An automatic glazing method and system for extra-large insulators

Abstract

The present invention belongs to the technical field of insulator glazing, and particularly relates to an automatic glazing method and system for super-large insulators. Before spraying, the robot is lifted and lowered by a lift, and a dust blowing system is used to blow dust first. Only after the dust blowing is completed, glazing starts. During the glazing process, the robot is lifted and lowered by the lift, and large insulators can be glazed. The reference point during upward spraying is identified by a detection sensor to perform reference positioning. Different spraying postures are given to the upper and lower parts of the spraying umbrella according to the characteristics of porcelain insulator products, and the spray gun, the lifting system, the robot posture, the dust blowing function, the spraying function, the automatic identification and positioning function, etc. are controlled by a robot program. The glazing of the umbrella part is divided into two parts, namely the upper and lower parts of the umbrella, and each part is realized separately, so as to realize the automatic glazing of large insulator blanks with a height of more than 3 meters.

Description

Technical Field

[0001] The invention belongs to the technical field of insulator glazing, and particularly relates to an automatic glazing method and system for extra-large insulators. Background Art

[0002] The glazing methods in porcelain insulator production are divided into: dip glazing, pouring glazing, and spraying glazing. In the isostatic pressing dry process, since the green body is made by dry pressing of dry powder and has strong water absorption, when pouring glazing and dip glazing, excessive moisture absorption will cause the phenomenon of umbrella dropping of the green body. Most of them use the method of manual spraying glazing for glazing. Manual spraying glazing is to hold a spray gun and spray glaze on the surface of the porcelain insulator green body, generally spraying about 5 times. It is not possible to spray the glaze too thick at one time, otherwise it will cause moisture absorption and glaze flow phenomenon. The disadvantages of manual spraying glazing are as follows:

[0003] 1. The glaze amount control, atomization degree, and spraying time length of the spray gun are all manually controlled and adjusted by workers according to experience, which vary from person to person.

[0004] 2. The outer surface of the porcelain insulator product has a complex umbrella-shaped structure. The spraying angles, glaze amounts, and atomization degrees of the upper and lower parts of the umbrella are different. The uniformity and consistency of the manually sprayed glaze surface are poor.

[0005] 3. For the 252 kV integrally formed porcelain sleeve, the height of its green body is between 3.2 meters and 3.6 meters, with a large weight, low green body strength, high height, and complex umbrella shape. Glazing requires manual continuous spraying for about 40 minutes, with a large labor intensity, and it will cause visual fatigue and arm fatigue, and poor stability, thus affecting the glaze surface quality.

[0006] In order to improve the uniformity and stability of the glaze surface quality, some manufacturers have currently developed automatic glazing devices. For example, the patent document CN212471905U discloses an automatic glazing device for ceramic insulators, including a feeding bin. The top of the feeding bin is provided with a feeding port, and the bottom of the feeding bin is fixedly connected with an annular electric track. An annular rotating base is slidably connected to the inner wall of the annular electric track, and a cylinder is fixedly connected to one side of the annular rotating base away from the annular electric track. By setting the annular electric track to control the rotation of the annular rotating base, driving the cylinder on one side to rotate, and thus driving the glazing pipe to rotate, the annular movement of the glazing pipe is realized, and the insulator is sprayed all around through the glazing port, so that the glaze can adhere to the insulator. By setting the flat glazing port, the glazing rate can be increased, and the glazing efficiency and effect are improved. By setting the telescopic cylinder to drive the glazing pipe to telescope, the distance between the glazing port and the insulator can be controlled according to different sizes of insulators. However, it is only suitable for small-sized line porcelain insulators and is not suitable for high-voltage insulators used in power stations. The high-voltage insulators used in power stations are all extra-large insulators, especially insulators with a green body height of more than 3 meters, with overall shapes such as cylindrical, tower-shaped, and waist-drum-shaped, and complex umbrella shapes, large green body weights, and low green body strengths, making glazing difficult.

[0007] Therefore, there is an urgent need to design a glazing method for extra-large insulators. Summary of the Invention

[0008] The purpose of the present invention is to provide an automatic glazing method and system for extra-large insulators, which solves the problem that there is no glazing method for extra-large insulators at present.

[0009] The present invention is realized through the following technical solutions:

[0010] An automatic glazing method for extra-large insulators includes the following steps:

[0011] S1. Place the insulator blank on the rotating platform, fix the glaze spray gun at the end of the robotic arm of the robot, and connect the glaze spray gun to the glaze tank;

[0012] Connect the robot to the elevator;

[0013] Connect the glaze spray gun, the robot and the elevator to the control system;

[0014] S2. Start the robot, the robot adjusts its posture to align the glaze spray gun with the area under the umbrella of the insulator. At the same time, start the rotating platform to rotate and control the elevator to move upward to complete the dust blowing of the area under the umbrella;

[0015] After the glaze spray gun reaches the top, adjust the posture of the robotic arm to spray the area above the umbrella, and the elevator moves from top to bottom to complete the dust blowing of the area above the umbrella;

[0016] S3. The robot adjusts its posture to align the glaze spray gun with the area under the umbrella of the insulator. At the same time, start the rotating platform to rotate, and start spraying glaze from the bottommost large umbrella upwards;

[0017] The glaze spraying residence time for each umbrella matches the time for the rotating platform to rotate one week. After the glaze spraying of the next umbrella is completed, control the elevator to move upward, drive the robot and the glaze spray gun to move upward synchronously to the previous umbrella, align the glaze spray gun with the area under the umbrella of the previous insulator, and start spraying glaze;

[0018] Until the glaze spraying of the area under the umbrella of the topmost layer is completed;

[0019] S4. After the glaze spray gun reaches the top, the control system automatically pauses the glaze spraying, adjusts the posture of the robotic arm to spray the area above the umbrella, then automatically opens the glaze gun, and the elevator moves from top to bottom to complete the glaze spraying of the area above the umbrella;

[0020] Repeat this process to achieve full-automatic glaze spraying of the insulator blank.

[0021] Further, in S2, the process of completing the dust blowing of the area under the umbrella is as follows:

[0022] The robot adjusts its posture to align the glaze spray gun with the area under the umbrella of the insulator. Meanwhile, the rotating platform is started to rotate, and ash blowing begins from the lowest large umbrella upwards.

[0023] The residence time of glaze spraying for each umbrella matches the time for the rotating platform to rotate one week. After the glaze spraying of the next umbrella is completed, the elevator is controlled to move upwards, driving the robot and the glaze spray gun to move upwards synchronously to the previous umbrella, so that the glaze spray gun is aligned with the area under the umbrella of the previous insulator, and ash blowing starts; until the ash blowing of the area under the umbrella of the topmost layer is completed.

[0024] The process of ash blowing on the upper part of the umbrella is as follows:

[0025] After the glaze spray gun moves to the uppermost end, it automatically flips its posture so that the gun head of the glaze spray gun is aligned with the upper part of the umbrella. The elevator moves downwards. When it reaches the lowest large umbrella, the robot stops moving and the ash blowing stops.

[0026] Furthermore, in S3, before spraying glaze upwards from the lowest large umbrella, the reference point is located first. The specific process is as follows:

[0027] The robot uses a detection sensor to find the position of the first large umbrella at the bottom of the insulator blank through the origin-finding program. This point is used as the reference point for upward umbrella spraying. After identification, the position and posture of the glaze spray gun are automatically adjusted.

[0028] Then, based on this position as the reference point, the position and angle of the upward spray umbrella nozzle are calculated.

[0029] Furthermore, when spraying glaze upwards, the horizontal distance between the nozzle opening and the outer edge of the umbrella is 40 mm to 57 mm, the height from the nozzle to the lower edge of the sprayed umbrella is 47 mm to 55 mm, and the angle between the center line of the nozzle and the plane where the lower surface of the large umbrella is located is 22° to 23°.

[0030] Furthermore, in S4, after the glaze spray gun reaches the top, the position of spraying glaze upwards to the topmost large umbrella is used as the upper reference point, and the starting position of spraying glaze downwards is based on this point, and the position and posture of the spray gun are automatically adjusted.

[0031] Furthermore, when spraying glaze downwards, the horizontal distance between the nozzle opening and the outer edge of the umbrella is 40 mm to 57 mm, the height from the nozzle to the lower edge of the sprayed umbrella is 30 mm to 38 mm, and the angle between the center line of the nozzle and the plane where the upper surface of the umbrella is located is 22° to 23°.

[0032] The present invention also discloses a super-large insulator automatic glaze spraying system for implementing the above super-large insulator automatic glaze spraying method, including a robot, an elevator, a glaze spray gun, an electric control cabinet, and a glaze tank; a control system is arranged in the electric control cabinet.

[0033] The insulator blank is placed on a rotating platform. The glaze spray gun is fixed at the end of the robotic arm of the robot, and the glaze spray gun is connected to a glaze tank. A soot blowing pipe is equipped beside the glaze spray gun.

[0034] The lift is equipped with a lifting platform. The robot is fixed on the lifting platform through a robot base. A detection sensor is installed at the end of the robotic arm of the robot. The detection sensor is connected to a control system and is used to identify the reference point during upward spraying.

[0035] The glaze spray gun, the robot, and the lift are respectively connected to the control system.

[0036] The control system is used to control the glaze amount, attitude, atomization size of the glaze spray gun, the rotation of the rotating platform, and the lifting of the lift.

[0037] Furthermore, the soot blowing pipe is connected to an air compressor. The air compressor is connected to a soot blowing button through an electromagnetic valve. During the trajectory movement of the robot, soot blowing is carried out by pressing the soot blowing button.

[0038] Furthermore, a teach pendant is configured on the electric control cabinet. When the control system is started, the product code to be sprayed is input through the teach pendant. The control system calls the subroutine of the corresponding product to start. Press the start button, and the end of the robotic arm of the robot automatically positions and starts.

[0039] Furthermore, the control system includes a first control system and a second control system. The first control system is used to control the glaze amount, attitude, atomization size of the glaze spray gun, and the lifting of the lift.

[0040] The second control system is used to control the rotation of the rotating platform.

[0041] There are guide rails on the lift. Sliders are installed on the guide rails. The sliders are connected to the lifting platform. Stepping motors are installed on the sliders. The stepping motors are electrically connected to the first control system. The first control system controls the stepping motors to move once according to a set time. The displacement of each movement is the same as the distance between two adjacent umbrellas of the insulator. The set time is the same as the time for the rotating platform to rotate one week.

[0042] The lower part of the rotating platform is connected to a rotating shaft. The rotating shaft is connected to a servo motor. The servo motor is connected to the second control system.

[0043] Compared with the prior art, the present invention has the following beneficial technical effects:

[0044] The present invention discloses an automatic glazing method for super-large insulators. The method adopts an industrial robot instead of manual glazing, can well control the glazing atomization degree and glazing time, and accurately match the glazing angle of the umbrella shape, so that the thickness of the product glaze layer is uniform and the qualified rate is improved, while reducing labor intensity and improving efficiency. Before spraying, the robot is controlled to rise and fall by an elevator, and soot blowing is first performed by a soot blowing system. Glazing is started after soot blowing is completed. During the glazing process, the robot is controlled to rise and fall by the elevator, so that large insulators can be glazed. The reference point when spraying upward is identified by a detection sensor, and reference positioning is performed. Different spraying postures are given for spraying above and below the umbrella according to the characteristics of the porcelain insulator product, and a robot program is used to control the spray gun, the lifting system, the robot posture, the soot blowing function, the spraying function, the automatic identification and positioning function, etc., so that the umbrella glazing is divided into two parts, the upper umbrella part and the lower umbrella part, and are respectively implemented, so as to realize automatic glazing of large insulator blanks with a height of more than 3 meters.

[0045] Furthermore, before spraying glaze upwards from the bottom umbrella, a reference point is first located. After the glaze spray gun reaches the top, the umbrella sprays upward to the position of the top umbrella, which serves as the upper reference point. The starting point of the downward spray umbrella uses this point as the reference point, automatically adjusting the spray gun position and posture. The umbrella spacing of porcelain insulators is generally fixed. Only accurate positioning of the spray starting point can ensure the accuracy of each umbrella spray after the program automatically accumulates the umbrella spacing. Inaccurate reference point positioning can cause the accumulated spray position to be too high or too low, deviating from the predetermined spray position, resulting in white spots or glaze accumulation defects.

[0046] The present invention discloses an automatic glazing system for super-large insulators, which is equipped with a lift, a detection sensor, and an automatic soot blowing device. Different spraying postures are given for spraying above and below the umbrella according to the characteristics of the porcelain insulator products. A robot program is used to control the spray gun, the lifting system, the robot posture, the soot blowing function, the spraying function, the automatic identification and positioning function, etc., so that the glazing of the umbrella part is divided into two parts, the upper umbrella part and the lower umbrella part, and the glazing is realized separately, thereby realizing automatic glazing of large insulator blanks with a height of more than 3 meters. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a simplified structural diagram of an automatic glaze spraying system for super-large insulators according to the present invention;

[0048] Figure 2 The spray gun posture on the umbrella when spraying downwards;

[0049] Figure 3 The spray gun posture under the umbrella when spraying upwards;

[0050] Among them, 1. Robot; 2. Lifting platform; 3. Elevator; 4. Glaze spray gun; 5. Insulator blank; 6. Rotating platform; 7. Robot base; 8. Electric control cabinet; 9. Glaze tank; 10. Air compressor; 11. Detection sensor; 12. Sootblower. Detailed implementation manners

[0051] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the following further detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention, that is, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments.

[0052] The components described and shown in the accompanying drawings and embodiments of the present invention can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present invention provided in the following drawings is not intended to limit the scope of the present invention claimed, but only represents a selected embodiment of the present invention. Based on the accompanying drawings and embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

[0053] It should be noted that: the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, element, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to the process, element, method, article or device. In addition, the terms "horizontal" and "vertical" are based on the orientation and positional relationship of the device or component shown in the drawings, and are only for better describing the present invention, rather than requiring the shown device, component or device to have that specific orientation, and thus should not be construed as a limitation to the present invention.

[0054] As Figure 1 shown, the present invention discloses an automatic glaze spraying system for extra-large insulators, including a robot 1, a lift 3, a glaze spray gun 4, an electric control cabinet 8, and a glaze tank 9; a control system is provided in the electric control cabinet 8; an insulator blank 5 is placed on a rotating platform 6, and the glaze spray gun 4 is fixed at the end of the robotic arm of the robot 1, and the glaze spray gun 4 is connected to the glaze tank 9; the lift 3 is provided with a lifting platform 2, and the robot 1 is fixed on the lifting platform 2 through a robot base 7; a detection sensor 11 is installed at the end of the robotic arm of the robot 1, and the detection sensor 11 is connected to the control system for identifying a reference point during upward spraying; the glaze spray gun 4, the robot 1, and the lift 3 are respectively connected to the control system; the control system is used to control the glaze amount, attitude, atomization size of the glaze spray gun 4, the rotation of the rotating platform 6, and to control the lifting of the lift 3.

[0055] The control system is provided with a spraying large and small umbrella number setting unit and a spraying cycle number.

[0056] A soot blowing pipe 12 is provided next to the glaze spray gun 4, and the soot blowing pipe 12 is connected to an air compressor 10, and the air compressor 10 is connected to a soot blowing button through a solenoid valve. During the trajectory movement of the robot 1, soot blowing is performed by starting the soot blowing button.

[0057] Preferably, the electric control cabinet 8 is provided with a teaching pendant. When the control system is started, the teaching pendant inputs the product code to be sprayed, the control system calls the subroutine of the corresponding product to start, and the start button is pressed, and the end of the robot arm of the robot 1 is automatically positioned and started.

[0058] Specifically, the control system can be designed as a first control system and a second control system. The first control system is used to control the glaze amount, posture, atomization size of the glaze spray gun 4, and control the lifting of the elevator 3; the second control system controls the rotation of the rotating platform 6.

[0059] A guide rail is provided on the elevator 3, and a slider is installed on the guide rail, which is connected to the lifting platform 2; a stepper motor is installed on the slider, and the stepper motor is electrically connected to the first control system. The first control system controls the stepper motor to move once according to the set time, and the displacement of each movement is the same as the distance between two adjacent umbrellas of the insulator; the set time is the same as the time it takes for the rotating platform 6 to rotate one circle; a rotating shaft is connected to the lower part of the rotating platform 6, and the rotating shaft is connected to a servo motor, which is connected to the second control system.

[0060] An automatic glaze spraying method for super-large insulators comprises the following steps:

[0061] S1. Place the insulator blank 5 on the rotating platform 6. Fix the glaze spray gun 4 at the end of the robot arm 1. Connect the glaze spray gun 4 to the glaze tank 9.

[0062] Connect robot 1 to lift 3;

[0063] Connect the glaze spray gun 4, robot 1 and lift 3 to the control system;

[0064] S2. Start the robot 1, adjust its posture, aim the glaze spray gun 4 at the lower part of the insulator, and start the rotating platform 6 to rotate, starting from the bottom large umbrella and blowing soot upwards; the glaze spraying residence time of each umbrella matches the time it takes for the rotating platform 6 to rotate one circle. After the glaze spraying of the next umbrella is completed, control the lift 3 to move upward, driving the robot 1 and the glaze spray gun 4 to move upward synchronously to the upper umbrella, aim the glaze spray gun 4 at the upper part of the insulator, and start blowing soot; until the uppermost part of the umbrella is blown soot;

[0065] After the glaze spray gun 4 moves to the uppermost end, it automatically flips its posture so that the gun head of the glaze spray gun 4 is aimed at the upper part of the umbrella. The elevator 3 moves downward. When it moves to the bottom large umbrella, the robot 1 stops moving and the soot blowing stops.

[0066] S3. The robot 1 adjusts its posture to align the glaze spray gun 4 with the area under the umbrella of the insulator. Meanwhile, the rotating platform 6 is started to rotate, and glazing is carried out upward starting from the lowest large umbrella.

[0067] The glazing residence time for each umbrella matches the time for the rotating platform 6 to rotate one week. After the glazing of the next umbrella is completed, the lift 3 is controlled to move upward, driving the robot 1 and the glaze spray gun 4 to move upward synchronously to the previous umbrella, aligning the glaze spray gun 4 with the area under the umbrella of the previous insulator, and starting to spray glaze.

[0068] Until the glazing of the area under the umbrella of the topmost layer is completed.

[0069] S4. After the glaze spray gun 4 reaches the top, the control system automatically pauses the glazing, adjusts the posture of the robotic arm to spray the area above the umbrella, then automatically opens the glaze gun, and the lift 3 moves downward from top to bottom to complete the glazing of the area above the umbrella.

[0070] Repeat this process to achieve full-automatic glazing of the insulator blank 5.

[0071] More preferably, in S3, before starting to spray glaze upward from the lowest large umbrella, the starting point is located first. The specific process is as follows: The robot 1 uses the detection sensor 11 to find the position of the first large umbrella at the bottom of the insulator blank 5 through the origin-finding program. This point is used as the reference point for upward umbrella spraying. After identification, the position and posture of the glaze spray gun 4 are automatically adjusted; then, taking this position as the base point, the nozzle position and angle for upward umbrella spraying, that is, the posture of the spray gun, are calculated. As Figure 3 shown, the posture of the spray gun under the umbrella: The included angle B between the nozzle center line and the lower surface of the umbrella is 22° - 23°, the distance C2 from the nozzle to the outer edge of the umbrella is 40 mm - 57 mm, and the height D2 from the nozzle to the lower edge of the sprayed umbrella is 47 mm - 55 mm.

[0072] In S4, after the glaze spray gun 4 reaches the top, the position of the upward spray umbrella to the topmost large umbrella is used as the upper reference point, and the starting position of the downward spray umbrella is based on this point to automatically adjust the posture of the spray gun. As Figure 2 shown, the posture of the spray gun above the umbrella: The included angle A between the nozzle center line and the upper surface of the umbrella is 22° - 23°, the distance C1 from the nozzle to the outer edge of the umbrella is 40 mm - 57 mm, and the height D1 from the nozzle to the lower edge of the sprayed umbrella is 30 mm - 38 mm.

[0073] The features and performance of the present invention will be further described in detail below in conjunction with the embodiments.

[0074] The present invention mainly improves by using the industrial robot 1, integrating the lift 3 system, the glazing control system, the soot blowing function, the automatic identification and positioning function, etc. into the robot control program to achieve automatic soot blowing and glazing on the upper and lower parts of the insulator umbrella.

[0075] For detailed implementation, please refer to the following specific process:

[0076] 1) Place the porcelain insulator blank 5 on a rotating platform.

[0077] 2) Start the robot program and press the start button. The end of the robotic arm will automatically position and start, and the sensor will recognize the large umbrella at the bottom.

[0078] 3) After the recognition is completed, the robot 1 uses this as a reference point and adjusts its posture so that the gun tip is aligned with the lower part of the identified large umbrella.

[0079] 4) Start the rotating platform 6 and press the soot blowing button. The robot 1 starts to blow soot. At the same time, the elevator 3 starts to move from bottom to top according to the program. Each time it moves to the height of the distance between umbrellas, the dwell time is exactly equal to one rotation of the rotating platform 6, and the number of movements is equal to the number of umbrellas. After moving to the top, it automatically flips its posture so that the gun head is aimed at the upper part of the umbrella. The elevator 3 moves downward. When it moves to the bottom large umbrella, the robot 1 stops moving, the soot blowing stops, and waits for the button signal.

[0080] 5) Press the spray button, the nozzle starts spraying glaze, and the robot 1 repeats the motion trajectory of the entire soot blowing process described above. The spray gun moves from the bottom large umbrella to the top and then back to the bottom, which is a glaze spraying cycle. The number of glaze spraying times is generally set to 5, and one cycle is 1 time.

[0081] 6) After spraying is completed, the robot 1 retracts the robotic arm to position 0. The rotating platform 6 is closed and the glaze spraying is completed.

[0082] 7) The amount of glaze, glaze gun posture, atomization size, glaze gun movement trajectory, upgrade machine lifting and residence time, soot blowing control, and automatic identification and positioning are all set and controlled by the robot program.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. An automatic glazing method for extra-large insulators, characterized in that, It includes the following steps: S1. Place the insulator blank (5) on the rotating platform (6). The glaze spray gun (4) is fixed at the end of the robotic arm of the robot (1), and the glaze spray gun (4) is connected to the glaze tank (9); Connect the robot (1) to the lift (3); Connect the glaze spray gun (4), the robot (1) and the lift (3) to the control system; S2. Start the robot (1). The robot (1) adjusts its posture to align the glaze spray gun (4) with the area under the umbrella of the insulator blank (5). At the same time, start the rotating platform (6) to rotate and control the lift (3) to move upward to complete the dust blowing of the area under the umbrella; After the glaze spray gun (4) reaches the top, adjust the posture of the robotic arm to spray the area above the umbrella. The lift (3) moves from top to bottom to complete the dust blowing of the area above the umbrella; S3. The robot (1) adjusts its posture to align the glaze spray gun (4) with the area under the umbrella of the insulator blank (5). At the same time, start the rotating platform (6) to rotate and start spraying glaze upward from the lowest large umbrella; The spraying time for each umbrella matches the time for the rotating platform (6) to rotate one week. After the spraying of the next umbrella is completed, control the lift (3) to move upward, driving the robot (1) and the glaze spray gun (4) to move upward synchronously to the previous umbrella, so that the glaze spray gun (4) is aligned with the area under the umbrella of the previous insulator blank (5) and start spraying glaze; Until the spraying of the area under the umbrella of the topmost layer is completed; S4. After the glaze spray gun (4) reaches the top, the control system automatically pauses the glaze spraying, adjusts the posture of the robotic arm to spray the area above the umbrella, then automatically opens the glaze spray gun (4), and the lift (3) moves from top to bottom to complete the glaze spraying of the area above the umbrella; Repeat this process to achieve full-automatic glaze spraying of the insulator blank (5); In S3, before spraying glaze upward from the lowest large umbrella, first locate the reference point. The specific process is as follows: The robot (1) uses the detection sensor (11) to find the position of the first large umbrella at the bottom of the insulator blank (5) through the origin-finding program. This point is used as the reference point for upward umbrella spraying. After recognition, automatically adjust the position and posture of the glaze spray gun (4); Then use this position as the base point to calculate the position and angle of the upward umbrella nozzle; In S4, after the glaze spray gun (4) reaches the top, the position of the upward umbrella spraying to the topmost large umbrella is used as the upper reference point, and the starting position of the downward umbrella spraying is based on this point, and automatically adjust the position and posture of the glaze spray gun (4).

2. The automatic glazing method for an extra-large insulator according to claim 1, characterized in that In S2, the process of completing the dust blowing of the area under the umbrella is as follows: The robot (1) adjusts its posture to align the glaze spray gun (4) with the area under the umbrella of the insulator blank (5). At the same time, start the rotating platform (6) to rotate and start blowing dust upward from the lowest large umbrella; The dust blowing time for each umbrella matches the time for the rotating platform (6) to rotate one week. After the dust blowing of the next umbrella is completed, control the lift (3) to move upward, driving the robot (1) and the glaze spray gun (4) to move upward synchronously to the previous umbrella, so that the glaze spray gun (4) is aligned with the area under the umbrella of the previous insulator blank (5) and start blowing dust; until the dust blowing of the area under the umbrella of the topmost layer is completed; The process of completing the dust blowing of the area above the umbrella is as follows: After the glaze spray gun (4) moves to the uppermost position, it automatically flips its posture so that the nozzle of the glaze spray gun (4) is aligned with the upper part of the umbrella. The elevator (3) moves downward. When it reaches the lowest large umbrella, the robot (1) stops moving and the dust blowing stops.

3. The automatic glazing method for an extra-large insulator according to claim 1, characterized in that, When spraying the umbrella upward, the horizontal distance between the nozzle opening and the outer edge of the umbrella is 40 mm to 57 mm, the height from the nozzle to the lower edge of the sprayed umbrella is 47 mm to 55 mm, and the angle between the center line of the nozzle and the plane where the lower surface of the large umbrella is located is 22° to 23°.

4. A method for automatically glazing an extra-large insulator according to claim 1, characterized in that, When spraying the umbrella downward, the horizontal distance between the nozzle opening and the outer edge of the umbrella is 40 mm to 57 mm, the height from the nozzle to the lower edge of the sprayed umbrella is 30 mm to 38 mm, and the angle between the center line of the nozzle and the plane where the upper surface of the umbrella is located is 22° to 23°.

5. An automatic glazing system for extra-large insulators implementing the automatic glazing method for extra-large insulators according to any one of claims 1-4, characterized in that, It includes a robot (1), an elevator (3), a glaze spray gun (4), an electric control cabinet (8), and a glaze tank (9); a control system is provided inside the electric control cabinet (8). The insulator blank (5) is placed on the rotating platform (6). The glaze spray gun (4) is fixed at the end of the robotic arm of the robot (1), and the glaze spray gun (4) is connected to the glaze tank (9); a dust blowing pipe (12) is equipped beside the glaze spray gun (4). The elevator (3) is equipped with a lifting platform (2), and the robot (1) is fixed on the lifting platform (2) through a robot base (7); a detection sensor (11) is installed at the end of the robotic arm of the robot (1), and the detection sensor (11) is connected to the control system for identifying the reference point during upward spraying. The glaze spray gun (4), the robot (1), and the elevator (3) are respectively connected to the control system. The control system is used to control the glaze amount, posture, atomization size of the glaze spray gun (4), the rotation of the rotating platform (6), and to control the lifting of the elevator (3).

6. The automatic glaze spraying system for extra-large insulators according to claim 5, characterized in that, The dust blowing pipe (12) is connected to an air compressor (10), and the air compressor (10) is connected to a dust blowing button through a solenoid valve. During the trajectory movement of the robot (1), dust blowing is carried out by pressing the dust blowing button.

7. An automatic glaze spraying system for extra-large insulators according to claim 5, characterized in that, The electric control cabinet (8) is equipped with a teach pendant. When starting the control system, the product code to be sprayed is input through the teach pendant, and the control system calls the subroutine of the corresponding product to start. Press the start button, and the end of the robotic arm of the robot (1) automatically positions and starts.

8. An automatic glazing system for super-large insulators according to claim 5, characterized in that, The control system includes a first control system and a second control system. The first control system is used to control the glaze amount, posture, atomization size of the glaze spray gun (4), and to control the lifting of the elevator (3). The second control system is used to control the rotation of the rotating platform (6). There are guide rails on the elevator (3), sliders are installed on the guide rails, and the sliders are connected to the lifting platform (2); a stepping motor is installed on the sliders, and the stepping motor is electrically connected to the first control system. The first control system controls the stepping motor to move once at a set time, and the displacement of each movement is the same as the distance between two adjacent umbrellas of the insulator blank (5); the set time is the same as the time for the rotating platform (6) to rotate one week. The lower part of the rotating platform (6) is connected to a rotating shaft, and the rotating shaft is connected to a servo motor, and the servo motor is connected to the second control system.

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