Coating robot

Abstract

The utility model provides a coating robot, including: marching module, extrusion module and coating module, marching module includes marching wheel, first drive piece and connecting frame, first drive piece can drive marching wheel to rotate around the axis of marching wheel. And the material extruding module comprises a loading box and a material extruding assembly, the loading box is detachably connected with the connecting frame, the loading box is provided with a glue outlet, and the second driving part drives the material extruding plate to move in the loading box so as to extrude the coating material to the glue outlet. The coating module is located on the rear side of the moving direction of the advancing wheels and comprises a wrapping part and a nozzle, the wrapping part is provided with a coating cavity allowing the high-voltage cable to penetrate through, and the nozzle extends into the coating cavity and communicates with the glue outlet. According to the coating robot disclosed by the utility model, a plurality of modules are detachably connected to form a whole, each module realizes the function, and only the module needs to be disassembled when the module needs to be replaced and maintained, so that the economic cost is lower, and the function replacement, disassembly and maintenance are more convenient.

Description

Technical Field

[0001] The utility model belongs to the technical field of automated robots, in particular to a coating robot. Background Art

[0002] There are a large number of high-voltage overhead bare conductors in my country's distribution network. With the development of robotics and materials technology, coating robots are usually used to insulate the bare conductors.

[0003] At present, the various functional designs of the existing electric coating robot are integrated into an overall structure. However, this design method of integrating the robot into an overall structure will result in the entire robot being too large and heavy. It takes a long time to disassemble the robot when maintaining various functions, and the parts that need to be disassembled are difficult to maintain. Utility Model Content

[0004] The technical purpose of the utility model is to provide a coating robot, aiming to modularize the coating robot so as to lower the economic cost of the coating robot and make function replacement, disassembly and maintenance more convenient.

[0005] In order to solve the above technical problems, the present invention is implemented as follows: a coating robot, comprising:

[0006] The traveling module includes a traveling wheel, a first driving member, and a connecting frame. The traveling wheel is rotatably connected to the connecting frame. The traveling wheel is provided with a groove extending around its circumference to accommodate a high-voltage cable. The first driving member can drive the traveling wheel to rotate around the axis of the traveling wheel.

[0007] The extrusion module includes a loading box and an extrusion assembly, the extrusion assembly includes a second driving member and an extrusion plate, the loading box is detachably connected to the lower side of the connecting frame, the loading box is used to place the coating material, the loading box is provided with a glue outlet, the second driving member is connected to the extrusion plate, the second driving member drives the extrusion plate to move in the loading box to extrude the coating material to the glue outlet;

[0008] The coating module is located on the rear side of the moving direction of the traveling wheel. The coating module includes a wrapping part and a nozzle. The wrapping part is provided with a coating cavity for the high-voltage cable to pass through. The nozzle extends into the coating cavity. The wrapping part is detachably connected to the connecting frame, and the nozzle is connected to the glue outlet.

[0009] In one embodiment, in the coating module, the wrapping portion includes an upper wrapping portion and a lower wrapping portion, and the upper wrapping portion is fixedly connected to the connecting frame;

[0010] The upper wrapping part and the lower wrapping part enclose a coating cavity, and the lower wrapping part is rotatably connected to the upper wrapping part so that a gap is formed in the side wall of the coating cavity;

[0011] The coating module also includes a third driving member and a transmission assembly. The third driving member is fixedly connected to the wrapping part. The transmission assembly connects the third driving member and the lower wrapping part. The third driving member drives the lower wrapping part to rotate relative to the upper wrapping part through the transmission assembly.

[0012] In one embodiment, the transmission assembly is a crank-rocker mechanism, which includes a first rod, a second rod, and a third rod, one end of which is rotatably connected to each other, and the third driving member includes a reciprocating piston rod, the other end of the first rod is fixedly connected to the piston rod, the other end of the second rod is rotatably connected to the upper wrapping portion, and the other end of the third rod is rotatably connected to the lower wrapping portion;

[0013] When the piston rod reciprocates, the third rod drives the lower wrapping part to rotate relative to the upper wrapping part.

[0014] In one embodiment, the coating module also includes a first connecting part and a second connecting part, the first connecting part is fixedly connected to the connecting frame, the second connecting part is fixedly connected to the upper wrapping part and the third driving member, the first connecting part and the second connecting part are rotatably connected, and the first connecting part can rotate relative to the second connecting part.

[0015] In one embodiment, the first connecting portion and the second connecting portion are connected by a plurality of elastic members, and the plurality of elastic members are divided into two groups, one end of the elastic member of one group is connected to the first connecting portion, and the other end is connected to the second connecting portion, and the elastic members of the group are used to provide a restoring force for the first connecting portion to rotate relative to the second connecting portion;

[0016] The length extension direction of the second group of elastic members is the walking direction of the traveling wheel, and the two ends of the second group of elastic members are respectively connected to the first connecting part and the second connecting part to adjust the distance between the second connecting part and the first connecting part in the walking direction.

[0017] In one embodiment, a first connecting member is provided on a side of the connecting frame close to the loading box, and in the extrusion module, at least one loading box is provided, and the extrusion components and the loading box are provided in a one-to-one correspondence;

[0018] A second connecting piece and a third connecting piece are respectively provided on both sides of the loading box. The second connecting piece is fixedly connected to the first connecting piece. The third connecting piece has the same structure as the first connecting piece and is used to fix another loading box to the third connecting piece.

[0019] In one embodiment, the first connecting member and the third connecting member are hooks, the second connecting member is a box buckle assembly, and the hooks and the box buckle assembly are detachably connected.

[0020] In one embodiment, there are two groups of extrusion modules, which are respectively located on both sides below the connecting frame. The two groups of extrusion modules extend in directions away from the connecting frame so that the opposite extension directions intersect to form an angle, and the traveling wheels in the traveling module are located at the tip of the angle.

[0021] In one embodiment, a lifting module is further included. The lifting module is located on the upper side of the connecting frame and is fixedly connected to the connecting frame. The lifting module is used to connect to external equipment to place the coating robot on or lift it off the high-voltage cable.

[0022] In one embodiment, the traveling module and the coating module are both provided with a plurality of external interfaces for connecting to external devices.

[0023] The coating robot of the present invention adopts a plurality of modules that can be detachably connected to form a whole. Each module realizes its own function. When a module needs to be replaced and repaired, it only needs to be removed without affecting the normal operation of other modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of the coating robot in an embodiment of the present utility model;

[0025] Figure 2 This Figure 1 A schematic diagram of the internal structure of the coating robot after the outer shell is hidden in the embodiment;

[0026] Figure 3 yes Figure 2 A structural diagram of the coating robot in the embodiment with its connection relationship hidden;

[0027] Figure 4 yes Figure 1 A schematic structural diagram of the coating module in the embodiment;

[0028] Figure 5 yes Figure 2 Enlarged view of point A in the middle;

[0029] Figure 6 This is a front view of the internal structure of the extrusion module hidden behind the shell.

[0030] In the accompanying drawings, the various reference numerals represent: traveling module 100; traveling wheel 110; first driving member 120; connecting frame 130; extrusion module 200; loading box 210; second driving member 220; extrusion plate 230; glue outlet 240; first connecting member 250; first section 251; second section 252; second connecting member 260; fixing part 261; rotating part 262; box buckle 263; third connecting member 270; push rod 281; transmission gear 282; coating module 300; upper wrapping part 311; lower wrapping part 312; coating chamber 313; nozzle 320; third driving member 330; first rod 331; second rod 332; third rod 333; piston rod 334; first connecting part 340; second connecting part 350; elastic member 360; rotation point 370; lifting module 400; camera 500. DETAILED DESCRIPTION

[0031] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc., indicating the orientation or position relationship, are based on the orientation or position 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0034] See Figure 1 , Figure 1The schematic diagram of the appearance structure of the coating robot provided in this application is shown, which mainly includes three modules, namely the moving module 100, the extrusion module 200 and the coating module 300. The moving module 100 is responsible for the walking of the coating robot on the high-voltage cable, the extrusion module 200 is responsible for carrying the coating material and squeezing the coating material to the coating module 300, and the coating module 300 mainly coats the coating material on the surface of the high-voltage cable.

[0035] The traveling module 100 includes a traveling wheel 110, a first driving member 120, and a connecting frame 130. The traveling wheel 110 is rotatably connected to the connecting frame 130. The traveling wheel 110 is provided with a groove extending around its circumference to accommodate a high-voltage cable. The first driving member 120 can drive the traveling wheel 110 to rotate around the axis of the traveling wheel 110. The extrusion module 200 includes a loading box 210 and an extrusion assembly. The extrusion assembly includes a second driving member 220 and an extrusion plate 230. The loading box 210 is detachably connected to the lower side of the connecting frame 130. The loading box 210 is used to hold coating material. The loading box 210 is provided with a glue outlet 240. The second driving member 220 is connected to the extrusion plate 230. The second driving member 220 drives the extrusion plate 230 to move within the loading box 210 to extrude the coating material to the glue outlet 240. The coating module 300 is located on the rear side of the movement direction of the traveling wheel 110. The coating module 300 includes a wrapping part and a nozzle 320. The wrapping part is provided with a coating cavity 313 for the high-voltage cable to pass through. The nozzle 320 extends into the coating cavity 313. The wrapping part is detachably connected to the connecting frame 130, and the nozzle 320 is connected to the glue outlet 240.

[0036] In the above embodiment, the coating robot is composed of multiple modules that are detachably connected to form a whole. Each module performs its own function. When a module needs to be replaced or repaired, only the module needs to be removed without affecting the normal operation of other modules.

[0037] For details, please refer to Figure 2 and Figure 3 , Figure 2 compared to Figure 1 The shell is hidden and the internal structure diagram is displayed. Figure 3 Compared with Figure 2 Some of the connections are hidden to more intuitively show the positional relationship diagram of the three modules wrapped in the shell. Figure 3The working principle of the traveling module 100 can be seen in the figure: In this application, the traveling module 100 includes two traveling wheels 110, which are connected by a conveyor belt, one of which is a driving wheel and the other is a driven wheel. Both traveling wheels 110 are V-shaped wheels to accommodate high-voltage cables. The driving wheel is connected to the first driving member 120, and the first driving member 120 is a motor. The motor drives the driving wheel to rotate by rotating the output shaft, and drives the driven wheel to rotate together through the conveyor belt, and realizes walking on the high-voltage cable through the friction with the high-voltage cable.

[0038] See Figure 4 , Figure 4 The schematic diagram of the structure of the coating module 300 is shown. In one embodiment, in the coating module 300, the wrapping portion includes an upper wrapping portion 311 and a lower wrapping portion 312, and the upper wrapping portion 311 is fixedly connected to the connecting frame 130. The upper wrapping portion 311 and the lower wrapping portion 312 enclose a coating cavity 313, and the lower wrapping portion 312 is rotatably connected to the upper wrapping portion 311 so that a gap is formed in the side wall of the coating cavity 313. The coating module 300 also includes a third driving member 330 and a transmission assembly. The third driving member 330 is fixedly connected to the wrapping portion, and the transmission assembly connects the third driving member 330 and the lower wrapping portion 312. The third driving member 330 drives the lower wrapping portion 312 to rotate relative to the upper wrapping portion 311 through the transmission assembly.

[0039] Preferably, see Figure 4 In one embodiment, the transmission assembly is a crank-rocker mechanism comprising a first rod 331, a second rod 332, and a third rod 333, all of which are rotatably connected at one end. The third driving member 330 includes a reciprocating piston rod 334. The other end of the first rod 331 is fixedly connected to the piston rod 334, the other end of the second rod 332 is rotatably connected to the upper wrapping portion 311, and the other end of the third rod 333 is rotatably connected to the lower wrapping portion 312. When the piston rod 334 reciprocates, the third rod 333 drives the lower wrapping portion 312 to rotate relative to the upper wrapping portion 311.

[0040] Specifically, in the above embodiment, combined with Figure 4 You can see how the coating cavity 313 wraps around the outer surface of the high-voltage cable. As we all know, the ends of the high-voltage cable are almost endless. It is impossible to pass the cable into the coating cavity 313 during coating. Instead, the side of the coating cavity 313 must be opened, the high-voltage cable must be inserted, and then the side walls of the coating cavity 313 must be closed. Figure 4 , Figure 4When the third driving member 330 is in the middle, it is a small hydraulic cylinder. The hydraulic cylinder has a piston rod 334 that can reciprocate up and down. The piston rod 334 is fixedly connected to one end of the first rod 331. In this way, when the piston rod 334 moves, the first rod 331 will swing up and down. Taking the upward movement of the piston rod 334 as an example, the first rod 331 will move upward accordingly, thereby driving the connection point where the first rod 331, the second rod 332, and the third rod 333 are connected to rotate together, so that the second rod 332 rotates relative to the upper wrapping part 311. The second rod 332 only plays a limiting role to prevent the first rod 331 from being displaced without rotating. The key lies in the third rod 333. The third rod 333 rotates relative to the lower wrapping part 312 due to the upward movement of the connection point. At the same time, since the length of the third rod 333 is fixed, it will pull the lower wrapping part 312. Since the lower wrapping part 312 can rotate relative to the upper wrapping part 311, the third rod 333 will drive the lower wrapping part 312 to rotate, thereby opening the side wall of the coating chamber 313.

[0041] The downward movement of piston rod 334 reverses the crank-rocker mechanism, causing third rod 333 to rotate lower wrapping portion 312 until it contacts upper wrapping portion 311, closing the sidewalls of coating chamber 313 and firmly enclosing the high-voltage cable. This allows nozzle 320 to continuously apply material to the high-voltage cable at a constant spraying speed while the coating robot travels, completing the coating process.

[0042] In other embodiments, the third driving member 330 may also be a driving motor or a cylinder. The principle of a cylinder is similar to that of a hydraulic cylinder. The output end of the driving motor is for rotational motion. Therefore, it can be rotated by connecting one of the screw-nut transmission structures, and the other is connected to the end of the first rod 331 away from the second rod 332 to drive the first rod 331 to move linearly, thereby achieving rotation of the lower wrapping portion 313 relative to the upper wrapping portion 311. It can be understood that as long as the end of the first rod 331 away from the end of the second rod 332 is made to achieve translational motion, the crank rocker mechanism can be driven to move, causing the lower wrapping portion 312 to rotate relative to the upper wrapping portion 311. Therefore, the third driving member 330 and the transmission member connecting the first rod 331 and the third driving member 330 can be freely configured as long as they meet the requirements.

[0043] Preferably, in one embodiment, there are two lower wrapping parts 312 and four crank rocker mechanisms, and every two crank rocker mechanisms are responsible for the movement of one lower wrapping part 312. In this way, when opening, it is like a double door, which can reduce the total movement stroke of the crank rocker mechanism, make the movement more stable, and the movement space is smaller.

[0044] In other embodiments, the lower wrapping portion 312 can also be rotated relative to the upper wrapping portion 311 in other ways. For example, two small hydraulic cylinders are respectively provided on both sides of the lower wrapping portion 312, and the lower wrapping portion 312 is directly pulled open by the movement of the piston rod 334 to open the side wall of the coating cavity 313.

[0045] See Figure 4 Preferably, the nozzle 320 is divided into four angles to coat the high-voltage cable. Even if there is only one or two glue tanks, the glue tanks can be connected to four pipes, and then four pipes are used to connect four nozzles 320 to achieve 360-degree uniform coating of the high-voltage cable. Figure 3 In this application, since the extrusion module 200 is detachable and can be set in multiple groups, each loading box 210 is provided with two glue tanks, and there are four loading boxes in total. Figure 4 There are eight nozzles 320 in total, with two nozzles 320 at each angle.

[0046] See Figure 4 In one embodiment, the coating module 300 also includes a first connecting part 340 and a second connecting part 350, the first connecting part 340 is fixedly connected to the connecting frame 130, the second connecting part 350 is fixedly connected to the upper wrapping part 311 and the third driving member 330, the first connecting part 340 and the second connecting part 350 are rotatably connected, and the first connecting part 340 can rotate relative to the second connecting part 350.

[0047] Preferably, see Figure 4 In one embodiment, the first connection part 340 and the second connection part 350 are connected by a plurality of elastic members 360. The plurality of elastic members 360 are divided into two groups, wherein one end of one group of elastic members 360 is connected to the first connection part 340 and the other end is connected to the second connection part 350. The group of elastic members 360 is used to provide a restoring force for the first connection part 340 to rotate relative to the second connection part 350. The length extension direction of the second group of elastic members 360 is the walking direction of the traveling wheel 110. The two ends of the second group of elastic members 360 are respectively connected to the first connection part 340 and the second connection part 350 to adjust the distance between the second connection part 350 and the first connection part 340 in the walking direction.

[0048] Specifically, in the above two embodiments, except for the first connecting portion 340, the rest of the coating module 300 can rotate and move slightly relative to the traveling module 100. The rotation is due to the rotation connection between the first connecting portion 340 and the second connecting portion 350 through the rotation 370, which participates in the rotation of the coating module 300. Figure 4, the rotation point 370 can also move back and forth a short distance relative to the first connection part 340 in the direction of movement of the traveling wheel 110. This allows the coating module 300 to have more freedom of movement than the traveling module 100. During the coating process, if the high-voltage cable is affected by its own shaking, or if the high-voltage cable is damaged or has attachments such as bird droppings that cause the surface of the high-voltage cable to be uneven, the traveling module 100 will also shake synchronously. At this time, the coating module 300 can be adjusted relative to the traveling module 100 so as not to affect the coating effect. It can be understood that from Figure 4 As can be seen in the figure, when the second connecting portion 350 rotates or moves linearly relative to the first connecting portion 340, both the horizontally arranged elastic member 370 and the tilted elastic member 370 will deform to drive the coating module 300 to reset, thereby maintaining horizontality with the high-voltage cable and achieving a better coating effect. The elastic member 370 is usually a spring.

[0049] Now turn to the extrusion module 200, see Figure 1-Figure 3 You can see the position of the extrusion module 200 in the coating robot, see Figure 5 The connection between the extrusion module 200 and the traveling module 100 can be seen. In one embodiment, a first connecting member 250 is provided on the side of the connecting frame 130 close to the loading box 210. In the extrusion module 200, there is at least one loading box 210, and the extrusion components and the loading box 210 are provided in a one-to-one correspondence. Figure 5 and Figure 6 On the left side, a second connecting member 260 and a third connecting member 270 are respectively provided on both sides of the loading box 210. The second connecting member 260 is fixedly connected to the first connecting member 250. The third connecting member 270 has the same structure as the first connecting member 250. The third connecting member 270 is used to fix the other loading box 210 to the third connecting member 270.

[0050] For details, see Figure 5In one embodiment, the first connecting member 250 is a hook, comprising a first section 251 and a second section 252. One end of the first section 251 is fixedly connected to the base perpendicularly, and the other end of the first section 251 is connected perpendicularly to one end of the second section 252. The second section 252 is parallel to the base. The first section 251, the second section 252, and the base define a limiting cavity. The second connecting member 260 is a box latch assembly, comprising a fixed portion 261 and a rotating portion 262. The fixed portion 261 is fixedly connected to the loading box 210, and the rotating portion 262 is rotatably connected to the fixed portion 261. The rotating portion 262 is provided with a box latch 263, which is rotatably connected to the rotating portion 262. The loading box 210 is supported against the base. The rotating portion 262 rotates, allowing the box latch 263 to pass through the second section 252 and enter the limiting cavity. The rotating portion 262 rotates in the opposite direction, and the box latch 263 is supported against the side of the first section 251 facing away from the base. The first section 251 of the third connecting member 270 (not shown) is fixedly connected to the same side of the loading box 210 as the fixing portion 261 . The limiting cavity enclosed by the third connecting member 270 and the loading box 210 opens toward the second connecting member 260 .

[0051] Specifically, in the above embodiment, the first connecting member 250 and the second connecting member 260 are both relatively common mechanically detachable connecting members. The third connecting member 270 and the first connecting member 250 are both hooks, except that the third connecting member 270 is installed at the end of the loading box 210 facing away from the base, so that the first connecting member 250 of the next loading box 210 can be connected to it.

[0052] In other embodiments, bolt connection or clip connection may also be used. The hook and box buckle 263 structure provided in the present application is convenient and fast to achieve detachable connection, and has a better connection effect.

[0053] Preferably, since the loading box 210 is mostly a rectangular parallelepiped and has one surface that mates with the base, the second connectors 260 are located on two opposing sides of the mate surface. Two second connectors 260 are provided on each of these two opposing sides, and four first connectors 250 are provided at corresponding positions on the base, thereby providing a more stable connection. Similarly, a total of three third connectors 270 are also provided on the other end of the two opposing sides of the loading box 210 that face away from the base. Of course, if the connection method is a bolt connection, holes can be opened on the mate surface or on the side. There are many bolt connection methods, which will not be elaborated on here.

[0054] See Figure 6 , Figure 6The schematic diagram of the extrusion structure of the extrusion module 200 is shown. In one embodiment, the extrusion module 200 further includes a transmission assembly, the extrusion plate 230 is connected to the transmission assembly, the second driving member 220 is connected to the transmission assembly, and the second driving member 220 drives the extrusion plate 230 to move back and forth in the loading box 210 through the transmission assembly. Figure 6 It is located on the back of the transmission assembly so it is not shown, but Figure 3 The second driving member 220 can be seen in the figure. The extrusion plate 230 moves to extrude the coating material in the loading box 210 to the glue outlet 240, thereby entering the nozzle 320 of the coating module 300 and coating the coating material on the surface of the high-voltage cable.

[0055] Preferably, in one embodiment, the second drive member 220 is a motor, and the transmission assembly includes a push rod 281 and a transmission gear 282. The output shaft of the motor is fixedly connected to the transmission gear 282, the push rod 281 meshes with the transmission gear 282, and the extrusion plate 230 is fixedly connected to one end of the push rod 281. The motor can be remotely controlled, has a small size, and has stable output power, which is suitable for stably outputting coating material during the uniform movement of the coating robot. The gear transmission method has stable coordination, long service life, and flexible transmission ratio settings, which is more suitable for the working mode of the coating robot.

[0056] Preferably, see Figure 6 In one embodiment, the transmission gear 282 is a planetary reduction gear set, which includes a main gear and a pinion gear. The main gear is fixedly connected to the output shaft of the motor. Multiple pinions are provided and mesh with the main gear. The pinions mesh with the push rods 281 in a one-to-one correspondence. The planetary reduction gear set can amplify torque and reduce speed, achieving high torque with a small motor, reducing the overall weight of the product and lowering costs.

[0057] See Figure 1 In one embodiment, two groups of extrusion modules 200 are provided, and the two groups of extrusion modules 200 are respectively located on both sides below the connecting frame 130. The two groups of extrusion modules 200 extend in directions away from the connecting frame 130, so that the opposite extension directions intersect to form an angle, and the traveling wheel 110 in the traveling module 100 is located at the tip of the angle.

[0058] In the above embodiment, the coating robot is V-shaped, and becomes an inverted V-shape when placed on the high-voltage cable. After the traveling wheel 110 presses on the high-voltage cable, the extrusion module 200 will be below the high-voltage cable, which can move the center of gravity downward and make the coating robot more stable on the high-voltage cable.

[0059] See Figure 1In one embodiment, a lifting module 400 is further included. The lifting module 400 is located above and fixedly connected to the connecting frame 130. The lifting module 400 is used to connect to an external lifting device to place the coating robot on or lift it off the high-voltage cable. The lifting module 400 primarily facilitates the operation of adding a drone or other lifting equipment to lift the coating robot, such as lifting it onto the high-voltage cable or lifting it back to the ground.

[0060] See Figure 1 In one embodiment, the traveling module 100 and the coating module 300 are both provided with a plurality of external interfaces for connecting to external devices. Figure 2 Cameras 500 are installed at positions of the coating module 300 and the traveling module 100 away from each other to observe the scene in the traveling direction of the coating robot and the coating effect of the high-voltage cable.

[0061] In other embodiments, other devices may be connected externally according to other requirements.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A coating robot, characterized in that: include: A traveling module (100) comprises a traveling wheel (110), a first driving member (120) and a connecting frame (130), wherein the traveling wheel (110) is rotatably connected to the connecting frame (130), the traveling wheel (110) is provided with a groove extending around its circumference to accommodate a high-voltage cable, and the first driving member (120) is capable of driving the traveling wheel (110) to rotate around the axis of the traveling wheel (110); An extrusion module (200) comprises a loading box (210) and an extrusion assembly, wherein the extrusion assembly comprises a second driving member (220) and an extrusion plate (230), wherein the loading box (210) is detachably connected to the lower side of the connecting frame (130), the loading box (210) is used to place a coating material, the loading box (210) is provided with a glue outlet (240), the second driving member (220) is connected to the extrusion plate (230), and the second driving member (220) drives the extrusion plate (230) to move in the loading box (210) to extrude the coating material to the glue outlet (240); A coating module (300) is located at the rear side of the moving direction of the traveling wheel (110), and the coating module (300) includes a wrapping portion and a nozzle (320). The wrapping portion is provided with a coating cavity (313) for the high-voltage cable to pass through, and the nozzle (320) extends into the coating cavity (313). The wrapping portion is detachably connected to the connecting frame (130), and the nozzle (320) is communicated with the glue outlet (240).

2. The coating robot according to claim 1, characterized in that: In the coating module (300), the wrapping portion comprises an upper wrapping portion (311) and a lower wrapping portion (312), and the upper wrapping portion (311) is fixedly connected to the connecting frame (130); The upper wrapping portion (311) and the lower wrapping portion (312) enclose the coating cavity (313), and the lower wrapping portion (312) is rotatably connected to the upper wrapping portion (311) so that a notch is formed on the side wall of the coating cavity (313); The coating module (300) further includes a third driving member (330) and a transmission assembly, wherein the third driving member (330) is fixedly connected to the wrapping portion, and the transmission assembly connects the third driving member (330) and the lower wrapping portion (312), and the third driving member (330) drives the lower wrapping portion (312) to rotate relative to the upper wrapping portion (311) through the transmission assembly.

3. The coating robot according to claim 2, characterized in that: The transmission assembly is a crank rocker mechanism, which includes a first rod, a second rod, and a third rod, one end of which is rotatably connected to each other, the third driving member (330) having a reciprocating piston rod (334), the other end of the first rod being fixedly connected to the piston rod (334), the other end of the second rod being rotatably connected to the upper wrapping portion (311), and the other end of the third rod being rotatably connected to the lower wrapping portion (312); When the piston rod (334) reciprocates, the third rod drives the lower wrapping portion (312) to rotate relative to the upper wrapping portion (311).

4. The coating robot according to claim 2, characterized in that: The coating module (300) further includes a first connecting portion (340) and a second connecting portion (350), wherein the first connecting portion (340) is fixedly connected to the connecting frame (130), and the second connecting portion (350) is fixedly connected to the upper wrapping portion (311) and the third driving member (330), and the first connecting portion (340) and the second connecting portion (350) are rotatably connected, and the first connecting portion (340) can rotate relative to the second connecting portion (350).

5. The coating robot according to claim 4, characterized in that: The first connecting portion (340) and the second connecting portion (350) are connected via a plurality of elastic members (360), and the plurality of elastic members (360) are divided into two groups, wherein one end of the elastic member (360) of one group is connected to the first connecting portion (340) and the other end is connected to the second connecting portion (350), and the group of elastic members (360) is used to provide a restoring force for the first connecting portion (340) to rotate relative to the second connecting portion (350); The length extension direction of the second group of elastic members (360) is the walking direction of the traveling wheel (110), and the two ends of the second group of elastic members (360) are respectively connected to the first connecting portion (340) and the second connecting portion (350) to adjust the distance between the second connecting portion (350) and the first connecting portion (340) in the walking direction.

6. The coating robot according to claim 1, characterized in that: A first connecting member (250) is provided on a side of the connecting frame close to the loading box (210); in the extrusion module (200), the loading box (210) is provided with at least one, and the extrusion assembly and the loading box (210) are provided in a one-to-one correspondence; A second connecting member (260) and a third connecting member (270) are respectively provided on both sides of the loading box (210); the second connecting member (260) is fixedly connected to the first connecting member (250); the third connecting member (270) has the same structure as the first connecting member (250); and the third connecting member (270) is used to fixedly connect another loading box (210) to the third connecting member (270).

7. The coating robot according to claim 6, characterized in that: The first connecting member (250) and the third connecting member (270) are hooks, the second connecting member (260) is a box buckle assembly, and the hooks and the box buckle assembly are detachably connected.

8. The coating robot according to claim 1, characterized in that: The extrusion modules (200) are provided in two groups, and the two groups of the extrusion modules (200) are respectively located on both sides below the connecting frame (130). The two groups of the extrusion modules (200) respectively extend in directions away from the connecting frame (130) so that the opposite directions of the extension intersect to form an angle, and the traveling wheel (110) in the traveling module (100) is located at the tip of the angle.

9. The coating robot according to claim 1, characterized in that: It also includes a lifting module (400), which is located on the upper side of the connecting frame (130) and fixedly connected to the connecting frame (130). The lifting module (400) is used to connect to external equipment to place the coating robot on or lift it off the high-voltage cable.

10. The coating robot according to claim 1, characterized in that: The traveling module (100) and the coating module (300) are both provided with a plurality of external connection interfaces for connecting to external devices.

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