A cable accessory insulation part grinding robot

Abstract

The present invention discloses a cable accessory insulation grinding manipulator, which specifically relates to the field of grinding technology, including a mechanical sleeve arm, a sleeve block, a grinding motor and an extended grinding adjustment mechanism; wherein the extended grinding adjustment mechanism includes a turntable, a grinding groove roller, a grinding plug roller, a linkage disk, a rotating shaft, a transmission motor, a sleeve plate, an extended electric cylinder and a mechanical frame plate, and also includes a top grinding adjustment mechanism and a fitting grinding adjustment component. The present invention has the advantage of extending the grinding adjustment mechanism so that the grinding groove roller and the grinding plug roller can be extended and adjusted until they are extended and adjusted to a position with the same numerical value as the outer wall of the insulating material, and accurate adjustment and matching are performed, so that the manipulator grinding has a wider applicability, thereby solving the problem that it is difficult to achieve adjustable grinding according to actual needs for cable accessory insulation parts of different sizes, and the manipulator grinding has poor applicability.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding, and more specifically, to a grinding robot for insulating parts of cable accessories. Background Art

[0002] The cable accessories insulation grinding and polishing robot is mainly reflected in improving the grinding efficiency. The robot is usually composed of joints connected by multiple degrees of freedom and can be moved to the specified position for grinding operations. Compared with traditional manual operations, the robot can work continuously and stably without being affected by fatigue and emotional factors, thus ensuring the continuity and efficiency of grinding.

[0003] After searching the existing published technical documents, the Chinese patent publication number CN115157077A discloses a grinding manipulator end effector and a grinding manipulator. The grinding manipulator drives the multi-station bracket to rotate at a preset frequency through a station switching motor, so that the grinding rotating wheel at the end of the multi-station bracket cycles in sequence between the grinding station, the sandpaper removal station and the sandpaper pasting station at a preset frequency. The end effector of the grinding manipulator provided in the disclosure only needs to suspend the grinding work when switching stations, thereby improving the overall efficiency of the grinding operation. However, the technology still has the following problems.

[0004] When the grinding robot is grinding the cable accessory insulation parts, although it can contact the grinding position of the cable accessory insulation parts through grinding to realize the grinding operation, during the grinding process, due to the different models and sizes of the cable accessory insulation parts, the outer wall lengths of the cable accessory insulation parts are different, and the inclination angles of the outer walls of the cable accessory insulation parts are also different. At the same time, the sizes of the inclined surfaces at the top of the cable accessory insulation parts are different. It is difficult to realize adjustable grinding for cable accessory insulation parts of different sizes according to actual grinding needs. The applicability of robot grinding is poor. Therefore, a cable accessory insulation part grinding robot is needed. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides the following technical solutions: a cable accessory insulation grinding robot, comprising a mechanical sleeve arm, a sleeve block and a grinding motor, wherein the sleeve block is rotatably connected inside the mechanical sleeve arm, the grinding motor is fixedly installed at the bottom end of the sleeve block, and an extended grinding adjustment mechanism is provided at the output end of the grinding motor; the extended grinding adjustment mechanism comprises a turntable fixedly arranged at the output end of the grinding motor, and a grinding groove roller is fixedly connected to the bottom end of the turntable, and a grinding insertion roller is inserted into the outer wall of the grinding groove roller, and a grinding groove roller is inserted into the outer wall of the grinding groove roller. A linkage disk is fixedly installed at the bottom end of the insertion roller, and a rotating shaft is fixedly connected to the bottom end of the linkage disk; a transmission motor is fixedly installed at the bottom end of the rotating shaft, a socket plate is rotatably connected to the outer wall of the rotating shaft, an extended electric cylinder is fixedly installed on the upper inclined surface of the socket plate, a mechanical frame plate is fixedly connected to the outer wall of the extended electric cylinder, the mechanical frame plate is fixedly connected to the grinding motor, and the output end of the extended electric cylinder is slidably connected to the mechanical frame plate; a top grinding adjustment mechanism is provided on the upper inclined surface of the mechanical frame plate; a fitting grinding adjustment component is provided on the inner wall of the socket block.

[0006] Preferably, the top surface of the linkage disk is arranged parallel to the bottom end of the turntable, the cross-sectional shapes of the linkage disk and the turntable are both circular, an extended distance sensor is fixedly connected to one side of the mechanical frame plate, a sensing block is provided below the extended distance sensor, and the sensing block is fixedly connected to the socket plate; two limit rings are fixedly connected to the outer wall of the rotating shaft and close to the position of the transmission motor, the two limit rings are rotatably connected to the socket plate, a support block is installed on one side of the transmission motor, and the vertical cross-sectional shape of the support block is L-shaped; the transmission motor and the socket plate are fixedly connected to the support block.

[0007] In this technical solution, the controller starts the extension electric cylinder, and the output end of the extension electric cylinder drives the sleeve plate to move downward and tilt, and the output end of the extension electric cylinder moves downward and tilt along the inner wall of the mechanical frame plate. The sleeve plate drives the support block to move downward and tilt, the transmission motor drives the shaft to move downward and tilt, and the linkage plate drives the grinding insert roller to move downward and tilt, so that the grinding insert roller can be extended from the grinding groove roller. When the distance value sensed by the extension distance sensor is the same as the extension value set by the controller, the controller closes the extension electric cylinder.

[0008] Preferably, the top grinding adjustment mechanism comprises a tilting electric cylinder fixedly arranged on the inclined surface of the mechanical frame plate; the outer wall of the output end of the tilting electric cylinder is slidably connected to the mechanical frame plate, the output end of the tilting electric cylinder is fixedly installed with a pressure sensor, the bottom end of the pressure sensor is fixedly connected with a bearing disk, the inner wall of the bearing disk is rotatably connected with a bearing ring; the bottom end of the bearing ring is fixedly connected with a guide slide plate, the guide slide plate is slidably connected with the grinding groove roller, the guide slide plate is slidably connected with the rotating plate, the bottom end of the guide slide plate is fixedly installed with a grinding disk, the inner wall of the guide slide plate is slidably connected with a guide strip, and the guide strip is fixedly connected with the grinding groove roller; a sleeve strip is fixedly connected to one side of the bearing disk, and a top distance sensor is fixedly installed on the inner wall of the sleeve strip. The outer wall of the bearing ring and the inner wall of the bearing disk are both smooth surfaces, and the cross-sectional shape of the bearing ring is annular. The outer wall of the guide strip and the inner wall of the guide slide plate are both smooth surfaces, and the cross-sectional shape of the guide strip is rectangular.

[0009] In this technical solution, the tilting electric cylinder pushes the pressure sensor to tilt downward, the bearing plate drives the bearing ring to tilt downward, and the guide slide plate moves tilt downward along the outer wall of the guide strip. The guide slide plate drives the grinding plate to tilt downward. When the pressure value sensed by the pressure sensor is the same as the pressure value set by the controller, the bearing plate drives the sleeve strip to tilt downward, and the top distance sensor senses the distance of the top inclined surface of the insulating material. When the distance value sensed by the top distance sensor is the same as the distance value set by the controller, the tilting electric cylinder is closed by the controller.

[0010] Preferably, the fitting grinding adjustment component includes a linkage shaft fixedly arranged on the inner wall of the sleeve block; the linkage shaft is rotatably connected to the mechanical sleeve arm, one end of the linkage shaft is fixedly installed with a reduction motor, the upper surface of the reduction motor is installed with a reinforcement block, the mechanical sleeve arm and the reduction motor are both fixedly connected to the reinforcement block, the other end of the linkage shaft is fixedly installed with an angle sensor, the angle sensor is fixedly connected to the mechanical sleeve arm, one side of the outer wall of the sleeve plate is fixedly connected with a sleeve plate, and the inner wall of the sleeve plate is fixedly installed with a positioning distance sensor; the top end of the mechanical sleeve arm is fixedly installed with a reduction motor, the upper surface of the reduction motor is fixedly installed with a reinforcement block, the mechanical sleeve arm and the reduction motor are fixedly connected to the reinforcement block, the other end of the linkage shaft is fixedly installed with an angle sensor, the angle sensor is fixedly connected to the mechanical sleeve arm, the sleeve plate is fixedly connected to one side of the outer wall of the sleeve plate, and the inner wall of the sleeve plate is fixedly installed with a positioning distance sensor; A threaded sleeve block is fixedly installed, and an adjusting screw is threadedly connected to the inner wall of the threaded sleeve block. A support frame is slidably connected to the outer wall of the threaded sleeve block. An adjusting motor is fixedly installed at one end of the support frame, and the adjusting motor is used to drive the adjusting screw to rotate; a rotating motor is fixedly installed on the upper surface of the support frame, and the outer wall of the output end of the rotating motor is rotatably connected to a mechanical sleeve support arm, and the rotating motor and the mechanical sleeve support arm are fixedly installed, and a controller is fixedly connected to one side of the mechanical sleeve support arm, and a mobile electric cylinder is arranged below the controller, and the mobile electric cylinder is fixedly connected to the mechanical sleeve support arm. The linkage shaft is coaxially arranged with the output end of the reduction motor, and the output end of the angle sensor is coaxially arranged with the output end of the linkage shaft; the output end of the adjusting motor is fixedly connected to the adjusting screw. A positioning block is fixedly connected to the output end of the mobile electric cylinder, and an insulating material is inserted at the top of the positioning block; the bottom end of the positioning block is slidably connected to a mechanical arm chassis, and the mechanical arm chassis is fixedly connected to the mechanical sleeve support arm.

[0011] In this technical solution, the inclination angle value is set on the controller, the reduction motor drives the linkage shaft to rotate, and the socket block drives the grinding motor to rotate the turntable. At the same time, the grinding motor drives the mechanical frame plate to rotate, the extended electric cylinder drives the socket plate to rotate, the rotating shaft drives the linkage disk to rotate, the grinding groove roller and the grinding plug roller can adjust the inclination angle, and the angle sensor senses the angle of the linkage shaft. When the angle value sensed by the angle sensor is the same as the inclination angle value set by the controller, the reduction motor is turned off by the controller, the controller starts the adjustment motor, the adjustment motor drives the adjustment screw to rotate, the threaded sleeve block drives the mechanical sleeve arm to move left, the linkage shaft drives the socket block to move left, the grinding motor drives the turntable to move left, the grinding motor drives the mechanical frame plate to move left, the extended electric cylinder makes the extended electric cylinder move left, the socket plate drives the rotating shaft to move left, and the linkage disk drives the grinding plug roller to move left, so that the grinding groove roller and the grinding plug roller can fit on the outer wall inclined surface of the insulating material according to the specified angle, and when the distance value sensed by the positioning distance sensor is the same as the distance value sensed by the controller, the adjustment motor is turned off by the controller.

[0012] Technical effects and advantages of the present invention:

[0013] 1. The present invention extends the grinding adjustment mechanism. The output end of the extended electric cylinder drives the socket plate to move downward incline. The output end of the extended electric cylinder moves downward incline along the inner wall of the mechanical frame plate. The socket plate drives two limit rings to move downward incline. The socket plate drives the support block to move downward incline. The transmission motor drives the rotating shaft to move downward incline. The linkage disk drives the grinding insert roller to move downward incline. The grinding insert roller can be extended out from the grinding groove roller. When the distance value sensed by the extension distance sensor is the same as the extension value set by the controller, the extension electric cylinder is closed by the controller, and the grinding groove roller and the grinding insert roller can be extended and adjusted until the extension is adjusted to a position with the same inclined length value as the outer wall of the insulating material, and precise adjustment and matching are performed, so that the manipulator grinding has a wider applicability.

[0014] 2. The present invention adopts a top grinding adjustment mechanism, and starts the tilting electric cylinder through the controller. The tilting electric cylinder pushes the pressure sensor to tilt downward, and the bearing plate drives the bearing ring to tilt downward. The bearing ring causes the guide slide plate to tilt downward, and the guide slide plate tilts downward along the outer wall of the guide strip. At the same time, the guide slide plate tilts downward along the outer wall of the grinding groove roller. The grinding plate can be squeezed on the top inclined surface of the insulating material. When the pressure value sensed by the pressure sensor is the same as the pressure value set by the controller, the sleeve strip drives the top distance sensor to tilt downward. When the distance value sensed by the top distance sensor is the same as the distance value set by the controller, the grinding plate can be adjusted to a position that fits the top inclined surface of the insulating material according to the specified pressure and specified distance, and a fitting grinding operation can be performed. According to the position requirements of the top inclined surface of the insulating material, precise adjustment and matching can be performed, so that the manipulator grinding has a wider applicability.

[0015] 3. The present invention utilizes a fitting and grinding adjustment component. The reduction motor drives the linkage shaft to rotate, the socket block drives the grinding motor to rotate the turntable, the rotating shaft drives the linkage disk to rotate, and the mechanical sleeve arm supports the angle sensor. The angle sensor senses the angle of the linkage shaft, so that the grinding groove roller and the grinding insertion roller can be adjusted to the angle position of the outer wall of the insulating material. The mechanical sleeve arm drives the linkage shaft to move left, the grinding motor drives the turntable to move left, and the extended electric cylinder drives the socket plate to move left. The grinding groove roller and the grinding insertion roller can fit on the inclined surface of the outer wall of the insulating material at a specified angle and perform grinding operations. According to the angle of the inclined surface of the outer wall of the insulating material and the required inclined position, precise adjustment and matching can be performed, making the robot grinding more applicable.

[0016] According to the mutual influence of the above-mentioned multiple effects, firstly, the grinding groove roller and the grinding insert roller can be extended and adjusted until they are adjusted to a position with the same value as the inclined length of the outer wall of the insulating material. Secondly, the grinding groove roller and the grinding insert roller can be fitted on the outer wall inclined surface of the insulating material at a specified angle and a specified lateral position. Finally, the grinding disc can be adjusted to a position that fits the top inclined surface of the insulating material according to a specified pressure and a specified distance. In summary, precise adjustment and matching can be performed according to the needs of the inclined length of the outer wall of the insulating material, the position of the top inclined surface of the insulating material, and the angle and inclined position of the outer wall inclined surface of the insulating material, so that the manipulator grinding has a wider applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the main structure of a cable accessory insulation polishing robot according to the present invention.

[0018] Figure 2 It is a schematic diagram of the partial structure of the connection between the mechanical sleeve arm and the sleeve block of the present invention.

[0019] Figure 3 It is a schematic diagram of the partial structure of the grinding groove roller and the grinding insertion roller separated according to the present invention.

[0020] Figure 4 It is a schematic diagram of the partial structure of the cross section of the rotating shaft of the present invention from the front view.

[0021] Figure 5 It is a schematic diagram of the vertical cross-section structure of a cable accessory insulation part grinding robot of the present invention.

[0022] Figure 6 For the present invention Figure 5 Enlarged structural diagram at A in the middle.

[0023] Figure 7 It is a schematic diagram of the partial structure of the connection between the mechanical sleeve arm and the threaded sleeve block of the present invention.

[0024] Figure 8 It is a schematic diagram of the partial structure of the connection between the reduction motor and the linkage shaft of the present invention.

[0025] Fig. 9 It is a schematic diagram of the partial structure of the connection between the controller and the mechanical sleeve arm of the present invention.

[0026] The accompanying drawings are marked as follows: 1. Mechanical sleeve arm; 2. Socket block; 3. Grinding motor; 4. Turntable; 5. Grinding groove roller; 6. Grinding insert roller; 7. Linkage plate; 8. Rotating shaft; 9. Transmission motor; 10. Socket plate; 11. Extended electric cylinder; 12. Mechanical frame plate; 13. Extended distance sensor; 14. Induction block; 15. Limiting ring; 16. Support block; 17. Tilt electric cylinder; 18. Pressure sensor; 19. Bearing plate; 20. Bearing ring; 21. Guide slide plate; 22. Grinding Plate; 23, guide strip; 24, sleeve strip; 25, top distance sensor; 26, linkage shaft; 27, reduction motor; 28, reinforcement block; 29, angle sensor; 30, sleeve plate; 31, positioning distance sensor; 32, threaded sleeve block; 33, adjusting screw; 34, support frame; 35, adjusting motor; 36, rotating motor; 37, mechanical sleeve support arm; 38, controller; 39, mobile electric cylinder; 40, positioning block; 41, insulating material; 42, mechanical arm chassis. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] As attached Figure 1-9 A cable accessory insulation grinding robot is shown, and the cable accessory insulation grinding robot is provided with an extension grinding adjustment mechanism, a top grinding adjustment mechanism, and a fitting grinding adjustment component. The settings of each mechanism and component can be precisely adjusted and matched according to the requirements of the inclined length of the outer wall of the insulation material 41, the position of the top inclined surface of the insulation material 41, and the angle and inclined position of the outer wall inclined surface of the insulation material 41, so that the robot grinding has a wider applicability. The specific structural settings of each mechanism and component are as follows.

[0029] In this technical solution, as shown in the attached Figure 1-5As shown, the socket block 2 is rotatably connected inside the mechanical sleeve arm 1, the grinding motor 3 is fixedly installed at the bottom end of the socket block 2, and the output end of the grinding motor 3 is provided with an extended grinding adjustment mechanism; the extended grinding adjustment mechanism includes a turntable 4 fixedly arranged at the output end of the grinding motor 3, and the bottom end of the turntable 4 is fixedly connected with a grinding groove roller 5, the outer wall of the grinding groove roller 5 is plugged with a grinding insertion roller 6, and a linkage disk 7 is fixedly installed at the bottom end of the grinding insertion roller 6, and the bottom end of the linkage disk 7 is fixedly connected with a rotating shaft 8; a transmission motor 9 is fixedly installed at the bottom end of the rotating shaft 8, and a socket plate 10 is rotatably connected to the outer wall of the rotating shaft 8, and an extended electric cylinder 11 is fixedly installed on the upper inclined surface of the socket plate 10, and a mechanical frame plate 12 is fixedly connected to the outer wall of the extended electric cylinder 11, the mechanical frame plate 12 is fixedly connected to the grinding motor 3, and the output end of the extended electric cylinder 11 is slidably connected to the mechanical frame plate 12; a top grinding adjustment mechanism is provided on the upper inclined surface of the mechanical frame plate 12; a fitting grinding adjustment component is provided on the inner wall of the socket block 2.

[0030] In this technical solution, as shown in the attached Figure 2-4 As shown, an extension distance sensor 13 is fixedly connected to one side of the mechanical frame plate 12, and a sensing block 14 is arranged below the extension distance sensor 13. Two limit rings 15 are fixedly connected to the outer wall of the rotating shaft 8 and near the position of the transmission motor 9. The two limit rings 15 are both rotatably connected to the socket plate 10, and the sensing block 14 is fixedly connected to the socket plate 10, so that the extension distance sensor 13 can sense the distance of the sensing block 14. When the distance value sensed by the extension distance sensor 13 is the same as the extension value set by the controller 38, the extension electric cylinder 11 is closed by the controller 38. A support block 16 is installed on one side of the transmission motor 9, and the vertical cross-section of the support block 16 is L-shaped; the transmission motor 9 and the socket plate 10 are both fixedly connected to the support block 16, so that the socket plate 10 drives the support block 16 to tilt downward, and the support block 16 drives the transmission motor 9 to tilt downward, so as to realize the synchronous tilt downward movement of the transmission motor 9.

[0031] In this technical solution, as shown in the attached Figure 6As shown, the top grinding adjustment mechanism includes a tilting electric cylinder 17 fixedly arranged on the inclined surface of the mechanical frame plate 12; the outer wall of the output end of the tilting electric cylinder 17 is slidably connected to the mechanical frame plate 12, and a pressure sensor 18 is fixedly installed on the output end of the tilting electric cylinder 17, and a bearing plate 19 is fixedly connected to the bottom end of the pressure sensor 18, and a bearing ring 20 is rotatably connected to the inner wall of the bearing plate 19; a guide slide plate 21 is fixedly connected to the bottom end of the bearing ring 20, and the guide slide plate 21 is slidably connected to the grinding groove roller 5, and the guide slide plate 21 is slidably connected to the rotating plate 4, and a grinding disc 22 is fixedly installed on the bottom end of the guide slide plate 21, and a guide strip 23 is slidably connected to the inner wall of the guide slide plate 21, and the guide strip 23 is fixedly connected to the grinding groove roller 5; a sleeve strip 24 is fixedly connected to one side of the bearing plate 19, and a top distance sensor 25 is fixedly installed on the inner wall of the sleeve strip 24. The outer wall of the bearing ring 20 and the inner wall of the bearing plate 19 are both smooth surfaces, and the cross-sectional shape of the bearing ring 20 is annular. The outer wall of the guide strip 23 and the inner wall of the guide slide plate 21 are both smooth surfaces, and the cross-sectional shape of the guide strip 23 is rectangular.

[0032] In this technical solution, as shown in the attached Figure 6-9 As shown, the fitting and grinding adjustment component includes a linkage shaft 26 fixedly arranged on the inner wall of the sleeve block 2; the linkage shaft 26 is rotatably connected to the mechanical sleeve arm 1, a reduction motor 27 is fixedly installed on one end of the linkage shaft 26, and a reinforcement block 28 is installed on the upper surface of the reduction motor 27, the mechanical sleeve arm 1 and the reduction motor 27 are both fixedly connected to the reinforcement block 28, and an angle sensor 29 is fixedly installed on the other end of the linkage shaft 26, a sleeve plate 30 is fixedly connected to one side of the outer wall of the sleeve plate 10, and a positioning distance sensor 31 is fixedly installed on the inner wall of the sleeve plate 30, and the angle sensor 29 is fixedly connected to the mechanical sleeve arm 1; a threaded sleeve block 32 is fixedly installed on the top of the mechanical sleeve arm 1, an adjusting screw 33 is threadedly connected to the inner wall of the threaded sleeve block 32, a support frame 34 is slidably connected to the outer wall of the threaded sleeve block 32, and an adjusting motor 35 is fixedly installed on one end of the support frame 34, and the adjusting motor 35 is used to drive the adjusting screw 33 to rotate.

[0033] A rotating motor 36 is fixedly mounted on the upper surface of the support frame 34, and the outer wall of the output end of the rotating motor 36 is rotatably connected to a mechanical sleeve support arm 37. The rotating motor 36 and the mechanical sleeve support arm 37 are fixedly mounted, and a controller 38 is fixedly connected to one side of the mechanical sleeve support arm 37. A mobile electric cylinder 39 is provided below the controller 38, and the mobile electric cylinder 39 is fixedly connected to the mechanical sleeve support arm 37. The linkage shaft 26 is coaxially arranged with the output end of the reduction motor 27, and the output end of the angle sensor 29 is coaxially arranged with the output end of the linkage shaft 26; the output end of the adjustment motor 35 is fixedly connected to the adjustment screw 33. A positioning block 40 is fixedly connected to the output end of the mobile electric cylinder 39, and an insulating material 41 is inserted at the top of the positioning block 40; a mechanical arm chassis 42 is slidably connected to the bottom end of the positioning block 40, and the mechanical arm chassis 42 is fixedly connected to the mechanical sleeve support arm 37.

[0034] The working principle of the cable accessory insulation part grinding robot of the present invention is as follows:

[0035] Step 1: When extending the grinding adjustment, holes are punched according to the hole positions on the robot chassis 42, and then the robot chassis 42 can be fixed to the ground installation position by inserting the expansion bolts into the inside of the robot chassis 42. Then, according to the inclined length value of the outer wall of the insulating material 41, the extension value is set in the controller 38, and the extension electric cylinder 11 is started through the controller 38. The output end of the extension electric cylinder 11 drives the socket plate 10 to move downward, and the outer wall of the output end of the extension electric cylinder 11 moves downward along the inner wall of the mechanical frame plate 12, and the output end of the extension electric cylinder 11 moves downward along the inner wall of the mechanical frame plate 12.

[0036] At the same time, the sleeve plate 10 drives the two limit rings 15 to move downward, the sleeve plate 10 drives the support block 16 to move downward, the support block 16 drives the transmission motor 9 to move downward, the transmission motor 9 drives the rotating shaft 8 to move downward, the rotating shaft 8 drives the linkage plate 7 to move downward, the linkage plate 7 drives the grinding and inserting roller 6 to move downward, the grinding and inserting roller 6 moves downward from the inner wall of the grinding groove roller 5, so that the grinding and inserting roller 6 can be extended from the grinding groove roller 5, and at the same time, the sleeve plate 10 drives the induction block 14 to move downward, and the extension distance sensor 13 performs distance sensing on the induction block 14. When the distance value sensed by the extension distance sensor 13 is the same as the extension value set by the controller 38, the extension electric cylinder 11 is closed by the controller 38, so that the grinding groove roller 5 and the grinding and inserting roller 6 can be extended and adjusted until the extension is adjusted to a position with the same value as the inclined length of the outer wall of the insulating material 41.

[0037] Step 2: When adjusting the fit and grinding, set the tilt angle value on the controller 38, and the reinforcement block 28 is supported by the mechanical sleeve arm 1. The reinforcement block 28 reinforces the reduction motor 27. The reduction motor 27 drives the linkage shaft 26 to rotate, and the linkage shaft 26 drives the sleeve block 2 to rotate. The sleeve block 2 drives the grinding motor 3 to rotate the turntable 4, and the turntable 4 drives the grinding groove roller 5 to rotate.

[0038] At the same time, the grinding motor 3 drives the mechanical frame plate 12 to rotate, the mechanical frame plate 12 causes the extension electric cylinder 11 to rotate, the extension electric cylinder 11 drives the socket plate 10 to rotate, the socket plate 10 drives the rotating shaft 8 to rotate, the rotating shaft 8 drives the linkage disk 7 to rotate, and the linkage disk 7 drives the grinding insert roller 6 to rotate. The grinding groove roller 5 and the grinding insert roller 6 can be adjusted at an inclination angle, and the mechanical sleeve arm 1 supports an angle sensor 29, which senses the angle of the linkage shaft 26. When the angle value sensed by the angle sensor 29 is the same as the inclination angle value set by the controller 38, the reduction motor 27 is turned off by the controller 38, so that the grinding groove roller 5 and the grinding insert roller 6 can be adjusted at the angle position of the outer wall of the insulating material 41.

[0039] At the same time, the controller 38 starts the adjusting motor 35, the adjusting motor 35 drives the adjusting screw 33 to rotate, the adjusting screw 33 drives the threaded sleeve block 32 to move left under the action of the thread transmission force, the threaded sleeve block 32 drives the mechanical sleeve arm 1 to move left, the mechanical sleeve arm 1 drives the linkage shaft 26 to move left, the linkage shaft 26 drives the sleeve block 2 to move left, the sleeve block 2 makes the grinding motor 3 move left, the grinding motor 3 drives the turntable 4 to move left, and the turntable 4 drives the grinding groove roller 5 to move left.

[0040] At the same time, the grinding motor 3 drives the mechanical frame plate 12 to move left, the mechanical frame plate 12 drives the extension electric cylinder 11 to move left, the extension electric cylinder 11 makes the extension electric cylinder 11 move left, the extension electric cylinder 11 drives the sleeve plate 10 to move left, the sleeve plate 10 drives the rotating shaft 8 to move left, the rotating shaft 8 drives the linkage disk 7 to move left, the linkage disk 7 drives the grinding insert roller 6 to move left, so that the grinding groove roller 5 and the grinding insert roller 6 can be attached to the outer wall inclined surface of the insulating material 41 at a specified angle. The sleeve plate 10 drives the sleeve plate 30 to move left, the sleeve plate 30 drives the positioning distance sensor 31 to move left, and the positioning distance sensor 31 performs distance sensing on the outer wall inclined surface of the insulating material 41. When the distance value sensed by the positioning distance sensor 31 is the same as the distance value sensed by the controller 38, the adjustment motor 35 is turned off by the controller 38.

[0041] Step 3: During the top grinding adjustment, the controller 38 is used to start the tilting electric cylinder 17, which pushes the pressure sensor 18 to tilt downward, and the pressure sensor 18 drives the bearing plate 19 to tilt downward, and the bearing plate 19 drives the bearing ring 20 to tilt downward, and the bearing ring 20 causes the guide slide plate 21 to tilt downward, and the guide slide plate 21 tilts downward along the outer wall of the guide strip 23. At the same time, the guide slide plate 21 tilts downward along the outer wall of the grinding groove roller 5, and the guide slide plate 21 drives the grinding plate 22 to tilt downward, so that the grinding plate 22 can be pressed on the top inclined surface of the insulating material 41. When the pressure value sensed by the pressure sensor 18 is the same as the pressure value set by the controller 38, the bearing plate 19 drives the sleeve strip 24 to tilt downward, and the sleeve strip 24 drives the top distance sensor 25 to tilt downward, and the top distance sensor 25 performs distance sensing on the top inclined surface of the insulating material 41. When the distance value sensed by the top distance sensor 25 is the same as the distance value set by the controller 38, the tilting electric cylinder 17 is closed by the controller 38, so that the grinding disc 22 can be adjusted to a position that fits the top inclined surface of the insulating material 41 according to the specified pressure and the specified distance.

[0042] Step 4: When driving the grinding, the grinding motor 3 is started through the controller 38, and the grinding motor 3 drives the turntable 4 to rotate, and the turntable 4 drives the grinding groove roller 5 to rotate, and the grinding groove roller 5 causes the guide bar 23 to rotate. The guide bar 23 drives the guide slide 21 to rotate, and the guide slide 21 drives the bearing ring 20 to rotate, and the bearing ring 20 rotates along the inner wall of the bearing disk 19, while the bearing disk 19 remains stationary. The guide slide 21 will drive the grinding disk 22 to rotate, and the grinding disk 22 fits and grinds the top of the insulating material 41. At the same time, the socket plate 10 supports the support block 16, and the support block 16 supports the transmission motor 9. The transmission motor 9 drives the rotating shaft 8 to rotate, and the rotating shaft 8 drives the linkage disk 7 to rotate. The rotating shaft 8 rotates inside the socket plate 10 at the same time, and the linkage disk 7 drives the grinding insert roller 6 to rotate. The grinding groove roller 5 and the grinding insert roller 6 can synchronously rotate and grind the inclined surface of the outer wall of the insulating material 41.

[0043] At the same time, the rotating motor 36 is started by the controller 38 to drive the support frame 34 to rotate forward 360 degrees and then reverse 360 ​​degrees, so that the support frame 34 drives the adjusting screw 33 to rotate forward and backward, the adjusting screw 33 drives the threaded sleeve block 32 to rotate forward and backward, the threaded sleeve block 32 drives the mechanical sleeve arm 1 to make the linkage shaft 26 rotate forward and backward, the linkage shaft 26 drives the sleeve block 2 to rotate forward and backward, the sleeve block 2 drives the grinding motor 3 to rotate forward and backward, the grinding motor 3 drives the turntable 4 to rotate forward and backward, the turntable 4 makes the grinding groove roller 5 rotate forward and backward, and the grinding groove roller 5 performs forward and backward reciprocating rotation and grinding along the inclined surface of the outer wall of the insulating part raw material 41. At the same time, the grinding motor 3 drives the mechanical frame plate 12 to make the extended electric cylinder 11 rotate back and forth, the extended electric cylinder 11 drives the socket plate 10 to rotate back and forth, the socket plate 10 drives the rotating shaft 8 to rotate back and forth, the rotating shaft 8 drives the linkage disk 7 to rotate back and forth, the linkage disk 7 makes the grinding roller 6 rotate back and forth, the grinding roller 6 performs forward and reverse reciprocating rotation grinding along the inclined surface of the outer wall of the insulating material 41, and the grinding groove roller 5 drives the guide slide plate 21 to rotate back and forth for grinding, the guide slide plate 21 makes the grinding disk 22 perform forward and reverse reciprocating rotation grinding along the top inclined surface of the insulating material 41, and after grinding, the rotating motor 36 is turned off by the controller 38.

[0044] Step 5, when grinding and discharging, after grinding is completed, the mobile electric cylinder 39 is started by the controller 38, and the mobile electric cylinder 39 pushes the positioning block 40 to move left, and the insulating part raw material 41 slides left along the upper surface of the robot arm chassis 42. At the same time, the positioning block 40 drives the insulating part raw material 41 to move left, and the insulating part raw material 41 moves out to the left, and then the operator separates the insulating part raw material 41 from the outer wall of the positioning block 40.

[0045] The contents not described in detail in the specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used. In this technical solution, the electrical control components not mentioned are not shown in the figure because they belong to the prior art and will not be described here.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cable accessory insulation grinding robot, comprising a robot sleeve arm (1), a sleeve block (2) and a grinding motor (3), characterized in that: The sleeve block (2) is rotatably connected inside the mechanical sleeve arm (1); the grinding motor (3) is fixedly mounted on the bottom end of the sleeve block (2); and an extended grinding adjustment mechanism is provided at the output end of the grinding motor (3); The extended grinding adjustment mechanism comprises a rotating disk (4) fixedly arranged at the output end of the grinding motor (3), and a grinding groove roller (5) is fixedly connected to the bottom end of the rotating disk (4), a grinding insert roller (6) is inserted into the outer wall of the grinding groove roller (5), a linkage disk (7) is fixedly installed at the bottom end of the grinding insert roller (6), and a rotating shaft (8) is fixedly connected to the bottom end of the linkage disk (7); A transmission motor (9) is fixedly mounted on the bottom end of the rotating shaft (8); a sleeve plate (10) is rotatably connected to the outer wall of the rotating shaft (8); an extended electric cylinder (11) is fixedly mounted on the upper inclined surface of the sleeve plate (10); a mechanical frame plate (12) is fixedly connected to the outer wall of the extended electric cylinder (11); the mechanical frame plate (12) is fixedly connected to the grinding motor (3); and an output end of the extended electric cylinder (11) is slidably connected to the mechanical frame plate (12); The upper inclined surface of the mechanical frame plate (12) is provided with a top grinding adjustment mechanism; The inner wall of the sleeve block (2) is provided with a fitting grinding adjustment component.

2. The cable accessory insulation polishing robot according to claim 1, characterized in that: The top surface of the linkage disk (7) is arranged parallel to the bottom end of the rotating disk (4), and the cross-sectional shapes of the linkage disk (7) and the rotating disk (4) are both circular.

3. The cable accessory insulation polishing robot according to claim 1, characterized in that: An extended distance sensor (13) is fixedly connected to one side of the mechanical frame plate (12), a sensing block (14) is provided below the extended distance sensor (13), and the sensing block (14) is fixedly connected to the sleeve plate (10); Two limiting rings (15) are fixedly connected to the outer wall of the rotating shaft (8) and close to the transmission motor (9), and the two limiting rings (15) are both rotatably connected to the sleeve plate (10).

4. The cable accessory insulation polishing robot according to claim 1, characterized in that: A support block (16) is installed on one side of the transmission motor (9), and the vertical cross-section of the support block (16) is L-shaped; The transmission motor (9) and the sleeve plate (10) are both fixedly connected to the support block (16).

5. The cable accessory insulation polishing robot according to claim 1, characterized in that: The top grinding adjustment mechanism comprises a tilting electric cylinder (17) fixedly arranged on the inclined surface of the mechanical frame plate (12); The outer wall of the output end of the tilt electric cylinder (17) is slidably connected to the mechanical frame plate (12); a pressure sensor (18) is fixedly installed on the output end of the tilt electric cylinder (17); a bearing disk (19) is fixedly connected to the bottom end of the pressure sensor (18); and a bearing ring (20) is rotatably connected to the inner wall of the bearing disk (19); The bottom end of the bearing ring (20) is fixedly connected to a guide slide plate (21), the guide slide plate (21) is slidably connected to the grinding groove roller (5), the guide slide plate (21) is slidably connected to the rotating disk (4), a grinding disk (22) is fixedly mounted on the bottom end of the guide slide plate (21), the inner wall of the guide slide plate (21) is slidably connected to a guide strip (23), and the guide strip (23) is fixedly connected to the grinding groove roller (5); A sleeve strip (24) is fixedly connected to one side of the bearing disc (19), and a top distance sensor (25) is fixedly mounted on the inner wall of the sleeve strip (24).

6. The cable accessory insulation polishing robot according to claim 5, characterized in that: The outer wall of the bearing ring (20) and the inner wall of the bearing disc (19) are both smooth surfaces, and the cross-sectional shape of the bearing ring (20) is annular.

7. The cable accessory insulation polishing robot according to claim 5, characterized in that: The outer wall of the guide strip (23) and the inner wall of the guide sliding plate (21) are both smooth surfaces, and the cross-sectional shape of the guide strip (23) is rectangular.

8. The cable accessory insulation polishing robot according to claim 1, characterized in that: The fitting and grinding adjustment component comprises a linkage shaft (26) fixedly arranged on the inner wall of the sleeve block (2); The linkage shaft (26) is rotationally connected to the mechanical sleeve arm (1); a reduction motor (27) is fixedly mounted on one end of the linkage shaft (26); a reinforcement block (28) is mounted on the upper surface of the reduction motor (27); the mechanical sleeve arm (1) and the reduction motor (27) are both fixedly connected to the reinforcement block (28); an angle sensor (29) is fixedly mounted on the other end of the linkage shaft (26); the angle sensor (29) is fixedly connected to the mechanical sleeve arm (1); a sleeve plate (30) is fixedly connected to one side of the outer wall of the sleeve plate (10); and a positioning distance sensor (31) is fixedly mounted on the inner wall of the sleeve plate (30); A threaded sleeve block (32) is fixedly mounted on the top end of the mechanical sleeve arm (1); an adjusting screw (33) is threadedly connected to the inner wall of the threaded sleeve block (32); a support frame (34) is slidably connected to the outer wall of the threaded sleeve block (32); an adjusting motor (35) is fixedly mounted on one end of the support frame (34); the adjusting motor (35) is used to drive the adjusting screw (33) to rotate; A rotating motor (36) is fixedly mounted on the upper surface of the support frame (34), and a mechanical sleeve support arm (37) is rotatably connected to the outer wall of the output end of the rotating motor (36). The rotating motor (36) and the mechanical sleeve support arm (37) are fixedly mounted between each other, and a controller (38) is fixedly connected to one side of the mechanical sleeve support arm (37). A movable electric cylinder (39) is provided below the controller (38), and the movable electric cylinder (39) and the mechanical sleeve support arm (37) are fixedly connected.

9. The cable accessory insulation polishing robot according to claim 8, characterized in that: The linkage shaft (26) is coaxially arranged with the output end of the reduction motor (27), and the output end of the angle sensor (29) is coaxially arranged with the output end of the linkage shaft (26); The output end of the adjusting motor (35) is fixedly connected to the adjusting screw rod (33).

10. The cable accessory insulation polishing robot according to claim 8, characterized in that: The output end of the movable electric cylinder (39) is fixedly connected to a positioning block (40), and the top end of the positioning block (40) is plugged with an insulating material (41); The bottom end of the positioning block (40) is slidably connected to a mechanical arm chassis (42), and the mechanical arm chassis (42) is fixedly connected to the mechanical sleeve support arm (37).

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