阅读说明：本技术 基于毫米波成像的电力缆线绝缘层涂覆机器人 (Power cable insulating layer coating robot based on millimeter wave imaging ) 是由 王敏刚 杨佳枰 于 2021-01-19 设计创作，主要内容包括：本申请公开了一种基于毫米波成像的电力缆线绝缘层涂覆机器人,其包括：箱体、壳体、行走电机、摆杆、安装机架和延伸支架；箱体外壁与壳体固定连接,行走电机和安装机架都与箱体顶部固定连接,摆杆与安装机架侧端转动连接,延伸支架与安装机架侧端固定连接；安装机架分别与前高清摄像头以及毫米波摄像头固定连接,前高清摄像头和毫米波摄像头分别对应有软毛刷以及滑轮；安装机架和延伸支架分别位于安装机架两侧,摆杆顶部与连接杆固定连接,连接杆和摆杆端部都与软毛刷固定连接。本申请的有益之处在于提供一种具有除尘功能且能实现绝缘胶均匀涂覆功能的基于毫米波成像的电力缆线绝缘层涂覆机器人。(The application discloses power cable insulating layer coating robot based on millimeter wave formation of image, it includes: the device comprises a box body, a shell, a walking motor, a swing rod, an installation rack and an extension bracket; the outer wall of the box body is fixedly connected with the shell, the walking motor and the mounting rack are fixedly connected with the top of the box body, the swing rod is rotatably connected with the side end of the mounting rack, and the extension bracket is fixedly connected with the side end of the mounting rack; the mounting frame is fixedly connected with the front high-definition camera and the millimeter wave camera respectively, and the front high-definition camera and the millimeter wave camera are respectively provided with a soft brush and a pulley in a corresponding mode; the mounting rack and the extension support are respectively positioned at two sides of the mounting rack, the top of the swing rod is fixedly connected with the connecting rod, and the connecting rod and the end part of the swing rod are fixedly connected with the soft brush. The utility model provides a beneficial part lies in providing a power cable insulating layer coating robot based on millimeter wave formation of image that has the dust removal function and can realize the even coating function of insulating cement.)

1. The utility model provides a power cable insulating layer coating robot based on millimeter wave formation of image which characterized in that:

the power cable insulating layer coating robot based on millimeter wave imaging comprises: the device comprises a box body, a shell, a walking motor, a swing rod, an installation rack and an extension bracket;

the outer wall of the box body is fixedly connected with the shell, the walking motor and the mounting rack are fixedly connected with the top of the box body, the walking motor and the mounting rack are positioned on the same side of the box body, the swing rod is rotatably connected with the side end of the mounting rack, and the extension bracket is fixedly connected with the side end of the mounting rack; the mounting rack is fixedly connected with the front high-definition camera and the millimeter wave camera respectively, and the front high-definition camera and the millimeter wave camera are respectively provided with a soft brush and a pulley in a corresponding mode; the installation rack and the extension support are respectively positioned on two sides of the installation rack, the top of the swing rod is fixedly connected with the connecting rod, the connecting rod and the end part of the swing rod are fixedly connected with the soft hairbrush, the bottom end of the swing rod is fixedly connected with the sleeve plate, and the inner part of the sleeve plate is fixedly connected with the guide rod.

2. The millimeter wave imaging-based power cable insulation layer coating robot according to claim 1, wherein:

the utility model discloses a glue storage tank, including box, storage tank, piston, lead screw, casing, fixed plate, storage tank, piston, lead screw tip fixed connection, the inside and storage tank fixed connection of gluing of box, the quantity of storage tank is two, two the mutual symmetric distribution of storage tank is glued, the storage is glued the inside and piston seal sliding connection of tank, piston and lead screw tip fixed connection, the quantity of lead screw is two, two the lead screw is located respectively and stores up inside the glue tank, two be equipped with the casing between the lead screw, another tip of lead.

3. The millimeter wave imaging-based power cable insulation layer coating robot according to claim 1, wherein:

the improved screw driver is characterized in that the outer wall of the shell is fixedly connected with a fixed shaft, the end part of the fixed shaft is fixedly connected with a driving motor, the cross section of the fixed shaft is of a circular ring-shaped structure, the output end of the driving motor is fixedly connected with a driving shaft, the driving motor is located between two screw rods, the driving shaft is rotatably connected with the inside of the fixed shaft, the end part of the driving shaft is fixedly connected with a driving gear, and the driving gear is located inside the shell.

4. A millimeter wave imaging based power cable insulation layer coating robot according to claim 3, wherein:

the utility model discloses a lead screw, including box lateral wall, apron, gear plate, gear wheel, drive gear, gear wheel, casing lateral wall, the box lateral wall passes through screw and two apron fixed connection, two the apron is located the casing both sides respectively, the apron rotates with the pivot to be connected, pivot tip and gear wheel fixed connection, the casing lateral wall has been seted up the opening so that gear wheel one side extends to inside the casing, the gear wheel is connected with drive gear meshing, the quantity of gear wheel is two and symmetric distribution, the round hole has all been seted up at gear wheel and apron middle part so that the lead screw removes, lead.

5. The millimeter wave imaging-based power cable insulation layer coating robot according to claim 1, wherein:

the utility model discloses a flexible brush, including mounting frame, walking motor, fixed disk, recess, guide arm, fixed disk, belt pulley and walking motor, fixed disk, belt pulley, fixed disk, walking motor, fixed disk, walking motor, fixed disk, walking motor.

6. A millimeter wave imaging based power cable insulation layer coating robot according to claim 5, wherein:

band pulley and walking motor are located the installation frame both sides respectively, the quantity of band pulley is two and connects through belt drive, is located the top band pulley and the coaxial fixed connection of sprocket, the quantity of sprocket is two, two the sprocket is located installation frame top both sides respectively, two connect through chain drive between the sprocket, the installation frame lateral wall rotates with the walking wheel and is connected, the walking wheel is connected with the coaxial fixed connection of sprocket, walking wheel and sprocket are located installation frame top both sides respectively, the embedded groove has been seted up on the walking wheel surface so that the walking wheel rolls on the power cable surface, walking wheel bottom and pappus brush are located same horizontal position.

7. The millimeter wave imaging-based power cable insulation layer coating robot according to claim 1, wherein:

the utility model discloses a battery box, including installation frame, wireless communication module, millimeter wave camera, battery module, mounting frame lateral wall, controller and millimeter wave camera, installation frame lateral wall respectively with wireless communication module and controller fixed connection, wireless communication module and controller are located the installation frame both sides respectively, controller and millimeter wave camera are located the installation frame homonymy, the controller respectively with wireless communication module and battery module electric connection, battery module and box top fixed connection, battery module is located inside the mounting panel, the mounting panel is the U-shaped structure, mounting panel and box fixed connection.

8. The millimeter wave imaging-based power cable insulation layer coating robot according to claim 1, wherein:

the extension support is located installation frame one side top, installation frame top is the U-shaped structure, installation frame top lateral wall and waterproof board fixed connection, the waterproof board bottom corresponds there is chain, preceding high definition digtal camera and millimeter wave camera, the millimeter wave camera is the slope form setting, the extension support is the column structure of buckling, extend support tip and two curb plate fixed connection, the quantity of curb plate is four, is located two of homonymy through connecting plate fixed connection, per two rotate with two pulleys between the curb plate and be connected, the contact has the power cable between the pulley.

9. The millimeter wave imaging-based power cable insulation layer coating robot according to claim 8, wherein:

extend support and curb plate respectively with nozzle upper cover and nozzle lower cover fixed connection, the nozzle upper cover is fixed with nozzle lower cover joint, the nozzle upper cover has been seted up with nozzle lower cover junction has the cable import, the cable import is located between the pulley, be formed with the cavity so that the insulating cement coating between nozzle upper cover and the nozzle lower cover, nozzle upper cover and nozzle lower cover have been seted up respectively and have been advanced gluey mouth and advance gluey mouth down, it all communicates with the cavity is inside to advance gluey mouth and advance gluey mouth down.

10. The millimeter wave imaging-based power cable insulation layer coating robot according to claim 1, wherein:

the mounting machine frame top and the handle are fixedly connected, the mounting machine frame and the mounting plate are respectively located on two sides of the box body, the side end of the box body is fixedly penetrated through the two connecting pipes, and the connecting pipes are respectively communicated with the glue storage tank, the upper glue inlet and the lower glue inlet.

Technical Field

The invention relates to a power cable insulating layer coating robot based on millimeter wave imaging, in particular to a power cable insulating layer coating robot based on millimeter wave imaging, and belongs to the technical field of coating robots.

Background

The power cable is a cable product used for transmitting and distributing high-power electric energy in a trunk line of a power system, the basic structure of the power cable consists of four parts, namely a wire core, an insulating layer, a shielding layer and a protective layer, the power cable is commonly used for urban underground power grids, power station leading-out lines, power supply inside industrial and mining enterprises and underwater power transmission lines crossing the river, the use of the power cable has been in the past century, early overhead lines generally adopt bare wires as carriers for power transmission, foreign objects such as kites, plastic cloth and the like are hung on the power lines accidentally, mud flow formed by dust collection on insulators in storms or heavy rains easily causes short circuit among high-voltage power lines, accidents such as accidental power failure and the like are caused, the basic structure of the power cable consists of four parts, namely the wire core, the insulating layer, the shielding layer and the protective layer, the wire core is a conductive part of, the insulation layer is an indispensable component in a power cable structure, and power cables with a shielding layer of 15KV and above generally comprise a conductor shielding layer and an insulation shielding layer.

The prior art is generally through changing bare conductor into insulated wire in order to solve above-mentioned problem, but this kind of method has that the investment is big and the construction cycle is long, the line transformation project construction is obstructed, and must cut off the power supply in the work progress, seriously influences resident's power consumption scheduling problem. Further, the electric current system may be divided into an ac cable and a dc cable. At present, no power cable insulating layer coating robot based on millimeter wave imaging exists.

Disclosure of Invention

In order to solve the shortcomings of the prior art, the application provides a power cable insulating layer coating robot based on millimeter wave imaging, which comprises: the device comprises a box body, a shell, a walking motor, a swing rod, an installation rack and an extension bracket; the outer wall of the box body is fixedly connected with the shell, the walking motor and the mounting rack are fixedly connected with the top of the box body, the walking motor and the mounting rack are positioned on the same side of the box body, the swing rod is rotatably connected with the side end of the mounting rack, and the extension bracket is fixedly connected with the side end of the mounting rack; the mounting frame is fixedly connected with the front high-definition camera and the millimeter wave camera respectively, and the front high-definition camera and the millimeter wave camera are respectively provided with a soft brush and a pulley in a corresponding mode; the installation rack and the extension support are respectively positioned at two sides of the installation rack, the top of the swing rod is fixedly connected with the connecting rod, the connecting rod and the end part of the swing rod are fixedly connected with the soft hairbrush, the bottom end of the swing rod is fixedly connected with the sleeve plate, and the inner part of the sleeve plate is fixedly connected with the guide rod.

Further, the inside and storage of box glue jar fixed connection, and the quantity that the jar was glued in the storage is two, and two are stored up and glue jar mutual symmetric distribution, store up glue jar inside and piston seal sliding connection, piston and lead screw tip fixed connection, the quantity of lead screw is two, and two lead screws are located respectively and store up inside gluing jar, are equipped with the casing between two lead screws, and another tip of lead screw passes through fixed plate fixed connection.

Furthermore, the outer wall of the shell is fixedly connected with a fixed shaft, the end part of the fixed shaft is fixedly connected with a driving motor, the section of the fixed shaft is of a circular ring-shaped structure, the output end of the driving motor is fixedly connected with a driving shaft, the driving motor is positioned between the two lead screws, the driving shaft is rotatably connected with the inside of the fixed shaft, the end part of the driving shaft is fixedly connected with a driving gear, and the driving gear is positioned inside the shell.

Further, the box lateral wall passes through screw and two apron fixed connection, two apron are located the casing both sides respectively, the apron rotates with the pivot to be connected, pivot tip and toothed disc fixed connection, the casing lateral wall has been seted up the opening so that toothed disc one side extends to inside the casing, toothed disc is connected with drive gear meshing, the quantity of toothed disc is two and symmetric distribution, the round hole has all been seted up at toothed disc and apron middle part so that the lead screw removes, lead screw and the inside threaded connection of pivot.

Further, the walking motor is located installation frame one side, walking motor and pendulum rod all are located the installation frame homonymy, the lagging of pendulum rod bottom is seted up flutedly, the lagging is inside to cup joint with the fixed disk activity, the thickness of fixed disk is less than the width of recess, the recess middle part is equipped with the guide arm, the heavy groove of S-shaped structure is seted up at fixed disk surface middle part, the guide arm bottom extends to the heavy inslot on fixed disk surface inside, the fixed disk is located between band pulley and the walking motor, all be formed with between fixed disk and band pulley and the walking motor and be used for the wobbling clearance of lagging, the lagging is located the pendulum rod middle part, the pendulum rod distal end is equipped with the connecting rod of U-shaped structure, the pappus brush of connecting rod and pendulum rod tip corresponds each other.

Further, band pulley and walking motor are located the installation frame both sides respectively, the quantity of band pulley is two and connects through belt drive, the band pulley and the coaxial fixed connection of sprocket that are located the top, the quantity of sprocket is two, two sprockets are located installation frame top both sides respectively, connect through chain drive between two sprockets, the installation frame lateral wall rotates with the walking wheel and is connected, the walking wheel is connected with the coaxial fixed connection of sprocket, walking wheel and sprocket are located installation frame top both sides respectively, the embedded groove has been seted up on the walking wheel surface so that the walking wheel rolls on the power cable surface, walking wheel bottom and pappus brush are located same horizontal position.

Furthermore, the side wall of the installation rack is fixedly connected with the wireless communication module and the controller respectively, the wireless communication module and the controller are located on two sides of the installation rack respectively, the controller and the millimeter wave camera are located on the same side of the installation rack, the controller is electrically connected with the wireless communication module and the battery module respectively, the battery module is fixedly connected with the top of the box body, the battery module is located inside the installation plate, the installation plate is of a U-shaped structure, and the installation plate is fixedly connected with the box body.

Further, extend the support and be located installation frame one side top, installation frame top is the U-shaped structure, installation frame top lateral wall and waterproof board fixed connection, the waterproof board bottom corresponds there is the chain, preceding high definition digtal camera and millimeter wave camera, the millimeter wave camera is the slope form setting, extend the support and be the column structure of buckling, extend support tip and two curb plate fixed connection, the quantity of curb plate is four, be located through connecting plate fixed connection between two curb plates of homonymy, rotate with two pulleys between per two curb plates and be connected, the contact has the power cable between the pulley.

Further, extend support and curb plate respectively with nozzle upper cover and nozzle lower cover fixed connection, the nozzle upper cover is fixed with nozzle lower cover joint, the nozzle upper cover has been seted up with nozzle lower cover junction has the cable import, the cable import is located between the pulley, be formed with the cavity so that the insulating cement coating between nozzle upper cover and the nozzle lower cover, nozzle upper cover and nozzle lower cover have seted up last jiao kou respectively and have advanced jiao kou down, it all communicates with the cavity is inside to advance jiao kou and down.

Furthermore, the top of the mounting frame is fixedly connected with the handle, the mounting frame and the mounting plate are respectively positioned on two sides of the box body, the side end of the box body is fixedly penetrated through the two connecting pipes, and the connecting pipes are respectively communicated with the glue storage tank, the upper glue inlet and the lower glue inlet.

The application has the advantages that: the utility model provides a power cable insulating layer coating robot based on millimeter wave formation of image that has the dust removal function and can realize the even coating function of insulating cement.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic structural diagram of a power cable insulation layer coating robot based on millimeter wave imaging according to an embodiment of the application;

FIG. 2 is a schematic view of a first perspective structure of the embodiment shown in FIG. 1;

FIG. 3 is a schematic diagram of a second perspective structure of the embodiment shown in FIG. 1;

FIG. 4 is a schematic rear view of the embodiment of FIG. 3;

FIG. 5 is a schematic top view of the interior of the case in the embodiment of FIG. 3;

FIG. 6 is a schematic side view of the walking motor and the swing link in the embodiment of FIG. 3;

FIG. 7 is a schematic perspective view of the upper nozzle cover and the lower nozzle cover of the embodiment of FIG. 1;

FIG. 8 is a schematic perspective view of the embodiment of FIG. 1 with the extension bracket in place;

FIG. 9 is a schematic perspective view of the embodiment of FIG. 1 showing the fixed disk;

FIG. 10 is a schematic view of the internal side view of the housing of the embodiment of FIG. 3;

fig. 11 is a schematic structural diagram of the embodiment shown in fig. 1.

The meaning of the reference symbols in the figures:

the millimeter wave imaging-based power cable insulation layer coating robot 100 comprises a box 101, a glue storage tank 1011, a piston 1012, a lead screw 1013, a fixing plate 1014, a cover plate 1015, a rotating shaft 1016, a gear plate 1017, a housing 102, a fixing shaft 1021, a driving motor 1022, a driving shaft 1023, a driving gear 1024, a traveling motor 103, an output shaft 1031, a fixing plate 1032, a belt wheel 1033, a belt 1034, a chain 1035, a chain 1036, a swing rod 104, a sleeve plate 1041, a soft brush 1042, a guide rod 1043, a connecting rod 1044, a mounting rack 105, a wireless communication module 1051, a front high-definition camera 1052, a millimeter wave camera 1053, a controller 1054, a traveling wheel 1055, a waterproof plate 1056, a mounting plate 1057, a battery module 1058, a handle 1059, an extension bracket 106, a side plate 1061, a connecting plate 1062, a pulley 1063, a nozzle upper cover 1064, a nozzle lower cover 1065, a cable inlet 1066, an upper glue.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 11, the power cable insulating layer coating robot based on millimeter wave imaging includes: the device comprises a box body 101, a shell 102, a walking motor 103, a swing rod 104, a mounting rack 105 and an extension bracket 106.

Referring to fig. 1 to 4, as a preferred scheme, the outer wall of the box 101 is fixedly connected with the housing 102, the housing 102 is used for fixedly mounting a fixed shaft 1021 and a driving motor 1022, the driving motor 1022 can drive the driving shaft 1023 to rotate inside the fixed shaft 1021 during coating of an insulating adhesive, the walking motor 103 and the mounting rack 105 are fixedly connected with the top of the box 101, the walking motor 103 and the mounting rack 105 are located on the same side of the box 101, the swing rod 104 is rotatably connected with the side end of the mounting rack 105, the extension bracket 106 is fixedly connected with the side end of the mounting rack 105, and the walking motor 103 is used for driving the walking wheel 1055 to rotate, so that the coating robot can move; the installation rack 105 is fixedly connected with a front high-definition camera 1052 and a millimeter wave camera 1053 respectively, the front high-definition camera 1052 and the millimeter wave camera 1053 are respectively and correspondingly provided with a soft brush 1042 and a pulley 1063, the front high-definition camera 1052 is used for monitoring dust and foreign matters on the surface of a bare conductor, and the millimeter wave camera 1053 is used for monitoring the coating state of an insulating adhesive; the mounting frame 105 and the extension bracket 106 are respectively located at two sides of the mounting frame 105, the top of the swing rod 104 is fixedly connected with the connecting rod 1044, the end portions of the connecting rod 1044 and the swing rod 104 are fixedly connected with the soft brush 1042, the bottom end of the swing rod 104 is fixedly connected with the sleeve plate 1041, the interior of the sleeve plate 1041 is fixedly connected with the guide rod 1043, and the soft brush 1042 is used for sweeping dust and foreign matters on the surface of the bare conductor.

As an extension, the millimeter wave camera 1053 is an active millimeter wave camera, that is, an active radiation source is used to irradiate a photographed object, which is more suitable for complex working conditions. The high dynamic range and the high radiation contrast are obtained through an active imaging mode, so that the structure of the power cable and the condition of the coating can be effectively analyzed in a millimeter wave imaging picture. As a further preferable aspect, it is possible to rely on the image of the millimeter wave camera 1053 for work at night, which undoubtedly extends the available time for the coating work.

In addition, as an extension solution, multiple groups of millimeter wave cameras can be arranged to shoot the condition of the power cable from different angles, so as to obtain stereoscopic image information, and thus, image reference can be carried out on the space of other execution components.

As an alternative, images acquired by the millimeter wave camera and the optical camera are compared in a coordinate alignment mode, and the images acquired by the millimeter wave camera are corrected for information loss of the optical images caused by reflection or defects of the power cable.

In addition, according to the technical scheme, after coating is finished, the millimeter wave images are collected by the millimeter wave camera and uploaded to the server, the server is provided with an artificial neural network, and through learning of previous images and corresponding detection effects, the artificial neural network outputs judgment on coating quality through millimeter wave image input, so that the robot is helped to judge whether supplementary coating needs to be carried out on parts with possible problems.

Referring to fig. 5, adopt such scheme, inside and the glue storage tank 1011 fixed connection of box 101, the quantity of glue storage tank 1011 is two, two mutual symmetric distributions of glue storage tank 1011, glue storage tank 1011 is inside to be connected with piston 1012 sealing sliding, piston 1012 and lead screw tip fixed connection, the quantity of lead screw is two, two lead screws are located glue storage tank 1011 respectively inside, be equipped with casing 102 between two lead screws, another tip of lead screw passes through fixed plate 1014 fixed connection, glue storage tank 1011 is used for the storage of insulating cement, drive piston 1012 extrusion insulating cement through driving motor 1022 when the robot moves on the wire and realize the transport of insulating cement.

Referring to fig. 1 to 5 and 10, as an expansion scheme, an outer wall of a housing 102 is fixedly connected with a fixed shaft 1021, an end of the fixed shaft 1021 is fixedly connected with a driving motor 1022, a cross section of the fixed shaft 1021 is a circular ring-shaped structure, an output end of the driving motor 1022 is fixedly connected with a driving shaft 1023, the driving motor 1022 is located between two lead screws, the driving shaft 1023 is rotatably connected with an inside of the fixed shaft 1021, an end of the driving shaft 1023 is fixedly connected with a driving gear 1024, the driving gear 1024 is located inside the housing 102, the fixed shaft 1021 is used for fixedly mounting the driving motor 1022, when the driving shaft 1023 is driven by the driving motor 1022 to rotate, transmission of a gear disc 1017 can be realized through the driving gear.

Referring to fig. 5, as a specific scheme, the side wall of the box 101 is fixedly connected with two cover plates 1015 through screws, the two cover plates 1015 are respectively located at two sides of the housing 102, the cover plates 1015 are rotatably connected with the rotating shaft 1016, the end portion of the rotating shaft 1016 is fixedly connected with the gear plate 1017, the side wall of the housing 102 is provided with an opening so that one side of the gear plate 1017 extends into the housing 102, the gear plate 1017 is in meshed connection with the driving gear 1024, the number of the gear plates 1017 is two and symmetrically distributed, the middle portions of the gear plate 1017 and the cover plate 1015 are both provided with round holes so that the screw rod can move, the screw rod is in threaded connection with the rotating shaft 1016, the cover plate 1015 realizes the limit of the rotating shaft 1016 and the gear plate 1017 after the box 101 is fixed, the gear plate 1017 and the rotating shaft 1016 can be driven to simultaneously rotate on the cover plate 1015 when the gear plate 1017 rotates, the rotating shaft 1016, and then drive two lead screws and remove in the middle part of toothed disc 1017 and lagging 1041 simultaneously, realize storing up the extrusion of gluing jar 1011 internal insulation and carry.

Referring to fig. 1 to 6 and 9, as a preferred scheme, the traveling motor 103 is located on one side of the mounting frame 105, the traveling motor 103 and the swing link 104 are located on the same side of the mounting frame 105, a sleeve plate 1041 at the bottom end of the swing link 104 is provided with a groove, the interior of the sleeve plate 1041 is movably sleeved with a fixed disk 1032, the thickness of the fixed disk 1032 is smaller than the width of the groove, a guide rod 1043 is arranged in the middle of the groove, a sinking groove with an S-shaped structure is formed in the middle of the surface of the fixed disk 1032, the bottom end of the guide rod 1043 extends into the sinking groove in the surface of the fixed disk 1032, the sleeve plate 1041 is lapped on the top of the fixed disk 1032, when the traveling motor 103 drives the output shaft 1031 to rotate, the sinking groove in the surface of the fixed disk 1032 pushes the guide rod 1043 to swing back and forth, thereby driving the sleeve plate 1041 and the swing link 104 to swing simultaneously, the sleeve plate 1041 is located in the middle of the swing rod 104, the far end of the swing rod 104 is provided with a connecting rod 1044 of a U-shaped structure, the connecting rod 1044 corresponds to the soft brush 1042 at the end of the swing rod 104, a power cable is arranged between the soft brushes 1042, the soft brushes 1042 correspond to the pulleys 1063, when one end of the swing rod 104 rotates around the installation rack 105, the brush at the other end of the swing rod is driven to swing, the brush swings back and forth on two sides of the cable at the moment, the connecting rod 1044 can not cause the contact of the cable for the U-shaped structure, and the soft brushes 1042 distributed up and down can be arranged to.

Referring to fig. 2 and 4, as an extension, the pulleys 1033 and the traveling motor 103 are respectively located at two sides of the mounting frame 105, the two pulleys 1033 are in transmission connection with each other through a belt 1034, the pulley 1033 located at the top is coaxially and fixedly connected with the sprocket 1035, the sprocket 1035 is two, the two sprockets 1035 are respectively located at two sides of the top of the mounting frame 105, the two sprockets 1035 are in transmission connection with each other through a chain 1036, the side wall of the mounting frame 105 is rotatably connected with the traveling wheel 1055, the traveling wheel 1055 is coaxially and fixedly connected with the sprocket 1035, the traveling wheel 1055 and the sprocket 1035 are respectively located at two sides of the top of the mounting frame 105, the surface of the traveling wheel 1055 is provided with an embedded groove so that the traveling wheel 1055 rolls on the surface of the power cable, the bottom end of the traveling wheel 1055 and the soft brush 1042 are located at the same horizontal position, when the traveling motor 103 is operated, the, the chain wheel 1035 drives the walking wheels 1055 at two sides to rotate simultaneously through the transmission of the chain 1036, and when the coating robot is placed on a cable, the walking wheels 1055 roll to realize the stable movement of the robot.

Referring to fig. 1 to 4, as an extension scheme, the side wall of the mounting rack 105 is respectively fixedly connected with a wireless communication module 1051 and a controller 1054, the wireless communication module 1051 is used as a far infrared remote control receiving module to realize signal transmission, the controller 1054 is used to control the working state and working speed of the driving motor 1022 and the traveling motor 103, and to ensure uniform coating of the insulating glue, the wireless communication module 1051 and the controller 1054 are respectively located at two sides of the mounting rack 105, the controller 1054 and the millimeter wave camera 1053 are located at the same side of the mounting rack 105, the controller 1054 is respectively electrically connected with the wireless communication module 1051 and the battery module 1058, the battery module 1058 is fixedly connected with the top of the box 101, the battery module 1058 is used for power supply of each operating device, the battery module 1058 is located inside the mounting plate 1057, the mounting plate 1057 is in a U-shaped structure, the mounting plate 1057 is fixedly connected with the box 101, and the mounting, capping the top cover that mates with the mounting plate 1057 may improve the water protection of the battery module 1058.

Referring to fig. 1 to 2 and 8, as a specific solution, the extension bracket 106 is located at the top end of one side of the installation rack 105, the top of the installation rack 105 is a U-shaped structure, the side wall of the top of the installation rack 105 is fixedly connected with a waterproof plate 1056, the bottom of the waterproof plate 1056 is correspondingly provided with a chain 1036, a front high-definition camera 1052 and a millimeter-wave camera 1053, the waterproof plate 1056 is used for waterproof protection of the bottom of the waterproof plate, so as to improve the shooting quality of the front high-definition camera 1052 and the millimeter-wave camera 1053, the millimeter-wave camera 1053 is arranged in an inclined shape, the extension bracket 106 is a bent structure, the end of the extension bracket 106 is fixedly connected with two side plates 1061, the extension bracket 106 is used for fixing an insulating glue nozzle and ensuring stable movement thereof, the number of the side plates 1061 is four, two side plates 1061 located on the same side are fixedly connected by a connecting plate, the power cable is in contact with the pulleys 1063, and the pulleys 1063 roll on the surface of the bare conductor, so that the stability of the extension bracket 106 during movement can be improved, the problem of uneven coating caused by shaking generated by the movement of the robot driven by the travelling wheels 1055 is avoided, and the number of times of the robot going back and forth can be reduced.

Referring to fig. 1 to 2 and 7, as a specific solution, the extension bracket 106 and the side plate 1061 are respectively fixedly connected to the nozzle upper cover 1064 and the nozzle lower cover 1065, the nozzle upper cover 1064 is fixedly connected to the nozzle lower cover 1065, a cable inlet 1066 is formed at a connection position of the nozzle upper cover 1064 and the nozzle lower cover 1065, after the nozzle upper cover 1064 and the nozzle lower cover 1065 are mounted and fixed, a bare wire can move inside the nozzle, an insulation paste extruded by the piston 1012 enters the nozzle cavity through the upper glue inlet 1067 and the lower glue inlet 1068 at the same time, the insulation paste can be fully filled inside the nozzle, so as to avoid the uneven coating of the insulation paste, the cable inlet 1066 is located between the pulleys 1063, a cavity is formed between the nozzle upper cover 1064 and the nozzle lower cover 1065, the nozzle upper glue inlet 1067 and the lower glue inlet 1068 are respectively formed on the nozzle upper cover 1064 and the nozzle lower cover 1065, and the upper glue inlet 1067 and the lower glue inlet 1068 are communicated with the cavity, when walking wheel 1055 drives the coating robot and removes, make the cable slide in the nozzle is inside, and the insulating cement coating of its nozzle inside is on bare conductor surface, and the even coating of insulating cement is realized to the stable removal of sending glue and robot along with storing up continuously of gluey jar 1011.

As a specific scheme, the top of the installation rack 105 is fixedly connected with a handle 1059, the installation rack 105 and the installation board 1057 are respectively positioned at two sides of the box body 101, the side end of the box body 101 is fixedly penetrated by two connecting pipes which are respectively communicated with the glue storage tank 1011, the upper glue inlet 1067 and the lower glue inlet 1068, the handle 1059 is used for carrying the robot, the robot is conveniently installed on an overhead cable to move, the two glue storage tanks 1011 and the two glue inlets are arranged to meet the sufficient supply of insulating glue, when the front high-definition camera 1052 detects that foreign matters exist on the surface of the bare conductor and cannot be removed, the controller 1054 can control the walking motor 103 to move back and forth, the soft brush 1042 can brush back and forth to remove the foreign matters in the moving process, when the millimeter wave camera 1053 detects that the coating of the insulating glue is not uniform, the robot is controlled to move back and forth within a short distance by the method, and the coating quality of the insulating glue is ensured.

By adopting the scheme, the automatic coating operation of the overhead bare conductor is controlled in a wireless remote control mode, the bare conductor is replaced by an insulated conductor, the cost is greatly saved, the construction period is shortened, the construction efficiency is improved, the surface of the bare conductor and the monitoring after the insulating glue is coated are realized by adopting a high-definition camera, the walking of a coating robot can be controlled in the coating process, the uniform coating is realized, the obstacles and dust can be effectively removed, and the quality of the coated insulating glue is ensured so as to prolong the service life;

and, adopt piston 1012 mode to realize extruding of insulating cement can accurate control crowded gluey volume and crowded gluey speed, extrude stably, control efficiency is high, adopts two to advance gluey mouths and realizes the even coating of insulating cement in the nozzle, guarantees the homogeneity of coating, and coating robot passes through power frequency withstand voltage test, breakdown voltage test and live-line operation test, guarantees to carry out the live-line coating operation at 10kv distribution network line, has solved the problem that manual work needs the outage.

The technical scheme of this application, for prior art, adopt coating robot to realize the coating of built on stilts bare conductor surface insulating cement, solve the poor difficult problem of changing into insulated wire of bare conductor security performance, shorten the time length and reduce construction cost greatly, control and the control of insulating cement coating state when can realizing the sweeping of bare conductor surface foreign matter and dust simultaneously in the insulating cement coating process, compare in traditional insulating cement coating more have high efficiency and even coverage.

The foregoing is illustrative of the present application and is not to be construed as limiting thereof, as numerous modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.