An adaptive airbag high-voltage line porcelain insulator grinding device and its control method

Abstract

Invention Title: Adaptive Airbag Grinding Device for High-Voltage Line Porcelain Insulators and Its Control Method Abstract: This invention relates to a surface treatment device for high-voltage line porcelain insulators after molding, comprising a support base and a support frame. A slide rail control device is placed on the support base, with its upper and lower ends fixed to the support base and support frame respectively. This allows the end of the adaptive airbag grinding head to move vertically and downwards in a two-dimensional plane. Under the action of the slide rail control device, the adaptive airbag grinding head can be fed into the space between the skirts of the porcelain insulator. The adaptive airbag grinding head detects the pressure of the gas inside the airbag and the pressure between the surface of the airbag and the surface of the skirt, and adaptively inflates or deflates the airbag to adjust the pressure. Through the expansion of the airbag, it completely fits the inside of the skirts and the side of each annular surface of the porcelain insulator. At the same time, the gear fixed to the support base rotates under the drive of the drive motor, causing the porcelain insulator placed on the support base to rotate, so that the inside of the skirts and the side of each annular surface are completely ground, greatly improving the grinding efficiency and grinding effect.

Description

Technical Field

[0001] This invention mainly relates to the field of surface polishing technology for porcelain insulators of high-voltage lines, specifically an adaptive airbag high-voltage line porcelain insulator polishing device and its control method. Background Technology

[0002] Post-type porcelain insulators are insulating and fixing devices installed between devices with different potentials. They are devices capable of withstanding high voltage and mechanical stress, playing a crucial role in overhead lines and substations. Based on different application scenarios, they can be classified into pin-type insulators, post-type porcelain insulators, suspension insulators, butterfly insulators, rod insulators, guy-wire porcelain insulators, ceramic crossarm insulators, and discharge clamping porcelain insulators, etc. Based on different manufacturing materials, they can be classified into porcelain insulators, glass insulators, and composite insulators, among which porcelain insulators are the most widely used. An insulator consists of components such as a steel cap, porcelain body, and steel feet. The porcelain body is the main component, which is made from raw materials such as ceramic stone, feldspar, clay, and alumina. After being ground and purified, the porcelain body is made into clay. The clay body is then pressed into the shape of the insulator using a mold or a shaping machine and dried. After drying, the porcelain insulator needs to be polished during the processing to remove fine lines and cracks on the surface to ensure its strength. After polishing, a uniform glaze layer is applied to the surface of the porcelain insulator to prevent it from absorbing moisture after firing, improve its mechanical strength, and increase its surface smoothness.

[0003] While porcelain insulators generally share similar shapes, the main difference lies in the type of sheds. They are typically categorized as bowl-shaped or disc-shaped. Because the connection between the sheds and the column is arc-shaped, and the spacing between the sheds in modern high-voltage transmission lines is relatively small, insufficient polishing of the sheds and column's fine lines and cracks before firing may result in insufficient strength after firing. Existing polishing equipment struggles to adequately polish the sheds, especially for bowl-shaped porcelain insulators in high-voltage transmission lines, which are still primarily polished manually. Existing polishing equipment presents the following problems during use:

[0004] 1. Existing grinding devices can only grind porcelain insulators of a fixed size, making it difficult to grind multiple types of porcelain insulators with a single grinding head, resulting in poor applicability of the grinding device.

[0005] 2. Most existing grinding devices are traditional grinding devices, which use grinding blocks or grinding heads for grinding. However, the dried porcelain insulators have not yet been fired, and their surface strength is far from sufficient for grinding with grinding blocks or grinding heads. Grinding with grinding blocks or grinding heads will not only result in insufficient grinding of fine lines and cracks, but may also damage the porcelain insulators. Furthermore, grinding devices using grinding blocks or grinding heads are not very efficient.

[0006] 3. Existing grinding devices, whether belt-type grinding heads, grinding blocks, or grinding cutter heads, have failed to achieve complete contact between the inside of the umbrella skirt and both sides of the annular surface to be ground. Since the ceramic insulator to be ground is usually rotating, if the grinding head does not make complete contact in any part during the grinding process, it will result in insufficient grinding.

[0007] 4. Existing grinding devices cannot detect and control the contact pressure between the grinding head and the porcelain insulator. Insufficient contact pressure may lead to insufficient grinding, while excessive contact pressure may damage the porcelain insulator. Furthermore, due to the different models of porcelain insulators, they come in different sizes, and different sizes of porcelain insulators can withstand different grinding pressures. If the grinding pressure cannot be dynamically controlled during the grinding process, it may lead to damage to the sheds and column of the porcelain insulator.

[0008] 5. Existing grinding devices do not allow for easy replacement of the grinding head, a consumable. Existing grinding devices using grinding belts require cumbersome belt replacement, while grinding devices using grinding blocks and grinding cutters require the entire grinding head to be removed for replacement. This disassembly and reassembly process can easily lead to insufficient installation and reduced end-point accuracy of the device. Summary of the Invention

[0009] To address the aforementioned problems, this invention provides an adaptive airbag high-voltage line porcelain insulator grinding device and its control method, comprising a support base and a support frame. A vertical slide rail control device and an inclined slide rail control device are fixed on the support base and support frame. An adaptive airbag grinding head is installed on the slide rail device. A gas pressure sensor is integrated within the adaptive airbag grinding head. The adaptive airbag grinding head can be connected to an external air pump device. A turntable fixing device is installed on the support base and support frame. A driving device is installed within the support base. The support base and the support frame constitute the entire frame, which is fixed to the ground.

[0010] The adaptive airbag grinding head includes a metal fixing sleeve connected to the grinding rubber. The grinding rubber covers the entire contact portion with the inside of the skirt of the porcelain insulator and both sides of the annular surface, as well as the side portion of the adaptive airbag grinding head. The metal fixing sleeve is connected to a metal support frame, which exists only on the side portion of the adaptive airbag grinding head that does not contact the porcelain insulator. The metal support frame is embedded in the side rubber of the airbag of the adaptive airbag grinding head. The metal fixing sleeve communicates with the airbag and the rotary valve port through a gas channel. The adaptive airbag grinding head integrates a gas pressure sensor for detecting the internal pressure of the airbag. The metal fixing sleeve is connected to a fastener, which is connected to a hollow metal rod. The hollow metal rod has a rotary valve port that passes through the fastener. The rotary valve port is connected to one end of a gas supply pipe, and the other end of the gas supply pipe is fixed and connected to a gas valve. The gas valve can be connected to an external air pump device.

[0011] The slide rail control device includes a vertical slide rail control device and an inclined slide rail control device. The vertical slide rail control device includes a drive motor fixed on a fixed frame. The stepper motor is connected to a screw. The fixed frame has two vertically placed slide rails on the left and right sides. The inclined slide rail control device is fixed to the vertical slide rail control device by the two slide rails and the screw. The inclined slide rail control device includes a slide rail fixing base plate. The slide rail and the screw are fixed on the slide rail fixing base plate. The screw is connected to the stepper motor. An mounting base plate is installed on the slide rail and the screw. A hollow metal rod is fixed on the mounting base plate by fasteners. The hollow metal rod passes through one side of the slide rail fixing base plate and is connected to the adaptive airbag grinding head. An air supply pipe is connected to the inside of the hollow metal rod and is connected to the rotary valve port and the adaptive grinding airbag through the gas channel. An air valve is installed on the other side of the slide rail fixing base plate. One end of the air valve is connected to the air supply pipe and the other end is connected to an external air pump.

[0012] The turntable fixing device includes a screw that passes through a sleeve. The upper end of the screw is connected to a circular handle, and the lower end of the screw is connected to a circular turntable. The circular turntable is divided into two discs, an upper and a lower disc, which are connected and fixed in the middle by a bearing. The turntable fixing device also includes a base mounted on a support base.

[0013] The support base is equipped with a drive device and a fixing device. The drive device includes a drive pinion directly connected to a drive motor. The drive pinion meshes with a drive gear. A storage base is fixed on the drive gear. The fixing device fixes the vertical slide rail control device to the support base.

[0014] Preferably, the part of the adaptive airbag grinding head that contacts the surface of the porcelain insulator is the grinding part. This grinding part consists of a metal support frame and grinding rubber, forming an adaptively expandable grinding airbag. Its surface has a certain coefficient of friction. A gas pressure sensor is integrated inside the metal fixing sleeve of the adaptive airbag grinding head, which can detect changes in air pressure inside the airbag cavity in real time. Through closed-loop feedback of air pressure, the air pump is controlled to evacuate or inflate in a timely manner, thereby adaptively controlling the degree of expansion of the airbag. This achieves the purpose of timely and accurate control of the contact pressure between the surface of the grinding airbag and the porcelain insulator, resulting in a more sufficient contact surface and a more appropriate grinding pressure, thereby greatly improving the grinding effect and grinding quality.

[0015] Preferably, since the adaptive grinding airbag body is made of rubber, which has a large expansion rate and a metal support frame on the side of the airbag, the problem of different skirt lengths for different types of porcelain insulators can be solved by an adaptive airbag grinding head with a large grinding depth. Regarding the problem of different distances between skirts for different types of porcelain insulators, the large expansion rate of the adaptive airbag grinding head can meet the skirt spacing requirements for almost all types of porcelain insulators. For bowl-shaped or disc-shaped skirts, only the geometry of the adaptive grinding airbag grinding head needs to be adjusted accordingly to meet the requirements for bowl-shaped skirts. The grinding of the skirt or the pancake-shaped umbrella skirt greatly improves the applicability of the adaptive airbag grinding head. The metal fixing sleeve is a reusable part. The air chamber part of the grinding airbag of the adaptive airbag grinding head, which is composed of a metal support frame and grinding rubber, is a grinding consumable. Each time the consumable part is replaced, there is no need to remove the metal fixing sleeve connected to the fastener. Only the air chamber part of the grinding airbag of the adaptive airbag grinding head, which is composed of a metal support frame and grinding rubber, needs to be replaced, thereby greatly improving the stability and service life of the adaptive airbag grinding head.

[0016] Preferably, the slide rail control device includes a vertical slide rail control device and an inclined slide rail control device. The vertical slide rail control device, driven by a stepper motor and a screw, moves the inclined slide rail control device, equipped with an adaptive airbag grinding head, vertically and horizontally. This allows for a large range of movement, enabling grinding of porcelain insulators of different models and heights. The inclined slide rail control device is equipped with an adaptive airbag grinding head, which, driven by a stepper motor, can move obliquely upwards and downwards. The angle between the adaptive airbag grinding head's upward and downward movement and the horizontal is 17 degrees, allowing the entire adaptive airbag grinding head to be inserted between the skirts being ground. To address the issue of different angles between the skirts and the horizontal for different models of porcelain insulators, only the angle between the slide rail fixing plate with the adaptive airbag grinding head and the horizontal plane needs to be changed. The slide rail control device, composed of the vertical and inclined slide rail control devices, enables grinding of porcelain insulators of different models and sizes, greatly improving the device's applicability.

[0017] Preferably, the turntable fixing device can fix porcelain insulators of different models and sizes onto the placement base by rotating the circular handle. The upper and lower circular turntables are separated by a bearing and can be rotated separately. This allows the porcelain insulators fixed between the circular turntable and the placement base to rotate with the rotation of the placement base, greatly improving the applicability and stability of the device.

[0018] Preferably, the support base is equipped with a drive motor and a drive gear, so that the center of gravity of the device is kept low while the polished porcelain insulator rotates, thereby improving the stability of the device.

[0019] The beneficial effects of this invention are as follows:

[0020] I. This invention designs an adaptive airbag grinding head. Because the rubber surface of the adaptive airbag grinding head has expansibility, it can achieve complete contact with the inside of the umbrella skirt and both sides of the ring of the porcelain insulator, which greatly improves the grinding effect.

[0021] II. This invention designs an adaptive airbag grinding head, in which a gas pressure sensor is integrated within the metal fixing sleeve that makes up the adaptive airbag grinding head. This sensor detects the gas pressure in real time and controls the air pump's pumping and inflation through closed-loop feedback of air pressure. This adaptively adjusts the contact pressure between the surface of the adaptive grinding airbag and the porcelain insulator, improving the grinding effect and efficiency while greatly reducing the possibility of damage to the porcelain insulator.

[0022] Third, this invention designs an adaptive airbag grinding head with a simple grinding airbag structure. For umbrella skirts with different structures, only the geometry of the adaptive grinding airbag needs to be changed. Since the adaptive grinding airbag has a large expansion rate and a metal support skeleton is embedded in the side of the airbag, it can grind porcelain insulators with different umbrella skirt lengths and different umbrella skirt gaps, which greatly improves the applicability of this invention.

[0023] Fourth, this invention designs a vertical slide rail control device and an inclined slide rail control device to enable the end of the adaptive airbag grinding head to move freely in a two-dimensional plane, enabling grinding of most types of porcelain insulators and greatly improving the applicability of this device.

[0024] Fifth, by designing a turntable fixing device, this invention achieves the fixing of porcelain insulators of different sizes and lengths, greatly improving the applicability of this invention.

[0025] VI. By designing a support base and support frame, this invention not only lowers the center of gravity and improves stability by integrating the drive device with the support base, but also enables the automatic operation of the grinding process within the support frame, greatly improving the safety of the grinding process, since the adaptive airbag grinding head is located inside the structure composed of the support base and support frame. Attached Figure Description

[0026] Figure 1 This is a schematic diagram showing the adaptive airbag grinding head of the present invention not extending into the umbrella skirt.

[0027] Figure 2 This is a schematic diagram of the adaptive airbag grinding head of the present invention after it extends into the umbrella skirt.

[0028] Figure 3 This is a schematic diagram of the support base driving device of the present invention.

[0029] Figure 4 Left view of the adaptive airbag grinding head of the present invention

[0030] Figure 5 This is a top view of the adaptive airbag grinding head of the present invention.

[0031] Figure 6 This is a front view of the adaptive airbag grinding head of the present invention.

[0032] Figure 7 This is a block diagram of the control method of the present invention. Detailed Implementation

[0033] The following describes in detail, with reference to the accompanying drawings, embodiments of the present invention.

[0034] like Figures 1 to 7 As shown, an adaptive airbag high-voltage line porcelain insulator grinding device and its control method include a support base 1 and a support frame 2. A vertical slide rail control device 4 is fixed on the support base 1 and the support frame 2. An inclined slide rail control device 5 is installed on the vertical slide rail control device 4. An adaptive airbag grinding head 3 is installed on the inclined slide rail control device 5. A turntable fixing device 6 is installed on the support base 2 and the support frame 1.

[0035] The adaptive airbag grinding head 3 includes a grinding surface made of grinding rubber 31, which forms the grinding surface of the airbag. A metal support frame 32 is embedded inside the side rubber of the grinding rubber 31. The metal support frame 32 and the grinding rubber 31 together form the air chamber of the grinding airbag of the adaptive airbag grinding head 3. This air chamber can be fastened to a metal fixing sleeve 33 by the metal support frame 32. The metal fixing sleeve 33 has a gas channel 36 connected to an external air supply pipe 57 inside. The metal fixing sleeve 33 also contains a gas pressure sensor 37. The metal fixing sleeve 33 not only serves to accommodate the gas channel 36 connected to the external air supply pipe 57 and the gas pressure sensor, but also... The container of the device 37 is also the air chamber of the grinding airbag of the adaptive airbag grinding head 3, which is composed of the metal support frame 32 and the grinding rubber 31. It is connected to the fastener 34. The fastener 34 is connected to the hollow metal rod 53 to ensure the rigidity of the entire grinding head. A rotary valve port 35 is installed inside the connection between the hollow metal rod 53 and the fastener 34. The rotary valve port 35 is connected to the gas channel 36. Gas is directly introduced into the air chamber of the grinding airbag of the adaptive airbag grinding head 3, which is composed of the metal support frame 32 and the grinding rubber 31, through the gas channel 36. The rotary valve port 35 is connected to the air supply pipe 57. The air supply pipe 57 is connected to the external air pump through the air valve 59.

[0036] The slide rail device includes a vertical slide rail device 4 and an inclined slide rail device 5. The vertical slide rail device 4 includes two slide rails 41 and a screw 42 placed between the two slide rails 41. The screw 42 is connected to a stepper motor 43. The inclined slide rail device 5 includes a slide rail fixing base plate 51. A screw 52 and a slide rail 54 are fixed on the fixing base plate 51. The screw 52 is connected to a stepper motor 58. A mounting base plate 55 is installed on the screw 52 and the slide rail 54. The mounting base plate 55 fixes the hollow metal rod 53 with fasteners 56. There is an air supply pipe 57 connected to an air valve 59 between the screw 52 and the slide rail 54.

[0037] The turntable fixing device 6 includes a screw rod 62 that passes through the sleeve 63 and is connected to the circular handle 61. The lower end of the screw rod 62 is connected to the circular turntable 64. The circular turntable 64 is divided into upper and lower discs separated by a bearing 65. The storage base 66 is placed on the support base 1.

[0038] The support base 1 includes a drive device, which mainly includes a drive pinion 13 connected to a drive motor. The drive pinion 13 meshes with the drive gear 11. The storage base 66 is connected to the drive gear 11. The support base 1 also includes a fixing device 12 for fixing the vertical slide rail control device 4. The entire support base 1 is fixed on the ground.

[0039] The adaptive airbag grinding head 3 has a geometry similar to the gap between the two skirts of the porcelain insulator. Driven by the driving device, it is inserted between the two skirts of the porcelain insulator. At this time, under the action of the air supply pipe 57 connected to the air pump, air is introduced into the air chamber of the grinding airbag of the adaptive airbag grinding head 3, which is composed of the metal support frame 32 and the grinding rubber 31, through the gas channel 36. The air is inflated until the grinding rubber 31 contacts the skirt, so that the adaptive airbag grinding head 3 and the skirt surface and the two sides of the annular surface are completely in contact to grind the porcelain insulator, which greatly improves the grinding effect.

[0040] The contact pressure between the grinding rubber 31 of the adaptive airbag grinding head 3 and the surface of the umbrella skirt can be indirectly detected by detecting the gas pressure in the air chamber of the grinding airbag of the adaptive airbag grinding head 3, which is composed of the support frame 32 and the grinding rubber 31. Thus, the contact pressure between the umbrella skirt and the surface of the grinding rubber 31 is adjusted by controlling the air pump to draw air and inflate air through closed-loop feedback of air pressure, which greatly ensures that the grinding process will not damage the porcelain insulator.

[0041] Among them, the grinding rubber 31 of the adaptive airbag grinding head 3 is the part that directly contacts the porcelain insulator during the grinding process. As a consumable component, this component is replaced by replacing the air chamber of the grinding airbag 3, which together with the grinding rubber 31 and the metal support frame 32. The metal support frame 32 can be fastened to the metal fixing sleeve 33 by a buckle. At the same time as fastening, the rubber part of the grinding rubber 31 can fit into the groove of the metal fixing sleeve 33. When the grinding rubber 31 and the metal support frame 32 are... When the air chamber of the grinding airbag of the adaptive airbag grinding head 3, which together form the grinding airbag, is inflated, the grinding rubber 31 and the metal fixing sleeve 33 are tightly engaged together, ensuring the airtightness of the air chamber of the grinding airbag of the adaptive airbag 3, which together form the grinding rubber 31 and the metal support frame 32. In this way, when the air chamber of the grinding airbag of the adaptive airbag grinding head 3, which together form the grinding rubber 31 and the metal support frame 32, is replaced, the entire adaptive airbag grinding head 3 does not need to be replaced every time consumables are replaced, which greatly ensures the stability and accuracy of the system.

[0042] The slide rail control device, consisting of a vertical slide rail control device 4 and an inclined slide rail control device 5, moves the fixed base plate 51, which holds the adaptive airbag grinding head 3, to a suitable position by driving the stepper motor 43 to rotate the screw 42. At the same time, the stepper motor 58 on the inclined slide rail control device 5 rotates the screw 52, ​​causing the fixed base plate 55 to slide on the slide rail 54. This allows the adaptive airbag grinding head 3 to move obliquely upward and downward at an angle of 17 degrees to the horizontal plane, so that the adaptive grinding airbag 3 can be inserted between the skirts of the porcelain insulator. In this way, the adaptive airbag grinding head 3 can be moved to any position in the plane, enabling grinding of porcelain insulators of different models and sizes, greatly improving the applicability of the device.

[0043] The turntable fixing device 6 allows the circular turntable 64 to be moved to different heights by manually rotating the circular handle 61. When the porcelain insulator is fixed on the base 66, rotating the circular handle 61 can fix porcelain insulators of different models and sizes on the fixing device 6, which greatly improves the applicability of the device.

[0044] In the support base 1, a small gear 13 is driven by a drive device. The small gear 13 drives the rotation of the placement base 66 connected to the drive gear 11. The porcelain insulator is placed on the placement base 66 and drives the rotation of the porcelain insulator. The support base 1 has a fixing device 12 for fixing the vertical slide rail control device. All drive devices are installed on the support base 1 and the support frame 2, which greatly improves the stability of the device.

[0045] The working principle is as follows: First, the circular turntable 64 is raised to a sufficiently high position by rotating the circular handle 61. Then, the porcelain insulator is placed on the center of the base 66. Next, the circular handle 6 is rotated to bring the circular turntable 64 into contact with the upper end of the porcelain insulator until the porcelain insulator is fixed to the turntable fixing device 6. The drive motor connected to the drive pinion 13 is started, and the porcelain insulator begins to rotate. Then, the stepper motor 43 on the vertical slide rail control device 4 fixed to the support base 1 is started to drive the screw 42 to rotate, so that the tilt slide rail control device 5 moves up and down under the control of the vertical slide rail control device 4 to a suitable position and then stops. Then, the tilt slide rail control device 5 is started. The stepper motor 58 on the inclined slide rail control device 5 drives the screw 52 to rotate, enabling the mounting base plate on which the adaptive airbag grinding head 3 is mounted to slide on the slide rail 54 and the screw 42. This allows the adaptive airbag grinding head 3 to move obliquely upwards and downwards at an angle of 17 degrees to the horizontal plane. The slide rail fixing base plate 51, supported by the screw 52 and the slide rail 54, is then inserted into the gap of the porcelain insulator skirt at a 17-degree angle to the horizontal plane. Then, the air valve 59 connected to the air supply pipe 57 is opened, and the air pump starts supplying air through the air supply pipe 57 to the adaptive airbag, which is composed of the grinding rubber 31 and the metal support frame 32. The air chamber of the grinding airbag in the grinding head 3 is inflated. During the inflation process, a gas pressure sensor monitors the gas pressure inside the air chamber in real time. The pressure detected by the air pressure sensor begins to change abruptly, indicating that the grinding rubber 31 is in contact with the umbrella skirt surface. A threshold pressure for the contact between the grinding rubber 31 and the umbrella skirt surface is set. Through closed-loop feedback of air pressure, the air pump is dynamically controlled to inflate and de-inflate the air chamber of the adaptive airbag grinding head 3, which is composed of the grinding rubber 31 and the metal support frame 32. This achieves adaptive control of the contact pressure between the grinding rubber 31 and the umbrella skirt surface, until the rotating porcelain insulator is inflated. During the rotation of the porcelain insulator, the inner side of the umbrella skirt and both sides of the annular surface are polished. A polishing time is set, and when the polishing time is reached, the air pump starts to draw air, making the air chamber under-pressured. At this time, the air chamber of the polishing airbag of the adaptive airbag polishing head 3, which is composed of polishing rubber 31 and metal support frame 32, is flat. This ensures that the adaptive airbag polishing head 3 will not cause secondary damage to the porcelain insulator when it moves out of the umbrella skirt gap. After one cycle is completed, the cycle is exited, and the polishing of the next umbrella skirt can start the next cycle again. This continues until the set number of umbrella skirt gaps is completed, after which the cycle exits and waits for the next porcelain insulator to arrive before starting again.

[0046] This invention relates to a control method. The control chip used in this method can be an STM32 series chip as the main control chip. The control method mainly consists of two types: First, a closed-loop feedback position-type PID algorithm is used. The controller controls the rotation of stepper motor 43 of the vertical slide rail control device to adjust the height of the adaptive airbag grinding head 3. It also controls the rotation of stepper motor 58 of the tilt slide rail control device to adjust the oblique translation of the adaptive airbag grinding head 3. The step size of each vertical or oblique movement depends on the pre-determined specifications and dimensions of different porcelain insulators. A cyclic judgment method is used to determine whether to enter the program loop, grinding the inside of the umbrella skirt and both sides of the ring surface. The cyclic judgment method is used to determine whether to enter the next program loop to grind the next umbrella skirt inside and both sides of the ring surface. Second, an analog-to-digital data acquisition method is used, through gas... The analog signal collected by the pressure sensor is transmitted to the transmitter and uploaded to the controller via Bluetooth or WIFI. The analog signal is converted into a digital signal by the built-in analog-to-digital converter and sent to the chip for processing. The chip's internal air pressure control algorithm adopts a closed-loop feedback incremental PID algorithm. By setting a threshold, the contact pressure is controlled to prevent it from exceeding the critical value. The optimal gas pressure for polishing effect is determined by testing each type of porcelain insulator. When the chip receives the signal, it outputs a digital signal and sends it to the air pump drive device via Bluetooth or WIFI to realize the inflation or deflation of the air pump, thereby timely and quickly controlling the contact pressure between the polishing rubber 31 and the inner surface of the umbrella skirt and both sides of the ring surface. The interrupt priority of this control method one is higher than that of this control method two. The block diagram of the control method of this invention is as follows. Figure 7 As shown.

[0047] The foregoing has shown and described the basic principles and structure, main features, and advantages of the present invention. For those skilled in the art, the present invention is not limited to the above embodiments; the embodiments and descriptions in the specification are merely preferred examples. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims, not by the foregoing description. Various modifications and variations can be made to the present invention, and all such modifications and variations fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive airbag high-voltage line porcelain insulator grinding device, comprising a support base (1) and a support frame (2), characterized in that: The support base (1) and support frame (2) are fixed with a vertical slide rail control device (4) and an inclined slide rail control device (5). The slide rail device includes a vertical slide rail control device (4) and an inclined slide rail control device (5). An adaptive airbag grinding head (3) is installed on the slide rail device. The geometry of the adaptive airbag grinding head (3) is similar to the space inside the umbrella skirt of the porcelain insulator to be ground and the space on both sides of the disc. The part of the adaptive airbag grinding head (3) that fully contacts the inside of the umbrella skirt of the porcelain insulator to be ground and the space on both sides of the disc is ground by grinding rubber (31). A turntable fixing device (6) is installed on the support base (1) and support frame (2). The adaptive airbag grinding head (3) is connected to the hollow metal rod (53), and the hollow metal rod (53) is fixed to the fastener (34) on the adaptive airbag grinding head (3). The hollow metal rod (53) has a gas supply pipe (57) in the middle, and the gas supply pipe (57) is connected to the rotary valve port (35). The surface of the adaptive airbag grinding head (3) is covered with a layer of grinding rubber (31). A metal support frame (32) is installed on the side of the adaptive airbag grinding head (3). The metal support frame (32) is embedded in the middle of the grinding rubber (31). The metal support frame (32) is fixed to one end of the metal fixing sleeve (33), and the other end of the metal fixing sleeve (33) is fixed to the fastener (34). A gas pressure sensor (37) is installed inside the metal fixing sleeve (33). A gas channel (36) connected to the rotary valve port (35) is left inside the metal fixing sleeve (33). The vertical slide rail control device (4) is fixed on the support base (1) and the support frame (2). A fixed frame (44) is fixed on the vertical slide rail control device (4). A stepper motor (43) is installed on the fixed frame (44). Two slide rails (41) are installed on the fixed frame (44). A screw (42) is installed between the two slide rails (41). The tilting slide rail control device (5) includes a slide rail fixing base plate (51), a screw rod two (52) is fixed on the slide rail fixing base plate (51), the end of the screw rod two (52) is connected to a stepper motor two (58), a slide rail two (54) is fixed on the slide rail fixing base plate (51), a mounting base plate (55) is fixed on the screw rod two (52) and the slide rail two (54), a fastener two (56) is fixed on the mounting base plate (55), the fastener two (56) and the mounting base plate (55) fix a hollow metal rod (53), the hollow metal rod (53) is connected to the adaptive airbag grinding head (3) through a fastener one (34), the hollow metal rod (53) has an air supply pipe (57) inside, one end of the air supply pipe (57) is connected to the rotary valve port (35), and the other end of the air supply pipe (57) is connected to the air valve (59); The turntable fixing device (6) includes a circular handle (61), which is connected to a screw (62). The screw (62) passes through a sleeve (63) and is fixed to a circular turntable (64). A bearing (65) is placed in the middle of the circular turntable (64). The turntable fixing device (6) includes a base (66). The support base (1) includes a drive pinion (13) connected to a drive motor, the drive pinion (13) meshing with a drive gear (11), and the support base includes a fixing device (12) connected to a fixing frame (44).

2. The adaptive airbag high-voltage line porcelain insulator grinding device according to claim 1, characterized in that: A vertical slide rail control device (4) and an inclined slide rail control device (5) are installed on the right side of the support base (1) and the support frame (2), and a turntable fixing device (6) is installed on the left side of the support base (1) and the support frame (2).

3. The adaptive airbag high-voltage line porcelain insulator grinding device according to claim 1, characterized in that: The adaptive airbag grinding head (3) has a metal support frame (32) embedded in the middle of the part that does not contact the inside of the umbrella skirt of the porcelain insulator during grinding. The metal support frame (32) is connected to the metal fixing sleeve (33) by a snap fastener. The grinding rubber (31) is connected to the metal fixing sleeve (33) through the metal support frame (32). The metal fixing sleeve (33) integrates a gas pressure sensor (37) inside, which can detect the pressure of the metal support frame during grinding. The air pressure in the air chamber of the adaptive airbag grinding head (3), which is composed of the support frame (32) and the grinding rubber (31), is determined by the metal fixing sleeve (33) and the fastener (34) to ensure the rigidity of the interface. The fastener (34) is fixed to the hollow metal rod (53) to ensure the rigidity of the connection with the adaptive airbag grinding head (3). The metal fixing sleeve (33) retains a gas channel (36) connected to the airbag. The gas channel (36) in the metal fixing sleeve (33) is connected to the rotary valve port (35).

4. The adaptive airbag high-voltage line porcelain insulator grinding device according to claim 1, characterized in that: The vertical slide rail control device (4) consists of two slide rails (41) and a screw (42) installed on a fixed frame (44), which can drive the tilt slide rail control device (5) to move up and down under the drive of a stepper motor (43).

5. The adaptive airbag high-voltage line porcelain insulator grinding device according to claim 1, characterized in that: The tilting slide rail control device (5) is mounted on the slide rail fixing base plate (51) by screw two (52) and slide rail two (54). The tilting slide rail control device (5) realizes the tilting upward and downward translation of the mounting base plate (55) under the drive of stepper motor two (58). The tilting slide rail control device (5) has an angle of 17 degrees with the horizontal plane in the tilting upward and downward translation direction. The tilting slide rail control device (5) has an adjustable angle with the horizontal plane in the tilting upward and downward translation direction. A fastener two (56) is fixed on the mounting base plate (55) to a hollow metal rod (53). An air supply pipe (57) is passed through the hollow metal rod (53). The air supply pipe (57) is connected to the adaptive airbag grinding head (3) through a rotating valve port (35).

6. The adaptive airbag high-voltage line porcelain insulator grinding device according to claim 1, characterized in that: The turntable fixing device (6) can be operated by rotating the circular handle (61) to rotate the screw three (62) passing through the sleeve (63) to move the circular turntable (64) up and down to fix the porcelain insulators of different models placed on the base (66). The circular turntable (64) has two discs on the top and bottom, separated by a bearing (65) in the middle, and the two discs can rotate independently.

7. The adaptive airbag high-voltage line porcelain insulator grinding device according to claim 1, characterized in that: The support base (1) includes a drive pinion (13) connected to a drive motor. The drive pinion (13) meshes with a drive gear (11). The drive gear (11) is fixed together with the storage base (66). The drive pinion (13) can drive the storage base (66) fixed to the drive gear (11) to rotate together. The support base (1) includes a fixing device (12) for the vertical slide rail control device (4).

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