CN112676063A

CN112676063A - Automatic cable feeding and spraying robot

Info

Publication number: CN112676063A
Application number: CN202011330231.0A
Authority: CN
Inventors: 赖华敏; 沈振华; 李夏
Original assignee: Zhejiang Guozi Robot Technology Co Ltd
Current assignee: Zhejiang Guozi Robot Technology Co Ltd
Priority date: 2020-11-24
Filing date: 2020-11-24
Publication date: 2021-04-20

Abstract

The invention discloses an automatic cable feeding and spraying robot which comprises a rack, two groups of travelling wheels, an equipotential contact device and an automatic nozzle mechanism, wherein the two groups of travelling wheels are rotatably connected to the middle part of the rack; automatic nozzle mechanism includes fixed nozzle group and unsteady nozzle group, fixed nozzle group is located unsteady nozzle group directly over, through lead screw actuating mechanism drive reciprocal motion between fixed nozzle group and the unsteady nozzle group, it is two sets of walking wheel and fixed nozzle group all with cable upper surface contact. The invention has the advantages that: the automatic spraying robot has the advantages that the automatic operation of the spraying robot is really realized, the automatic nozzle mechanism is automatically closed after the cable is hung, and the robot automatically walks and carries out spraying operation on the cable.

Description

Automatic cable feeding and spraying robot

Technical Field

The invention relates to an automatic cable feeding and spraying robot.

Background

The maintenance and protection of overhead cables have been troublesome in power-related departments, because safety problems of overhead operations exist, such as insulation protection of overhead cables, insulation protection of overhead cables is performed before the cables leave factories, but insulation layers are easy to age and peel off under the condition that the cables are exposed for a long time.

In order to solve the problems, a plurality of robots for automatically spraying high-altitude cables appear on the market, but the existing automatic cable feeding spraying robot cannot realize real automation, a nozzle mechanism of the robot still needs to be manually closed after the robot is hung on the cable, the robot can automatically walk and spray the cable after the spraying is finished, and the robot also needs to be manually disassembled after the spraying is finished, so that the work load of operators is greatly increased, the existing cable spraying robot cannot be well conducted with the cable, the condition that electric discharge is caused by potential difference between the cable and the spraying robot is caused, and great influence is caused on the safety of the spraying robot.

Disclosure of Invention

The invention aims to provide a cable automatic online spraying robot, which can effectively solve the problem that the existing cable spraying robot cannot automatically open and close a nozzle.

In order to solve the technical problems, the invention is realized by the following technical scheme: the automatic cable feeding and spraying robot comprises a rack, two groups of travelling wheels, an equipotential contact device and an automatic nozzle mechanism, wherein the two groups of travelling wheels are rotatably connected to the middle part of the rack;

the automatic nozzle mechanism comprises a fixed nozzle group and a floating nozzle group, the fixed nozzle group is positioned right above the floating nozzle group, the fixed nozzle group and the floating nozzle group are driven to move mutually through a screw rod driving mechanism, and the two groups of travelling wheels and the fixed nozzle group are both in contact with the upper surface of the cable;

the tail of the rack is provided with a swing rod, the fixed nozzle group is fixed on the swing rod, and a return spring is further arranged between the swing rod and the rack.

Preferably, the screw rod driving mechanism comprises two guide rods, a driving screw rod and a driving motor, the driving motor is fixed on the fixed nozzle group, the top end of the driving screw rod is fixedly connected with a motor shaft of the driving motor, a driving nut matched with the driving screw rod is arranged on the floating nozzle group, the fixed nozzle group is fixedly connected with the two guide rods, the floating nozzle group is connected with the two guide rods in a sliding mode, the driving screw rod is driven by the driving motor to rotate, the floating nozzle group is matched with the driving nut, the up-and-down operation of the floating nozzle group is controlled, and the opening and closing of the nozzle device are achieved.

Preferably, the automatic nozzle mechanism further comprises a release mechanism, the release mechanism comprises a release screw and a pressing block, the top end of the loosening screw rod penetrates through the fixed nozzle group, the lower end of the loosening screw rod penetrates through the pressing block and is in threaded connection with the floating nozzle group, the pressing block is provided with a first through hole for a loosening screw rod to pass through, the loosening screw rod is provided with a boss which is pressed on the upper surface of the pressing block, one end of the pressing block is pressed on the driving nut, and the pressing block is provided with a second through hole for the driving screw rod to pass through, the loosening mechanism cannot start to play a role in the fixed nozzle group and the floating nozzle group when the driving motor fails, the loosening screw rod is rotated to loosen the pressing block and the floating nozzle group, so that the driving nut loses pressure in the vertical direction and is separated from the floating nozzle group, and the floating nozzle group and the fixed nozzle group are separated.

Preferably, the driving nut includes nut body and protruding eaves, protruding eaves is fixed in nut body bottom and radially outwards extends along the nut body, the one end pressure of compact heap is on protruding eaves, still open the pinhole on the protruding eaves, driving nut is connected with unsteady nozzle group through the bolt that inserts the pinhole, sets up protruding eaves and lets compact heap and driving nut have bigger contact surface on the one hand, and on the other hand also makes things convenient for driving nut and unsteady nozzle group to realize the location in driving nut's circumference, and driving nut can not rotate thereupon when the drive lead screw rotates.

Preferably, the bottom of pine takes off the screw rod is equipped with the external screw thread, the external diameter of external screw thread is greater than first through-hole internal diameter, the pine between external screw thread and the boss takes off the screw rod diameter and is less than first through-hole internal diameter, loosens the screw rod and loosens the back with the nozzle group that floats, and the pine takes off the screw rod and can not break away from the compact heap, can resume work as soon as possible after troubleshooting.

Preferably, the fixed nozzle group comprises an upper support plate, an upper clamping wheel group and an upper nozzle, the upper clamping wheel group is rotatably connected to the end face, facing the floating nozzle group, of the upper support plate, the upper nozzle is detachably arranged on the end face, facing the floating nozzle group, of the upper support plate, the upper clamping wheel group and the upper nozzle are arranged along the length direction of a cable, and are in contact with the cable through the upper clamping wheel group, so that the distance between the cable and the upper nozzle is conveniently controlled, and the spraying quality is ensured.

Preferably, the floating nozzle group comprises a lower support plate, a lower clamping wheel group and a lower nozzle, the lower clamping wheel group is rotatably connected to the end face of the lower support plate facing the fixed nozzle group, the lower nozzle is detachably connected to the end face of the lower support plate facing the fixed nozzle group, the lower clamping wheel group and the lower nozzle are arranged along the length direction of the cable, the lower clamping wheel group and the upper clamping wheel group are matched to clamp the cable, the upper nozzle and the lower nozzle are matched to circumferentially spray the cable, the lower clamping wheel group is in contact with the cable and matched with the upper clamping wheel group, the position of the cable is fixed, the upper nozzle and the lower nozzle are ensured to be fixed from the cable position, and the spraying quality is ensured.

Preferably, the equipotential contact device includes base, contact sheetmetal and elastic element, be equipped with the connection sheetmetal on the base, the upper portion of contact sheetmetal rotates to be connected on the base to be connected the sheetmetal electricity, elastic element orders about the contact sheetmetal and supports on treating the cable of spraying, utilizes elastic element ejecting with the contact sheetmetal, both can guarantee the contact sheetmetal all the time with treat the spraying cable contact, and can the different diameter thicknesses of adaptation treat the spraying cable, let the spraying robot remain the equipotential state with treating the spraying cable all the time, avoid treating to produce between spraying cable and the spraying robot and discharge, thereby extension spraying robot life.

Preferably, the walking wheel includes the wheel body, the wheel body is opened along the circumferencial direction has annular race, the terminal surface that the frame was kept away from to the wheel body is equipped with the rim, the diameter of rim is greater than the diameter of wheel body, can let the cable be located the race through the race, and spraying robot is difficult for breaking away from the cable, increases behind the rim, further reduces the cable robot and breaks away from the possibility of cable when the operation for cable robot operation security can great promotion.

Preferably, the horizontal height of contact sheetmetal bottom is less than the horizontal height of walking wheel minimum, and when will spray and robot be hitched to the cable, equipotential contact device contacts with the cable earlier, also can not appear the phenomenon of discharging when adjusting the cable robot position to longer contact sheetmetal also does benefit to when being hitched to the cable, and the contact sheetmetal can not hinder walking wheel and cable contact.

Compared with the prior art, the invention has the advantages that: after the spraying robot is hung on the cable through the driving mechanism, the fixed nozzle group and the floating nozzle group can be automatically folded, and can be automatically separated after the spraying operation is finished, so that the automatic operation of the spraying robot is really realized. Set up two sets of walking wheels in the middle part of the frame, the focus that can effectual balanced whole spraying robot, let spraying robot move more steadily on the cable, and set up equipotential contact device, after spraying robot articulates on the cable, just can realize with the equipotential of cable, avoid discharge phenomenon to produce, protection spraying robot moves safety, equipotential contact device sets up between two sets of walking wheels moreover, has ensured cable and equipotential contact device's steady contact.

The fixed nozzle group is fixed on the swing rod connected with the rack, when the spraying robot is hung on a cable, the fixed nozzle group can be automatically adjusted by self gravity according to the position of the cable, so that good contact with the cable is realized, and the spraying quality is ensured.

Drawings

FIG. 1 is a perspective view of the automatic in-line cable spraying robot of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a perspective view of an automatic nozzle mechanism in the automatic in-line cable spraying robot of the present invention;

FIG. 4 is a perspective view of an automatic nozzle mechanism of the robot for automatic in-line cable spraying according to the present invention from another perspective;

FIG. 5 is a perspective view of the rear view of the automatic nozzle mechanism in the automatic on-line cable spraying robot of the present invention;

FIG. 6 is a schematic structural view of a front view after a fixed nozzle set and a floating nozzle set of an automatic nozzle mechanism of the automatic on-line cable spraying robot are folded according to the present invention;

FIG. 7 is a schematic structural view of a rear view angle after a fixed nozzle set and a floating nozzle set in an automatic nozzle mechanism of the automatic on-line cable spraying robot are folded;

FIG. 8 is a front view of the automatic nozzle mechanism of the automatic in-line cable spraying robot of the present invention;

FIG. 9 is a bottom view of the automatic nozzle mechanism of the automatic in-line cable spraying robot of the present invention;

FIG. 10 is a cross-sectional view A-A of FIG. 9;

FIG. 11 is a perspective view of an equipotential contact device of an automatic cable loading and spraying robot of the present invention;

FIG. 12 is a perspective view of the equipotential contact device of the automatic inline coating robot for cables of the present invention with the tie plate removed;

FIG. 13 is a schematic view of the connection structure of the contact metal sheet and the connection metal sheet in the equipotential contact device of the automatic wire-spraying robot for cables according to the present invention.

The reference signs are: the device comprises a rack 1, a swing rod 2, a return spring 3, a fixed nozzle group 110, an upper support plate 111, an upper clamping wheel group 112, an upper nozzle 113, a clamping wheel 114, a wire groove 115, an upper opening 116, a floating nozzle group 120, a lower support plate 121, a lower clamping wheel group 122, a lower nozzle 123, a lower opening 124, a screw rod driving mechanism 130, a guide rod 131, a driving screw rod 132, a driving motor 133, a driving nut 134, a nut body 135, a convex brim 136, a loosening mechanism 140, a loosening screw rod 141, a pressing block 142, a first through hole 143, a boss 144, a second through hole 145, a third through hole 146, an equipotential contact device 150, a base 151, a contact metal sheet 152, an elastic element 153, a connection metal sheet 154, a connecting plate 155, a walking wheel 160, a wheel body 161, a wheel groove 162, a wheel rim 163 and.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 and 2, the embodiment of the automatic cable feeding and spraying robot of the present invention is shown, the automatic cable feeding and spraying robot includes a frame 1, two sets of traveling wheels 160, an equipotential contact device 150, and an automatic nozzle mechanism, wherein the two sets of traveling wheels 160 are rotatably connected to the middle of the frame 1, the equipotential contact device 150 is fixed on the frame 1 between the two sets of traveling wheels 160, and the automatic nozzle mechanism is disposed at the tail of the frame 1;

the automatic nozzle mechanism comprises a fixed nozzle group 110 and a floating nozzle group 120, the fixed nozzle group 110 is positioned right above the floating nozzle group 120, the fixed nozzle group 110 and the floating nozzle group 120 are driven to move mutually through a screw rod driving mechanism 130, and the two groups of travelling wheels 160 and the fixed nozzle group 110 are both in contact with the upper surface of a cable;

the tail of the machine frame 1 is provided with a swing rod 2, the fixed nozzle group 110 is fixed on the swing rod 2, and a return spring 3 is further arranged between the swing rod 2 and the machine frame 1. The swing rod 2 can be rotatably connected with the tail part of the rack through a rotating shaft, a transversely extending ejector rod can be arranged below the tail part of the rack to prop against the automatic nozzle mechanism so as to keep the initial position of the automatic nozzle mechanism, the automatic nozzle mechanism is convenient to be hung with a cable, and after the automatic nozzle mechanism is generally hung with the cable, the swing rod needs to swing upwards for a certain angle, so that the reset spring is connected between the rack below the swing rod and the rack below the swing rod.

Specifically, as shown in fig. 3 to 10, the nozzle device for the automatic cable feeding spraying robot includes four parts, which are a fixed nozzle group 110, a floating nozzle group 120, a screw rod driving mechanism 130 and a releasing mechanism 140, the fixed nozzle group 110 and the floating nozzle group 120 are vertically disposed to be close to each other to clamp a cable and perform a spraying operation, the screw rod driving mechanism 130 controls the clutch between the fixed nozzle group 110 and the floating nozzle group 120, when the fixed nozzle group 110 and the floating nozzle group 120 are closed to perform spraying, the screw rod driving mechanism 130 fails to separate, the releasing mechanism 140 needs to be manually controlled to separate the fixed nozzle group 110 from the floating nozzle group 120, and when the screw rod driving mechanism 130 normally operates, the releasing mechanism 140 does not function.

The fixed nozzle group 110 comprises an upper support plate 111, an upper clamping wheel group 112 and an upper nozzle 113, the upper support plate 111 is connected with a frame of the spraying robot, the upper clamping wheel group 112 comprises four clamping wheels 114 arranged in parallel, the four clamping wheels 114 are rotatably connected with the bottom surface of the upper support plate 111 through rotating shafts, each clamping wheel 114 is provided with a wire groove 115 along the circumferential direction so as to better clamp the cable in the wire groove 115, the wire groove 115 is generally in a semi-circular arc shape or a V shape, the clamping wheels with the V-shaped structure are preferably adopted so as to be beneficial to the centering of a nozzle mechanism and the cable, the upper nozzle 113 is also arranged on the bottom surface of the upper support plate 111 and is positioned behind the upper clamping wheel group 112, the upper nozzle 113 is also provided with an upper opening 116 which is in the same straight line with the wire grooves 115 of the four clamping wheels 114 so as to lead the cable to pass through the upper nozzle 113, the upper nozzle 113 is fixedly connected with, the nozzles of different sizes can be conveniently replaced.

The floating nozzle group 120 comprises a lower support plate 121, a lower clamping wheel group 122 and a lower nozzle 123, the lower clamping wheel group 122 is fixed on the lower support plate 121 through two guide rods and springs, the lower clamping wheel group 122 comprises four rollers which are arranged in parallel and are rotatably arranged on the top surface of the lower support plate 121, each roller corresponds to one clamping wheel 114, the lower clamping wheel group 122 and the upper clamping wheel group 112 are matched with each other to clamp cables, the lower nozzle 123 is also arranged on the top surface of the lower support plate 121 and is positioned behind the lower clamping wheel group 122, a lower opening 124 is formed in the lower nozzle 123, the lowest point of the lower opening 124 is generally 3-4mm lower than the highest point of the roller to prevent the cables from directly touching the lower nozzle 123, when the fixed nozzle group 110 and the floating nozzle group 120 are closed, the lower clamping wheel group 122 firstly contacts the cables, then the springs are compressed, and preferably, when the upper opening and the lower opening are closed, the upper clamping wheel group 112 and the lower clamping, therefore, the upper clamping wheel set and the lower clamping wheel set can ensure that the cable is clamped, and the position of the whole nozzle mechanism relative to the cable is also fixed and is not easy to skew.

The screw rod driving mechanism 130 comprises two guide rods 131, a driving screw rod 132 and a driving motor 133, wherein the two guide rods 131 are fixedly connected with the upper support plate 111, the driving motor 133 is fixed on the top surface of the upper support plate 111, the driving screw rod 132 is fixedly connected with a motor shaft of the driving motor 133, the driving screw rod 132 is driven by the driving motor 133 to rotate, and preferably, the driving screw rod 132 is positioned between the two guide rods 131, so that the floating nozzle group 120 is kept balanced during movement.

Still be equipped with drive nut 134 on lower extension board 121, drive nut 134 includes nut body 135 and protruding eaves 136, protruding eaves 136 are fixed in nut body 135 bottom and radially outwards extend along nut body 135, it has three pinhole to open on protruding eaves 136, and the while is corresponding also to open on lower extension board 121 has three pinhole, inserts the pinhole through the round pin axle, will realize drive nut 134 fixed at its circumference, when drive lead screw 132 is rotatory, can not drive nut 134 also rotatory.

The loosening mechanism 140 comprises a loosening screw 141 and a pressing block 142, the loosening screw 141 is located between the driving screw 132 and one of the guide rods 131, the top end of the loosening screw penetrates through the upper support plate 111, a hand wheel can be fixed at the top end of the loosening screw, the loosening screw 141 is convenient to twist, an external thread is arranged at the bottom end of the loosening screw 141, the loosening screw is in threaded connection with the lower support plate 121 through the external thread, and a boss 144 extending outwards in the axial direction is further arranged on the loosening screw 141. The pressing block 142 is provided with a first through hole 143, the bottom end of the loosening screw rod penetrates through the first through hole 143, the outer diameter of the loosening screw rod positioned in the first through hole 143 is smaller than the inner diameter of the first through hole 143, the boss 144 abuts against the upper surface of the loosening screw rod, and the outer diameter of the external thread at the bottom end of the loosening screw rod is larger than the inner diameter of the first through hole 143, so that the lower part of the loosening screw rod can be welded or fixed on the loosening screw rod in other modes after penetrating through the first through hole 143, the loosening screw rod cannot be separated from the pressing block 142 after the bottom end of the loosening screw rod is loosened from the lower support plate 121, and the loosening screw rod can be quickly connected with the lower support plate 121 after fault repair; one end of the pressing block 142 is provided with a second through hole 145, one end of the pressing block 142 is sleeved on the nut body 135 through the second through hole 145, and the bottom surface of the pressing block 142 presses the convex brim 136 of the driving nut 134; the other end of the pressing block 142 is provided with a third through hole 146, one of the guide rods 131 passes through the third through hole 146, so that the pressing block 142 can axially slide along the guide rod 131, and a sliding sleeve can be arranged in the third through hole 146 to reduce friction.

As shown in fig. 1 and 2, two wheel shafts 164 extending out of the rack 1 are fixed at the upper end of the rack 1, the two wheel shafts 164 are arranged in the same horizontal plane and arranged back and forth along the length direction of a cable, only one end of each wheel shaft 164 is fixedly connected with the rack 1, each wheel shaft 164 corresponds to one group of travelling wheels 160, each travelling wheel 160 comprises a wheel body 161, the wheel body 161 and the wheel shafts 164 are rotatably connected through bearings, each wheel body 161 is circumferentially provided with an annular wheel groove 162, the cross section of each wheel groove 162 is in a semi-arc shape or a V shape, so that the cable is better clamped in the wheel groove 162, and the travelling wheels 160 are prevented from being separated from the cable. Further, a rim 163 may be disposed on an end surface of the wheel body 161 away from the frame 1, a diameter of the rim 163 is larger than a diameter of the wheel body 161, the blocking flange may be a separate disk body, and is fixedly connected to the wheel body 161 by bolts or welding, or may be formed by additionally installing an outer circumference of an outer end surface of the wheel body 161.

As shown in fig. 11 to 13, the equipotential contact device 150 is fixed on the frame 1 between two sets of road wheels 160, the equipotential contact device 150 includes a base 151, a contact metal plate 152 and an elastic element 153, the base 151 is directly fixed on the frame 1, the base 151 is provided with a base protruding outward, the contact metal plate 152 is generally in a long strip shape, the top end of the contact metal plate 152 is rotatably connected with the base through a wheel axle 164, the elastic element 153 can be selected from a spring, a leaf spring or a spring swing rod, one end of the elastic element 153 is fixedly connected with the base 151, the other end is fixed on the upper portion of the contact metal plate 152, so as to make the elastic element 153 apply force to be perpendicular to the contact metal plate 152 as much as possible and reduce the size of the base 151 in the vertical direction, the base 151 is also fixed with a connection metal plate 154, and for facilitating wire connection, the connection, it is also required that the contact metal pieces 152 are all electrically connected to the connection metal piece 154. Of course, the metal sheet 152 may be connected to the connecting plate 155, and the connecting plate is rotatably connected to the base, and the other end of the elastic element 153 is also abutted to the connecting plate 155, so that the connecting plate 155 is arranged to avoid the elastic element 153 from directly contacting the contact metal sheet and to facilitate the contact metal sheet to be arranged at a proper position, considering that the strength of the contact metal sheet 152 is not necessarily enough.

To contact sheetmetal 152, the level that requires its bottom is less than the level of walking wheel 160 minimum, and when hanging to the cable like this, contact sheetmetal 152 contacts with the cable earlier, can guarantee spraying robot the very first time with the cable equipotential, can utilize the cable to push up contact sheetmetal 152 inwards in addition, make things convenient for cable and walking wheel 160 cooperation, left sufficient operating space. Of course, in order to ensure that the contact metal piece 152 can be well contacted with cables with different diameters, at least the lowest end of the contact metal piece 152 is horizontally spaced from the frame 1 by a distance greater than the horizontal distance from the circumference of the wheel groove 162 with the smallest diameter to the frame 1, so as to ensure that the elastic member 153 can provide enough elastic force to support the contact metal piece 152 against the cables when the traveling wheel 160 moves on the cables.

When the spraying robot is used, the spraying robot is lifted upwards, the cable is firstly contacted with the contact metal sheet 152, the contact metal sheet 152 is jacked towards the direction close to the rack 1, enough space is reserved, the cable is aligned to the wheel groove 162 of the travelling wheel 160, and then the travelling wheel 160 is hung on the cable. Through the setting of race 162, can guarantee the operation of spraying robot cable along the line, further through rim 163, let spraying robot can resist certain crosswind, can not let the cable deviate from walking wheel 160 when guaranteeing to walk, ensure spraying robot work safety. At this time, due to the action of the elastic element 153, the contact metal sheet 152 is always abutted to the cable, and the spraying robot and the cable are equipotential through the connection between the contact metal sheet 152 and the connection metal sheet 154 and the connection between the connection metal sheet 154 and the shell of the spraying robot, so that the working safety of the spraying robot is ensured.

When the travelling wheel 160 is hung on a cable, the upper clamping wheel set 112 of the fixed nozzle set 110 is also in contact with the cable, as shown in fig. 6 and 7, the driving motor 133 drives the driving screw 132 to rotate, the driving nut 134 is pressed by the pressing block 142 in the axial direction, the axial direction is positioned by the pin shaft, and the pressing block 142 is fixedly connected with the lower support plate 121 through the loosening screw 141, so that when the driving screw 132 rotates, the driving nut 134 is driven to move upwards along the axial direction, the floating nozzle set 120 approaches to the fixed nozzle set 110, the cable is clamped through the matching of the upper clamping wheel set 112 and the lower clamping wheel set 122, the cable is also embraced by the upper nozzle 113 and the lower nozzle 123 at the moment, and the whole spraying robot slowly runs along the cable to perform spraying operation on the whole cable. After the painting is finished, the driving motor 133 rotates reversely, and the floating nozzle group 120 gradually moves away from the fixed nozzle group 110 by the cooperation of the driving screw 132 and the driving nut 134, and returns to the initial position. If the driving motor 133 fails after the painting is finished, and the fixed nozzle group 110 and the floating nozzle group 120 cannot be separated, the loosening screw 141 needs to be manually screwed, the bottom end of the loosening screw 141 is separated from the lower support plate 121 along with the rotation of the loosening screw 141, at this time, the pressing block 142 loses the downward pressing force on the driving nut 134, the driving nut 134 is separated from the lower support plate 121, and therefore, the whole floating nozzle group 120 slides downward along the guide rod 131, and the painting robot can be separated from the cable for maintenance.

After the spraying robot is hung on the cable through the driving mechanism, the fixed nozzle group and the floating nozzle group can be automatically folded, and can be automatically separated after the spraying operation is finished, so that the automatic operation of the spraying robot is really realized. Set up two sets of walking wheels in the middle part of the frame, the focus that can effectual balanced whole spraying robot, let spraying robot move more steadily on the cable, and set up equipotential contact device, after spraying robot articulates on the cable, just can realize with the equipotential of cable, avoid discharge phenomenon to produce, protection spraying robot moves safety, equipotential contact device sets up between two sets of walking wheels moreover, has ensured cable and equipotential contact device's steady contact.

The above description is only an embodiment of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications within the technical field of the present invention by those skilled in the art are covered by the claims of the present invention.

Claims

1. Automatic online spraying machine people of cable, including frame (1), its characterized in that: the automatic spraying machine is characterized by further comprising two groups of travelling wheels (160), an equipotential contact device (150) and an automatic spraying mechanism, wherein the two groups of travelling wheels (160) are rotatably connected to the middle of the rack (1), the equipotential contact device (150) is fixed on the rack (1) between the two groups of travelling wheels (160), and the automatic spraying mechanism is arranged at the tail of the rack (1);

the automatic nozzle mechanism comprises a fixed nozzle group (110) and a floating nozzle group (120), the fixed nozzle group (110) is positioned right above the floating nozzle group (120), the fixed nozzle group (110) and the floating nozzle group (120) are driven to move mutually through a screw rod driving mechanism (130), and the two groups of travelling wheels (160) and the fixed nozzle group (110) are in contact with the upper surface of a cable;

the tail of the rack (1) is provided with a swing rod (2), the fixed nozzle group (110) is fixed on the swing rod (2), and a return spring (3) is further arranged between the swing rod (2) and the rack (1).

2. The automatic cable feeding and spraying robot of claim 1, wherein: the screw rod driving mechanism (130) comprises two guide rods (131), a driving screw rod (132) and a driving motor (133), the driving motor (133) is fixed on the fixed nozzle group (110), the top end of the driving screw rod (132) is fixedly connected with a motor shaft of the driving motor (133), a driving nut (134) matched with the driving screw rod (132) is arranged on the floating nozzle group (120), the fixed nozzle group (110) is fixedly connected with the two guide rods (131), and the floating nozzle group (120) is connected with the two guide rods (131) in a sliding mode.

3. The automatic cable feeding and spraying robot of claim 2, wherein: the automatic nozzle mechanism further comprises a loosening mechanism (140), the loosening mechanism (140) comprises a loosening screw rod (141) and a pressing block (142), the top end of the loosening screw rod (141) penetrates through a fixed nozzle group (110), the lower end of the loosening screw rod (141) penetrates through the pressing block (142) and a floating nozzle group (120) in threaded connection, a first through hole (143) for the loosening screw rod (141) to penetrate through is formed in the pressing block (142), a boss (144) which abuts against the upper surface of the pressing block (142) is formed in the loosening screw rod (141), one end of the pressing block (142) is pressed on a driving nut (134), and a second through hole (145) for the driving screw rod (132) to penetrate through is formed in the pressing block (142).

4. The automatic cable feeding and spraying robot of claim 3, wherein: drive nut (134) include nut body (135) and protruding eaves (136), protruding eaves (136) are fixed in nut body (135) bottom and radially outwards extend along nut body (135), the one end of compact heap (142) is pressed on protruding eaves (136), still open the pinhole on protruding eaves (136), drive nut (134) are connected with unsteady nozzle group (120) through the bolt that inserts the pinhole.

5. The automatic cable feeding and spraying robot of claim 3, wherein: the bottom of the loosening screw rod (141) is provided with an external thread, the external diameter of the external thread is larger than the internal diameter of the first through hole (143), and the diameter of the loosening screw rod (141) between the external thread and the boss (144) is smaller than the internal diameter of the first through hole (143).

6. The automatic cable feeding and spraying robot of claim 1, wherein: the fixed nozzle group (110) comprises an upper support plate (111), an upper clamping wheel group (112) and an upper nozzle (113), the upper clamping wheel group (112) is rotatably connected to the end face, facing the floating nozzle group (120), of the upper support plate (111), the upper nozzle (113) is detachably arranged on the end face, facing the floating nozzle group (120), of the upper support plate (111), and the upper clamping wheel group (112) and the upper nozzle (113) are arranged along the length direction of a cable.

7. The automatic cable feeding and spraying robot of claim 6, wherein: the floating nozzle group (120) comprises a lower support plate (121), a lower clamping wheel group (122) and a lower nozzle group (120), wherein the lower clamping wheel group (122) is rotatably connected to the end face, facing the fixed nozzle group (110), of the lower support plate (121), the lower nozzle (123) is detachably connected to the end face, facing the fixed nozzle group (110), of the lower support plate (121), the lower clamping wheel group (122) and the lower nozzle (123) are arranged along the length direction of a cable, the lower clamping wheel group (122) and the upper clamping wheel group (112) are matched to clamp the cable, and the upper nozzle (113) and the lower nozzle (123) are matched to circumferentially spray the cable.

8. The automatic cable feeding and spraying robot of claim 1, wherein: the equipotential contact device (150) comprises a base (151), a contact metal sheet (152) and an elastic element (153), wherein a connecting metal sheet (154) is arranged on the base (151), the upper part of the contact metal sheet (152) is rotatably connected to the base (151) and is electrically connected with the connecting metal sheet (154), and the elastic element (153) drives the contact metal sheet (152) to abut against a cable to be sprayed.

9. The automatic cable feeding and spraying robot of claim 1, wherein: the walking wheel (160) comprises a wheel body (161), an annular wheel groove (162) is formed in the wheel body (161) along the circumferential direction, a wheel rim (163) is arranged on the end face, away from the rack (1), of the wheel body (161), and the diameter of the wheel rim (163) is larger than that of the wheel body (161).

10. The automatic cable feeding and spraying robot of claim 8, wherein: the level of the bottom end of the contact metal sheet (152) is lower than that of the lowest point of the walking wheel (160).