CN114405736B - Split type coating robot and automatic on-line and off-line method - Google Patents
Split type coating robot and automatic on-line and off-line method Download PDFInfo
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- CN114405736B CN114405736B CN202210093174.1A CN202210093174A CN114405736B CN 114405736 B CN114405736 B CN 114405736B CN 202210093174 A CN202210093174 A CN 202210093174A CN 114405736 B CN114405736 B CN 114405736B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Abstract
The invention discloses a split type coating robot and an automatic on-line and off-line method, comprising a coating extrusion module, an unmanned aerial vehicle, a robot walking module and a positioning mechanism; the coating extrusion module is arranged on the positioning mechanism, the robot walking module is arranged on the positioning mechanism in a matching mode, and the robot walking module and the coating extrusion module can be separated from the positioning mechanism; the position adjusting mechanism is used for adjusting the positions of the robot walking module and the paint extruding module; the robot walking module is used for walking and coating on bare conductor, and when the robot walking module was walked on bare conductor, unmanned aerial vehicle portability coating extrusion module followed robot walking module and follows. The robot walking module and the coating extrusion module are separated, so that compared with other coating robots, the robot walking module greatly reduces the weight and height of equipment erected on a conductor, and can adapt to a complex conductor structure.
Description
Technical Field
The invention relates to the technical field of wire coating, in particular to a split type coating robot and an automatic wire feeding and discharging method.
Background
In recent years, along with the vigorous development and construction of urban and rural construction, the urban and rural power demand is greatly improved, and the potential safety hazards of electric power are gradually increased while the life and industrial power consumption of residents are ensured by large-batch electric power infrastructure. Because the urban and rural power supply mode mainly uses a 10kV overhead conductor to transmit electric energy, the main adopted conductor materials are bare conductors and insulated conductors. With the increasing demands of common people on houses, traffic and the like, many urban and rural residents expand new floors and areas on original houses, so that the problem of cross contradiction between electric power facility construction and urban and rural construction occurs, and the newly-repaired houses and roads may have insufficient safety distance to originally-erected 10kV distribution lines, thereby causing serious potential safety hazards. The original potential safety hazard processing modes mainly include methods of changing the position of an electric pole in case of power failure, changing an original 10kV bare conductor into a 10kV insulated wire in case of power failure, replanning a power supply line to remove an old potential safety hazard line and the like. However, the method needs long-time power failure work, large amount of manpower and material resources are input, and the efficiency is low and the result is half the result along with the construction potential safety hazard in the construction process. At present, along with the popularization of 10kV distribution live working, the current situation is gradually improved by adopting a 10kV distribution live working mode and a mode of changing a bare conductor into an insulated conductor by matching a conductor coating robot.
At present, the wire arrangement of partial areas adopts an upper mode, a middle mode and a lower mode, the requirements on the weight and the height of a coating robot are higher, the distance between phases is reduced because the robot is hung on a point line and can generate sag, and the fault of the short circuit between the phases is easily caused by the height of the robot. At present, a coating robot is mainly used for getting on and off a line in two ways, one way is that the coating robot is carried to the line by an unmanned aerial vehicle, the method is complicated in operation, and an on-line mechanism is added, so that the weight of the coating robot is increased; the other type is that the robot is hung by an operator through an insulating bucket arm vehicle, and the operator needs to carry out live-line work, so that safety risks exist.
Disclosure of Invention
The invention aims to provide a split type coating robot and an automatic wire feeding and discharging method, which greatly reduce the weight of equipment hung on a wire and are convenient for realizing automatic wire feeding and discharging.
In order to solve the technical problems, the invention provides the following technical scheme: a split type coating robot comprises a coating extrusion module, an unmanned aerial vehicle, a robot walking module and a positioning mechanism;
the coating extrusion module is arranged on the positioning mechanism, the robot walking module is arranged on the positioning mechanism in a matching mode, and the robot walking module and the coating extrusion module can be separated from the positioning mechanism;
the position adjusting mechanism is used for adjusting the positions of the robot walking module and the paint extruding module;
the robot walking module is used for walking and coating on the bare conductor, and when the robot walking module walks on the bare conductor, the unmanned aerial vehicle can carry the coating extrusion module to follow the robot walking module to follow;
the coating extrusion module is connected with the robot walking module and is used for inputting coating to the robot walking module.
Furthermore, the coating extrusion module comprises a fixing frame, a coating tank, a pushing motor and a pushing screw rod; the fixing frame is connected with the unmanned aerial vehicle;
the pushing motor is fixedly arranged on one side of the fixing frame, the output end of the pushing motor penetrates through the fixing frame, and the pushing motor drives the pushing screw rod to stretch back and forth by matching the belt pulley and the belt and arranging a screw nut matched with the pushing screw rod in the belt pulley;
inside the mount was located to the coating jar, push away material lead screw slidable mounting on the coating jar, and push away the material lead screw and arrange the inside one end fixed mounting of coating jar in there is the inner piston, push away the flexible inner piston that drives of material lead screw and remove in coating jar is inside.
Further, the robot walking module comprises a walking module;
the walking module comprises a module supporting frame, a walking supporting plate, walking wheels, a buckle driving cylinder, a buckle, a walking motor, a vision system, a battery and a communication module;
the module supporting frame is arranged on the position adjusting mechanism;
the walking supporting plate is vertically arranged on the module supporting frame;
the vision system comprises a vision camera and a laser sensor, wherein the vision camera and the laser sensor are both arranged on the walking support plate and are used for observing the coating condition of the bare conductor and positioning the bare conductor;
the buckle driving cylinder is fixed on one side of the walking support plate, and the output end of the buckle driving cylinder is connected with a buckle and used for driving the buckle to move to lock a bare conductor to be coated;
the walking wheel is rotationally connected to the walking support plate, and the walking motor is arranged on the walking support plate;
the walking motor drives the two walking wheels to rotate through the matching of the belt and the belt pulley, so that the walking module can walk on the bare conductor;
the battery and the communication module are arranged on the module supporting frame, the battery is used for providing power for each module or component of the robot walking module, and the communication module is used for being in communication connection with the ground.
Furthermore, the robot walking module also comprises a coating module, wherein the coating module comprises a folding cylinder mounting seat, a folding cylinder, a nozzle upper wire-travelling wheel, a nozzle lower wire-travelling wheel, an upper spraying head and a lower spraying head;
the folding cylinder mounting seat, the nozzle upper wire-travelling wheel and the upper spraying head are all mounted on the walking support plate, and the folding cylinder is mounted on the folding cylinder mounting seat;
the lower spraying head is arranged at the output end of the folding cylinder, and the lower spraying head is arranged right below the upper spraying head;
the upper spraying head and the lower spraying head are respectively connected with a coating tank through a coating hose;
the lower spraying head is provided with a nozzle lower wire wheel, the upper spraying head is provided with a nozzle upper wire wheel, and the nozzle upper wire wheel is positioned right above the nozzle lower wire wheel;
the folding cylinder is used for driving the folding of the upper spraying head and the lower spraying head and driving the folding of the upper routing wheel and the lower routing wheel of the nozzle.
Furthermore, the position adjusting mechanism comprises a lifting device and an upper and lower wire module;
the fixed frame is placed on the lifting device;
the upper and lower wire modules are used for adjusting the positions of the walking modules; the upper and lower wire modules comprise a first layer of bottom plate, a second layer of bottom plate, a supporting and mounting plate, a third layer of bottom plate and a bracket, wherein the first layer of bottom plate is arranged on the lifting device;
the module supporting frame is arranged at the top of the support through a positioning pin and a positioning pin hole in a matching way;
the two layers of bottom plates are arranged on the first layer of bottom plate in parallel and movably, and the two layers of bottom plates can move along the length direction of the first layer of bottom plate;
the supporting and mounting plate is arranged on the two-layer bottom plate in parallel and movably, and can move along the length direction of the two-layer bottom plate and in the direction vertical to the moving direction of the two-layer bottom plate;
the three-layer bottom plate vertical fixation is on supporting the mounting panel, the support is perpendicular and movably to be located on the three-layer bottom plate, and the support can move along the length direction of three-layer bottom plate.
Furthermore, the first-layer bottom plate, the second-layer bottom plate and the third-layer bottom plate are respectively provided with a screw rod assembly, and the three screw rod assemblies are respectively used for adjusting and fixing the movements of the second-layer bottom plate, the support mounting plate and the support;
the screw rod assembly comprises a screw rod motor mounting plate and a screw rod mounting seat, an adjusting screw rod is rotatably connected between the screw rod motor mounting plate and the screw rod mounting seat, and one end of the adjusting screw rod penetrates through the screw rod motor mounting plate; the lead screw motor is fixed on the lead screw motor mounting plate, the lead screw motor drives the adjusting screw rod to rotate through the cooperation of a belt and a belt pulley, and a slider nut is sleeved outside the adjusting screw rod.
Furthermore, the lifting device is a lifting platform structure or a bucket arm vehicle structure.
Further, a sliding block module is connected between the first layer bottom plate and the second layer bottom plate; a sliding block module is connected between the two-layer bottom plate and the supporting and mounting plate; and a sliding block module is also connected between the three layers of bottom plates and the bracket.
Further, the slide block module adopts a linear guide rail device.
An automatic on-line and off-line method of a split type coating robot is characterized by comprising the following steps:
step S1, a robot walking module is installed on a positioning mechanism through a positioning pin and a positioning pin hole in a matched mode, an unmanned aerial vehicle is connected above a paint extrusion module, and the paint extrusion module is arranged at a proper position of the positioning mechanism;
s2, synchronously lifting the upper robot walking module and the coating extrusion module to the height close to the bare conductor by the positioning mechanism, detecting and determining the position of the bare conductor by a vision camera and a laser sensor, and controlling an upper wire module and a lower wire module of the positioning mechanism to enable a walking wheel of the walking module to be hung on the bare conductor;
s3, driving a folding cylinder to fold the nozzle upper routing wheel and the nozzle lower routing wheel, so as to fold the upper spraying head and the lower spraying head, and driving a buckle driving cylinder to move a buckle to clamp the bare conductor;
s4, the unmanned aerial vehicle takes off and is in a hovering state, and meanwhile, the lifting device descends, so that the coating extrusion module and the robot walking module completely separate from the positioning mechanism and then start coating operation;
s5, driving a walking module to walk on the bare conductor, enabling the unmanned aerial vehicle to carry a coating extrusion module to follow up, and coating the bare conductor through the matching of the coating extrusion module and a coating module;
s6, after the coating operation is finished, controlling the traveling wheels to stop rotating and controlling the unmanned aerial vehicle to be in a hovering state;
s7, controlling the positioning mechanism to enable the support of the upper and lower modules to be close to a proper height below the robot walking module, enabling the positioning mechanism not to be in contact with the bottom of the coating extrusion module, identifying the bottom position of the robot walking module through a visual camera preset on the support, and controlling the support of the upper and lower modules to be in positioning fit with the robot walking module again;
s8, driving the upper spraying head to be separated from the lower spraying head and driving the nozzle upper routing wheel to be separated from the nozzle lower routing wheel through a folding cylinder, and driving a buckle to drive the buckle to move to loosen the clamping of the bare conductor;
s9, controlling the upper and lower wire modules to drive the robot walking module to move, so that the robot walking module is completely separated from the bare conductor, the upper and lower wire modules do not interfere with the bare conductor in the up-down movement, and the unmanned aerial vehicle stops working after carrying the coating extrusion module and being placed on the positioning mechanism;
and S10, controlling a lifting device of the positioning mechanism to drive the coating extrusion module and the robot walking module to automatically go off line.
Compared with the prior art, the invention has the following beneficial effects:
1. the robot walking module is convenient to guide the up-and-down line operation of the robot walking module;
2. the robot walking module is separated from the coating extrusion module, so that compared with other coating robots, the weight and the height are greatly reduced, and the robot walking module can adapt to a complex wire structure;
3. the operation is controlled on the ground through the manual work, and the risk of the manual high-altitude live working is avoided.
4. The design is exquisite, can adapt to complicated circuit structure.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the connection of the unmanned aerial vehicle of the present invention to a paint extrusion module;
FIG. 3 is a schematic view of the paint extruding module and the robot walking module of the present invention;
FIG. 4 is a schematic view of the connection between the thread take-up and thread take-down module and the robot walking module according to the present invention;
FIG. 5 is a schematic view of the installation of the traveling module and the coating module of the present invention;
FIG. 6 is a schematic structural diagram of a walking module and a coating module of the present invention;
FIG. 7 is a schematic diagram of the structure of the upper and lower line modules of the present invention;
FIG. 8 is a schematic view of the installation of the slider nut of the present invention;
FIG. 9 is a schematic view of the hopper car of the present invention in cooperation with a paint extrusion module;
in the figure: 1. a coating extrusion module; 11. a fixed mount; 12. a paint tank; 13. a material pushing motor; 14. pushing a material screw rod; 2. an unmanned aerial vehicle; 3. a robot walking module; 31. a walking module; 311. a module support frame; 312. a walking support plate; 313. a traveling wheel; 314. the buckle drives the air cylinder; 315. buckling; 316. a traveling motor; 317. a vision system; 318. a battery; 319. a communication module; 32. a coating module; 321. closing the cylinder mounting seat; 322. closing the cylinder; 323. a wire wheel is arranged on the nozzle; 324. a wire feeding wheel below the nozzle; 325. an upper spray head; 326. a lower spray head; 4. a position adjusting mechanism; 41. an upper and lower line module; 411. a floor; 412. a second floor; 413. supporting the mounting plate; 414. a three-layer bottom plate; 415. a support; 416. a screw assembly; 4161. a screw rod mounting seat; 4162. a screw motor; 4163. adjusting the screw rod; 4164. a screw motor mounting plate; 4165. a slider nut; 4167. a slider module; 42. a lifting platform; 43. a bucket arm vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
Referring to fig. 1 to 9, the present invention provides a technical solution: a split type coating robot comprises a robot walking module 3, a coating extrusion module 1, an unmanned aerial vehicle 2 and a positioning mechanism 4; the coating extrusion module 1 is arranged on the positioning mechanism 4 and connected with the unmanned aerial vehicle 2, the positioning mechanism 4 is used for supporting the coating extrusion module 1, and the unmanned aerial vehicle 2 can take off to drive the coating extrusion module 1 to separate from the positioning mechanism 4; the robot walking module 3 is arranged on the positioning mechanism 4 in a matching mode, and the robot walking module 3 is separated from the positioning mechanism 4 by adopting a matching mode of a positioning pin and a positioning pin hole; the position adjusting mechanism 4 is used for adjusting the positions of the robot walking module 3 and the coating extrusion module 1; coating extrusion module 1 is connected robot walking module 3, robot walking module 3 is used for walking and coating on naked wire, and robot walking module 3 is when walking on naked wire, 2 portability coating extrusion modules of unmanned aerial vehicle 1 follows robot walking module 3 and follows up, robot walking module 3 is the walking in-process on naked wire promptly, 3 synchronous motion of robot walking module are followed to 2 portability coating extrusion modules of unmanned aerial vehicle 1, walking speed keeps in step, thereby guarantee can continuously to 3 input coatings of robot walking module.
The coating extrusion module 1 comprises a fixed frame 11, a coating tank 12, a pushing motor 13, a pushing screw rod 14 and a pushing motor 13; the fixing frame 11 is connected with the unmanned aerial vehicle 2, and the fixing frame 11 is placed on the positioning mechanism 4; the pushing motor 13 is fixedly arranged on one side of the fixing frame 11, and the output end of the pushing motor 13 penetrates through the fixing frame 11; the coating tank 12 is fixedly arranged in the fixing frame 11, the material pushing screw rod 14 is slidably arranged on the coating tank 12, a piston is fixedly arranged at one end of the material pushing screw rod 14, which is arranged in the coating tank 12, and the piston is driven by the extension of the material pushing screw rod 14 to push the inner piston of the coating tank 12; push away the cooperation of material motor 13 through belt pulley and belt, and be provided with in the belt pulley inside with push away the screw-nut that pushes away material lead screw 14 adaptation and drive the front and back of pushing away material lead screw 14 and stretch out and draw back, specifically, the output pot head that pushes away material motor 13 is equipped with the belt pulley, also the cover is equipped with the belt pulley in the outside that pushes away material lead screw 14 in addition, and the inside nut that still is fixed with of belt pulley that pushes away material lead screw 14 and correspond, the nut is in the outside that pushes away material lead screw 14 through screw-thread fit, and the winding belt between each belt pulley carries out the transmission, consequently when pushing away material motor 13 and starting, can drive and push away the front and back of material lead screw 14 and stretch out and draw back, be provided with rechargeable battery on the coating extrusion module 1 in addition, provide the power for pushing away material motor 13.
The output end of the paint tank 12 is connected to the robot walking module 3 through a paint hose, the pushing motor 13 drives the pushing screw 14 to stretch back and forth, the stretching of the pushing screw 14 can drive the inner piston of the paint tank 12 to move, the inner piston extrudes paint, and the paint is guided into the robot walking module 3 under the paint hose.
The robot walking module 3 comprises a walking module 31, wherein the walking module 31 consists of a module support frame 311, a walking support plate 312, a walking motor 316, a vision system 317, a battery 318, a communication module 319 and a walking wheel 313; the module supporting frame 311 is arranged on the positioning mechanism 4; the walking support plate 312 is vertically installed on the module support frame 311; the walking wheels 313 are rotatably connected to the walking support plate 312, the number of the walking wheels 313 can be two or more, and the walking motor 316 drives the walking wheels 313 to rotate through the matching of a belt and a belt pulley and is used for driving the walking module 31 to walk on a bare conductor to be coated; specifically, each travelling wheel 313 is respectively rotated through a rotating shaft and arranged on the travelling support plate 312, a belt pulley is sleeved outside each rotating shaft, the travelling motor 316 is installed on the travelling support frame, the output end of the travelling motor is also sleeved with the belt pulley, and the belt pulleys are connected with one another through a belt, so that the travelling motor 316 can drive the synchronous rotation of each travelling wheel 313, after the travelling wheels 313 are clamped on the bare conductor, the travelling module 31 can travel on the bare conductor through friction force, and the travelling of the robot travelling module 3 is realized.
The vision system 317 includes a vision camera and a laser sensor, both of which are disposed on the walking support plate 312, for observing the coating condition of the bare conductor and for positioning the bare conductor.
A buckle driving cylinder 314 is further mounted on the walking support plate 312, a buckle 315 is connected to an output piston rod of the buckle driving cylinder 314, and the buckle driving cylinder 314 is used for driving the buckle 315 to move to lock a bare conductor to be coated; the battery 318 and the communication module 319 are both arranged on the fixed frame 11, and the battery 318 adopts a rechargeable battery 318 and is used for providing power for each module or component on the robot walking module 3; the communication module 319 is used for communicating with the ground, and the control panel is used for controlling the operations of the module components of the up-and-down line module 41 and the coating module in a wireless communication manner on the ground.
The robot walking module 3 further comprises a coating module 32, wherein the coating module 32 comprises a folding cylinder mounting seat 321, a folding cylinder 322, a nozzle upper routing wheel 323, a nozzle lower routing wheel 324, an upper spraying head 325 and a lower spraying head 326; the folding cylinder mounting seat 321, the nozzle upper wire wheel 323 and the upper spraying head 325 are all mounted on the walking support plate 312, the folding cylinder 322 is arranged on the folding cylinder mounting seat 321, the lower spraying head 326 is mounted at the output end of the folding cylinder 322, and the lower spraying head 326 is arranged right below the upper spraying head 325; the upper spray head 325 and the lower spray head 326 are connected with a paint hose connected with the output end of the paint tank 12, so as to be communicated with the paint tank 12, when the pushing screw 14 moves to drive the inner piston to extrude the paint, the paint is extruded and guided into the upper spray head 325 and the lower spray head 326, and the upper spray head 325 and the lower spray head 326 spray the paint for coating.
The lower spraying head 326 is provided with a nozzle lower routing wheel 324, the upper spraying head 325 is provided with a nozzle upper routing wheel 323, the nozzle upper routing wheel 323 and the nozzle lower routing wheel 324 can rotate, and the nozzle upper routing wheel 323 is positioned right above the nozzle lower routing wheel 324; the lower spraying head 326 is provided with a nozzle lower wire-passing wheel 324, the upper spraying head 325 is provided with a nozzle upper wire-passing wheel 323, and the nozzle upper wire-passing wheel 323 is positioned right above the nozzle lower wire-passing wheel 324; the folding cylinder 322 is used for driving the upper spraying head 325 to be matched with the lower spraying head 326 and driving the upper wire wheel 323 of the nozzle to be matched with the lower wire wheel 324 of the nozzle for folding, the upper wire wheel 323 of the nozzle is used for clamping the upper side and the lower side of the bare conductor to clamp the bare conductor, before the robot walking module 3 is hung on the bare conductor, the upper spraying head 325 and the lower spraying head 326 are in a separated state, the upper wire wheel 323 of the nozzle and the lower wire wheel 324 of the nozzle are also in a separated state, and in the separated state, the distance between the upper wire wheel 323 of the nozzle and the lower wire wheel 324 of the nozzle is larger than the diameter of the bare conductor to be coated, so that the bare conductor can be conveniently positioned between the upper wire wheel 323 of the nozzle and the lower wire wheel 324 of the nozzle by moving the coating module.
The positioning mechanism 4 comprises a lifting device and an upper and lower wire module 41, the fixing frame 11 is placed on the lifting device, and the upper and lower wire module 41 is used for adjusting the position of the walking module 31, so that the walking module 31 can move along the direction of an X axis, a Y axis or a Z axis; the lifting device adopts a lifting platform 42 or a bucket arm vehicle 43, and the lifting platform 42 adopts a lifting platform 42 with universal wheels, so that the lifting platform is convenient to move; the lifting platform 42 or the arm car 43 can be used for lifting and lowering the upper and lower line modules 41.
The upper and lower line module 41 comprises a first layer of bottom plate 411, a second layer of bottom plate 412, a support mounting plate 413, a third layer of bottom plate 414 and a support 415, wherein a module support frame 311 is arranged at the top of the support 415 through the matching of positioning pins and positioning pin holes, specifically, one positioning pin hole is arranged on the module support frame 311, a corresponding positioning pin is arranged at the corresponding position of the support 415, and the positioning pins are matched in the positioning pin holes to limit the module support frame 311, and meanwhile, the separation of the module support frame 311 and the support 415 is facilitated through the matching of the positioning pins and the pin holes, so that the separation and the matching of the robot walking module 3 and the positioning mechanism 4 are facilitated.
A vision camera (not shown in the figure) is also installed on the support 415, and is used for identifying the bottom structure of the module support frame 311 on the walking module 31 and identifying and determining the position of the walking module 31, so that the support 415 for controlling the upper and lower wire modules 41 can be rapidly moved to be matched with the walking module 31, the control operation of the coating robot on all the modules is manually carried out on the ground through a control panel, and the risk of manual high-altitude live working can be avoided.
The two-layer bottom plate 412 is parallelly and movably arranged on the one-layer bottom plate 411, and the two-layer bottom plate 412 can move along the length direction of the one-layer bottom plate 411; the supporting and mounting plate 413 is movably disposed on the two-layer base plate 412 in parallel, and the supporting and mounting plate 413 can move along the length direction of the two-layer base plate 412 and in the direction perpendicular to the moving direction of the two-layer base plate 412; the three-layer base plate 414 is vertically fixed on the supporting and mounting plate 413, the bracket 415 is vertically and movably arranged on the three-layer base plate 414, and the bracket 415 can move along the length direction of the three-layer base plate 414; the three-layer base plate 414 is vertically fixed on the supporting and mounting plate 413, the bracket 415 is movably arranged on the three-layer base plate 414, and the bracket 415 can move along the length direction of the three-layer base plate 414; the length direction of one deck bottom plate 411 is mutually perpendicular with the length direction of two-layer bottom plate 412, and the length direction of three-layer bottom plate 414 is all perpendicular with one deck bottom plate 411 length direction, two-layer bottom plate 412 length direction, and consequently support 415 has realized the ascending removal in space X axle, Y axle and Z axle direction, has realized the position control to support 415 to realize the position control of coating module, conveniently hang the coating module and establish the joint on naked wire.
The first floor 411, the second floor 412 and the third floor 414 are respectively provided with a screw assembly 416, and the three screw assemblies 416 are respectively used for adjusting and fixing the movement of the second floor 412, the support mounting plate 413 and the bracket 415; the screw rod assembly 416 comprises a screw rod motor mounting plate 4164 and a screw rod mounting seat 4161, an adjusting screw rod 4163 is connected between the screw rod motor mounting plate 4164 and the screw rod mounting seat 4161, one end of the adjusting screw rod 4163 penetrates through the screw rod motor mounting plate 4164, and the adjusting screw rod 4163 is movably connected with the screw rod mounting seat 4161 and the screw rod motor mounting plate 4164 through bearings respectively so that the adjusting screw rod 4163 can rotate; the second floor 412 is arranged at the middle position of the top of the second floor 412 corresponding to the screw rod motor mounting plate 4164 and the screw rod mounting seat 4161 on the screw rod assembly 416, and the second floor 412 is arranged at the middle position of the top of the second floor 412 corresponding to the screw rod motor mounting plate 4164 and the screw rod mounting seat 4161 on the screw rod assembly 416; similarly, the screw motor mounting plate 4164 and the screw mounting seat 4161 corresponding to the three-layer bottom plate 414 are disposed at the middle position of one side of the three-layer bottom plate 414.
A screw motor 4162 is fixed on the screw motor mounting plate 4164, the screw motor 4162 drives the adjusting screw 4163 to rotate through the cooperation of a belt and a belt pulley, a slider nut 4165 is sleeved outside the adjusting screw 4163, the two-layer bottom plate 412 is fixedly connected with the two-layer bottom plate 412 corresponding to the screw assembly 416 on the screw assembly 416, the two-layer bottom plate 412 is fixedly connected with the support mounting plate 413 corresponding to the slider nut 4165 on the screw assembly 416, and the three-layer bottom plate 414 is fixedly connected with the bracket 415 corresponding to the slider nut 4165 on the screw assembly 416; in addition, a slider module 4167 is connected between the two-layer bottom plate 412 and the two-layer bottom plate 412; a slider module 4167 is connected between the two-layer bottom plate 412 and the support mounting plate 413; a slider module 4167 is also connected between the three-layer bottom plate 414 and the bracket 415; the slider module 4167 adopts a linear guide rail device, and each adjusting screw 4163 is driven by each screw motor 4162 to rotate so as to drive each slider nut 4165 to move, thereby realizing the position adjustment and fixation of the two-layer bottom plate 412, the support mounting plate 413 and the bracket 415, and further realizing the accurate adjustment of the position of the robot walking module 3.
The split type coating robot automatic on-line and off-line method comprises the following steps:
step S1, a robot walking module 3 is installed on a positioning mechanism 4 through a positioning pin and a positioning pin hole in a matched mode, an unmanned aerial vehicle 2 is connected above a coating extrusion module 1, and the coating extrusion module 1 is placed at a proper position of the positioning mechanism 4;
s2, the positioning mechanism 4 lifts the robot walking module 3 and the coating extrusion module 1 to the direction of the bare conductor, the position of the bare conductor is detected and determined through a vision camera and a laser sensor, and an upper wire module 41 and a lower wire module 41 of the positioning mechanism 4 are controlled to enable the walking wheel 313 of the walking module 31 to be hung on the bare conductor; after the position of the bare conductor is detected and determined in the step, specifically, the position of the robot walking module 3 is adjusted through the three screw rod assemblies 416 corresponding to the upper and lower wire modules 41, the walking wheel 313 of the walking module 31 is adjusted to a position which is above the bare conductor and close to the bare conductor, and then the position of the robot walking module 3 is adjusted through the three screw rod assemblies 416 corresponding to the upper and lower wire modules 41 again, so that the walking wheel 313 of the walking module 31 is exactly clamped on the bare conductor;
step S3, the folding cylinder 322 drives the nozzle upper routing wheel 323 and the nozzle lower routing wheel 324 to fold, so that the upper spraying head 325 and the lower spraying head 326 are folded, and drives the buckle driving cylinder 314 to enable the buckle 315 to move to clamp the bare conductor;
s4, the unmanned aerial vehicle 2 takes off and is in a hovering state, meanwhile, the lifting device descends, and coating operation is started after the coating extrusion module 1 and the robot walking module 3 are driven to be completely separated from the positioning mechanism 4;
s5, driving the walking module 31 to walk on the bare conductor, enabling the unmanned aerial vehicle 2 to carry the coating extrusion module 1 to follow up, and coating the bare conductor through the matching of the coating extrusion module 1 and the coating module 32;
s6, after the coating operation is finished, controlling the traveling wheels 313 to stop rotating and controlling the unmanned aerial vehicle 2 to be in a hovering state;
step S7, controlling the positioning mechanism 4 to drive the bracket 415 of the upper module and the lower module to approach to a proper height below the robot walking module 3, wherein the positioning mechanism 4 is not contacted with the bottom of the coating extrusion module 1, identifying the bottom position of the robot walking module 3 through a visual camera preset on the bracket 415, and controlling the bracket 415 of the upper and lower line modules 41 to be in positioning fit with the robot walking module 3 again; the position recognized by the vision camera in this step is specifically the bottom position of the module support frame 311, and the vision camera recognizes the bottom structure of the module support frame 311, so that the module support frame 311 is conveniently matched with the bracket 415; and the bracket 415 is re-aligned with the robot walking module 3, i.e. the alignment pins on the bracket 15 are re-aligned in the alignment pin holes on the module support frame 311.
Step S8, the folding cylinder 322 drives the upper spraying head 325 to be separated from the lower spraying head 326, drives the upper routing wheel 323 of the nozzle to be separated from the lower routing wheel 324 of the nozzle, and drives the buckle 315 to move by the buckle driving cylinder 314 to loosen the clamping of the bare conductor;
step S9, controlling the upper and lower wire modules 41 to drive the robot walking module 3 to move, so that the robot walking module 3 is completely separated from the bare conductor, the upper and lower wire modules 41 do not interfere with the bare conductor in the up-and-down movement, and the unmanned aerial vehicle 2 carrying the coating extrusion module 1 is placed on the positioning mechanism 4 and then stops working;
and S10, controlling a lifting device of the positioning mechanism 4 to drive the coating extrusion module 1 and the robot walking module 3 to automatically go off line.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A split type coating robot is characterized in that: the device comprises a coating extrusion module (1), an unmanned aerial vehicle (2), a robot walking module (3) and a positioning mechanism (4);
the coating extrusion module (1) is arranged on the positioning mechanism (4), the robot walking module (3) is installed on the positioning mechanism (4) in a matching mode, and the robot walking module (3) and the coating extrusion module (1) can be separated from the positioning mechanism (4);
the position adjusting mechanism (4) is used for adjusting the positions of the robot walking module (3) and the paint extruding module (1);
the robot walking module (3) is used for walking and coating on the bare conductor, and when the robot walking module (3) walks on the bare conductor, the unmanned aerial vehicle (2) can carry the coating extrusion module (1) to follow the robot walking module (3);
the coating extrusion module (1) is connected with the robot walking module (3) and is used for inputting coating to the robot walking module (3);
the coating extrusion module (1) comprises a fixing frame (11), a coating tank (12), a material pushing motor (13) and a material pushing screw rod (14); the fixed frame (11) is connected with the unmanned aerial vehicle (2);
the pushing motor (13) is fixedly arranged on one side of the fixing frame (11), the output end of the pushing motor (13) penetrates through the fixing frame (11), and the pushing motor (13) drives the pushing screw rod (14) to stretch back and forth by matching a belt pulley and a belt and arranging a screw rod nut matched with the pushing screw rod (14) in the belt pulley;
the paint tank (12) is arranged in the fixing frame (11), the material pushing screw rod (14) is slidably mounted on the paint tank (12), an inner piston is fixedly mounted at one end of the material pushing screw rod (14) arranged in the paint tank (12), and the inner piston is driven to move in the paint tank (12) by the stretching of the material pushing screw rod (14);
the robot walking module (3) comprises a walking module (31);
the walking module (31) comprises a module supporting frame (311), a walking supporting plate (312), a walking wheel (313), a buckle driving cylinder (314), a buckle (315), a walking motor (316), a vision system (317), a battery (318) and a communication module (319);
the module supporting frame (311) is arranged on the positioning mechanism (4);
the walking support plate (312) is vertically arranged on the module support frame (311);
the vision system (317) comprises a vision camera and a laser sensor, wherein the vision camera and the laser sensor are both arranged on the walking support plate (312), and are used for observing the coating condition of the bare conductor and positioning the bare conductor;
the buckle driving cylinder (314) is fixed on one side of the walking support plate (312), and the output end of the buckle driving cylinder (314) is connected with a buckle (315) and used for driving the buckle (315) to move to lock a bare conductor to be coated;
the walking wheel (313) is rotationally connected to the walking support plate (312), and the walking motor (316) is installed on the walking support plate (312);
the walking motor (316) drives the two walking wheels (313) to rotate through the matching of a belt and a belt pulley, so that the walking module (31) can walk on the bare conductor;
the battery (318) and the communication module (319) are arranged on the module supporting frame (311), the battery (318) is used for providing power for each module or component of the robot walking module (3), and the communication module (319) is used for being in communication connection with the ground.
2. The split coating robot according to claim 1, wherein: the robot walking module (3) further comprises a coating module (32), wherein the coating module (32) comprises a folding cylinder mounting seat (321), a folding cylinder (322), a nozzle upper routing wheel (323), a nozzle lower routing wheel (324), an upper spraying head (325) and a lower spraying head (326);
the folding cylinder mounting seat (321), the nozzle upper routing wheel (323) and the upper spraying head (325) are all arranged on the traveling support plate (312), and the folding cylinder (322) is arranged on the folding cylinder mounting seat (321);
the lower spraying head (326) is arranged at the output end of the folding cylinder (322), and the lower spraying head (326) is arranged right below the upper spraying head (325);
the upper spraying head (325) and the lower spraying head (326) are respectively connected with the paint tank (12) through paint hoses;
a nozzle lower wire wheel (324) is installed on the lower spraying head (326), a nozzle upper wire wheel (323) is installed on the upper spraying head (325), and the nozzle upper wire wheel (323) is positioned right above the nozzle lower wire wheel (324);
the folding cylinder (322) is used for driving the folding of the upper spraying head (325) and the lower spraying head (326) and driving the folding of the upper routing wheel (323) and the lower routing wheel (324) of the nozzle.
3. The split coating robot according to claim 2, wherein: the position adjusting mechanism (4) comprises a lifting device and an upper and lower wire module (41);
the fixed frame (11) is placed on the lifting device;
the upper and lower line modules (41) are used for adjusting the position of the walking module (31); the upper and lower line module (41) comprises a first layer of bottom plate (411), a second layer of bottom plate (412), a supporting and mounting plate (413), a third layer of bottom plate (414) and a bracket (415), wherein the first layer of bottom plate (411) is arranged on the lifting device;
the module supporting frame (311) is arranged at the top of the bracket (415) through the matching of the positioning pin and the positioning pin hole;
the two-layer bottom plate (412) is arranged on the one-layer bottom plate (411) in parallel and movably, and the two-layer bottom plate (412) can move along the length direction of the one-layer bottom plate (411);
the supporting and mounting plate (413) is arranged on the two-layer bottom plate (412) in parallel and movably, and the supporting and mounting plate (413) can move along the length direction of the two-layer bottom plate (412) and in the direction perpendicular to the moving direction of the two-layer bottom plate (412);
the three-layer bottom plate (414) is vertically fixed on the supporting and mounting plate (413), the bracket (415) is vertically and movably arranged on the three-layer bottom plate (414), and the bracket (415) can move along the length direction of the three-layer bottom plate (414).
4. The split coating robot according to claim 3, wherein: the first-layer bottom plate (411), the second-layer bottom plate (412) and the third-layer bottom plate (414) are respectively provided with a screw rod assembly (416), and the three screw rod assemblies (416) are respectively used for adjusting and fixing the movement of the second-layer bottom plate (412), the support mounting plate (413) and the support (415);
the screw rod assembly (416) comprises a screw rod motor mounting plate (4164) and a screw rod mounting seat (4161), an adjusting screw rod (4163) is rotatably connected between the screw rod motor mounting plate (4164) and the screw rod mounting seat (4161), and one end of the adjusting screw rod (4163) penetrates through the screw rod motor mounting plate (4164); the lead screw motor mounting plate (4164) is fixedly provided with a lead screw motor (4162), the lead screw motor (4162) drives the adjusting lead screw (4163) to rotate through the matching of a belt and a belt pulley, and a slider nut (4165) is sleeved outside the adjusting lead screw (4163).
5. The split coating robot according to claim 4, wherein: the lifting device is of a lifting platform (42) structure or a bucket arm vehicle (43) structure.
6. The split coating robot according to claim 5, wherein: and sliding block modules (4167) are connected between the first-layer bottom plate (411) and the second-layer bottom plate (412), between the second-layer bottom plate (412) and the supporting and mounting plate (413), and between the third-layer bottom plate (414) and the bracket (415).
7. The split coating robot according to claim 6, wherein: the slider module (4167) employs a linear guide arrangement.
8. The split coating robot automatic on-line and off-line method of claim 7, characterized by the steps of:
the method comprises the following steps that S1, a robot walking module (3) is installed on a positioning mechanism (4) through a positioning pin and a positioning pin hole in a matched mode, an unmanned aerial vehicle (2) is connected above a coating extrusion module (1), and the coating extrusion module (1) is arranged at a proper position of the positioning mechanism (4);
s2, the robot walking module (3) and the coating extrusion module (1) are lifted to the bare conductor direction by the positioning mechanism (4), the position of the bare conductor is detected and determined by a vision camera and a laser sensor, and an upper wire module and a lower wire module (41) of the positioning mechanism (4) are controlled to enable a walking wheel (313) of the walking module (31) to be hung on the bare conductor;
s3, a folding cylinder (322) drives the upper routing wheel (323) of the nozzle and the lower routing wheel (324) of the nozzle to fold, so that an upper spraying head (325) and a lower spraying head (326) fold, and a buckle driving cylinder (314) drives a buckle (315) to move to clamp the bare conductor;
s4, the unmanned aerial vehicle (2) takes off and is in a hovering state, and meanwhile, the lifting device descends, so that coating operation is started after the coating extrusion module (1) and the robot walking module (3) are completely separated from the positioning mechanism (4);
s5, driving a walking module (31) to walk on the bare conductor, enabling an unmanned aerial vehicle (2) to carry a coating extrusion module (1) to follow up, and coating the bare conductor through the matching of the coating extrusion module (1) and a coating module (32);
s6, after the coating operation is finished, controlling the traveling wheels (313) to stop rotating and controlling the unmanned aerial vehicle (2) to be in a hovering state;
s7, controlling the positioning mechanism (4) to drive the bracket (415) of the upper module and the lower module to be close to the proper height below the robot walking module (3), enabling the positioning mechanism (4) not to be in contact with the bottom of the coating extrusion module (1), identifying the bottom position of the robot walking module (3) through a vision camera preset on the bracket (415), and controlling the bracket (415) of the upper line module (41) and the lower line module (3) to be in positioning fit again;
s8, a folding cylinder (322) drives an upper spraying head (325) to be separated from a lower spraying head (326), drives a nozzle upper routing wheel (323) to be separated from a nozzle lower routing wheel (324), and a buckle driving cylinder (314) drives a buckle (315) to move to loosen the clamping of the bare conductor;
s9, controlling the upper and lower wire modules (41) to drive the robot walking module (3) to move, enabling the robot walking module (3) to be completely separated from the bare conductor, enabling the upper and lower wire modules (41) to move up and down without interfering with the bare conductor, and simultaneously enabling the unmanned aerial vehicle (2) to carry the coating extrusion module (1) to be placed on the positioning mechanism (4) and then stop working;
and S10, controlling a lifting device of the positioning mechanism (4) to drive the coating extrusion module (1) and the robot walking module (3) to automatically take off the line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210093174.1A CN114405736B (en) | 2022-01-26 | 2022-01-26 | Split type coating robot and automatic on-line and off-line method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210093174.1A CN114405736B (en) | 2022-01-26 | 2022-01-26 | Split type coating robot and automatic on-line and off-line method |
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| CN114405736B true CN114405736B (en) | 2022-11-04 |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018136498A1 (en) * | 2017-01-17 | 2018-07-26 | Graco Minnesota, Inc. | Unmanned aerial vehicle for painting structures |
| CN108262187B (en) * | 2018-04-05 | 2023-09-08 | 广东冠能电力科技发展有限公司 | Stable extrusion type overhead bare conductor insulation coating robot |
| CN108855805A (en) * | 2018-07-05 | 2018-11-23 | 大连事事达数控机械科技有限公司 | A kind of working method that planer-type five-axle linkage intelligent vision paint spraying machine paints to mini word |
| CN108636665A (en) * | 2018-07-13 | 2018-10-12 | 洛阳圣瑞智能机器人有限公司 | A kind of the multiple gun mixing paint-spray robot and its spraying method of view-based access control model servo |
| CN209271749U (en) * | 2018-10-29 | 2019-08-20 | 浙江国自机器人技术有限公司 | A kind of cable spray robot that cable is visual |
| CN209271753U (en) * | 2018-10-29 | 2019-08-20 | 浙江国自机器人技术有限公司 | A kind of cable spray robot for walking stable |
| CN212652069U (en) * | 2019-09-30 | 2021-03-05 | 天津恩泰智能装备有限公司 | Live working type automatic coating equipment for insulating material of overhead bare conductor |
| CN111774214A (en) * | 2020-06-18 | 2020-10-16 | 深圳市行知行机器人技术有限公司 | Spraying robot and operation method thereof |
| CN112572804A (en) * | 2020-12-23 | 2021-03-30 | 河南科技大学 | Spraying control system with airborne mechanical arm unmanned aerial vehicle |
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