables unobstructed transmission of paint between sprayer 1 61 and sprayer 2 62, and also ensures that the connection between sprayer 1 61 and sprayer 2 62 is maintained when they rotate.

[0042] Combination Figure 1 and Figure 2 During use, the walking unit will be... Figure 2The wire is connected to the conductor 14 as shown. Then, according to the actual diameter of the conductor 14, the drive disk 8 is rotated. The drive disk 8, through the interaction of the drive groove 81 and the limiting groove 71, drives the two sets of walking components 9 and one set of auxiliary components 10 to synchronously retract inwards according to usage requirements. The three retracting components will contact and clamp onto the outer wall of the conductor 14 from three directions, as shown. Figure 5 As shown, this allows the conductor 14 and the walking component 2 to form a stable walking friction connection. The sufficient friction connection enables the walking component 2 to drive the robot as a whole to perform self-propelled insulating coating spraying operations on the conductor 14 at high altitude. It can proportionally expand or shrink the range between the three components, thereby allowing the walking component 2 to adaptively adjust the distance between the three components according to the actual diameter of the conductor 14. This enables the robot of the present invention to meet the needs of high-altitude adaptive spraying operations on conductors 14 of different diameters.

[0043] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A high-altitude adaptive conductive wire surface electrostatic insulation spraying robot, comprising a walking unit and a spraying component, characterized in that: The walking unit includes a mounting plate (1) and two sets of walking components (2), and the two sets of walking components (2) are respectively located at both ends of the top surface of the mounting plate (1), and the two sets of walking components (2) are facing completely opposite directions; a spraying unit (3) is provided on the bottom surface of the mounting plate (1), and a functional unit (4) is provided on the side of the spraying unit (3). The walking component (2) includes a fixed plate (7), a drive disk (8), two sets of walking components (9) and a set of auxiliary components (10). The fixed plate (7) is fixedly connected to the mounting plate (1). The drive disk (8) is located on the side of the fixed plate (7), and the drive disk (8) and the fixed plate (7) are threaded together at their axial positions. The two sets of walking components (9) and the set of auxiliary components (10) are evenly distributed on the other side of the fixed plate (7) with the axis of the drive disk (8) in a ring. The same end of the three components passes through the fixed plate (7) and extends to the drive disk (8). The spraying component includes an extension tube (5) and a spraying assembly (6), with one end of the extension tube (5) connected to the side of the spraying unit (3) and the other end connected to the spraying assembly (6).

2. The high-altitude adaptive conductor surface electrostatic insulation spraying robot according to claim 1, characterized in that: The fixed plate (7) is provided with three sets of rectangular limiting grooves (71) in an annular shape, and the inner ends of the three sets of limiting grooves (71) are all facing the axis of the fixed plate (7). At the same time, the two sets of walking components (9) and the one set of auxiliary components (10) pass through the three sets of limiting grooves (71).

3. The high-altitude adaptive conductor surface electrostatic insulation spraying robot according to claim 1, characterized in that: One side of the fixed plate (7) is provided with a threaded shaft (72) that is threadedly connected to the drive disk (8), and multiple sets of balls (73) are embedded on the outer wall of the other side of the fixed plate (7).

4. The high-altitude adaptive conductor surface electrostatic insulation spraying robot according to claim 1 or 3, characterized in that: The drive disk (8) is provided with three sets of drive grooves (81) in a ring shape, and the drive grooves (81) are in an arc shape. The arc shape is inclined from the outer end to the inner end of the drive disk (8). The two sets of walking components (9) and one set of auxiliary components (10) extend into the three sets of drive grooves (81). A threaded sleeve (82) that is threadedly connected to the threaded shaft (72) is provided at the axial position of the drive disk (8).

5. The high-altitude adaptive conductor surface electrostatic insulation spraying robot according to claim 4, characterized in that: The walking assembly (9) includes a walking wheel (92) located in a limiting groove (71), with the outer end of the walking wheel (92) extending into a threaded sleeve (82), a motor module (91) disposed on the outermost end of the walking wheel (92), and an auxiliary shaft (94) disposed on the portion of the walking wheel (92) located in the limiting groove (71).

6. The high-altitude adaptive conductor surface electrostatic insulation spraying robot according to claim 5, characterized in that: The walking wheel (92) is provided with a collar (93) at the part located in the drive groove (81), and the two ends of the collar (93) are respectively provided with limit pieces, and the two sets of limit pieces are respectively attached to the two sides of the drive groove (81).

7. The high-altitude adaptive conductor surface electrostatic insulation spraying robot according to claim 2, characterized in that: The auxiliary component (10) includes a bushing (11) located in a limiting groove (71), a connecting shaft (12) inserted into the axial position of the bushing (11), with one end of the connecting shaft (12) extending into a threaded sleeve (82), and a limiting rod (13) vertically disposed at the outer end of the connecting shaft (12).

8. The high-altitude adaptive conductor surface electrostatic insulation spraying robot according to claim 7, characterized in that: The connecting shaft (12) is rotatably connected to the bushing (11) and the two are interference fit. A second collar (15) is provided on the part of the connecting shaft (12) located in the drive groove (81), and both ends of the second collar (15) are provided with rings, and the two sets of limiting rings are respectively attached to both sides of the drive groove (81).

9. The high-altitude adaptive conductor surface electrostatic insulation spraying robot according to claim 1, characterized in that: The spraying assembly (6) includes a spray frame one (61) and a spray frame two (62). Both spray frame one (61) and spray frame two (62) are half-ring structures, and multiple sets of nozzles (64) are equally distributed on the inner wall of both rings.

10. The high-altitude adaptive conductor surface electrostatic insulation spraying robot according to claim 9, characterized in that: The spray frame one (61) and the spray frame two (62) are offset from each other, and an extension shaft (63) is horizontally connected between the two ends with the same direction. The extension shaft (63) is a hollow columnar structure, and the extension shaft (63) connects the interior of the spray frame one (61) and the spray frame two (62).

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