Post insulator feeding and discharging equipment and method

Abstract

The invention discloses post insulator feeding and discharging equipment and a post insulator feeding and discharging method, and relates to the field of post insulator manufacturing. The automatic feeding device comprises a feeding mechanism and a grabbing, feeding and discharging mechanism arranged on a truss, the feeding mechanism comprises a feeding trolley arranged on a track, the feeding trolley comprises a trolley motor connected with walking wheels of the feeding trolley, a trolley plate of the feeding trolley is provided with a guide rail and two blank clamping plates, and the two blank clamping plates are arranged on the guide rail. At least one blank clamping plate is matched with the guide rail and connected with a piston rod of the servo electric cylinder, and a cylinder body of the servo electric cylinder is fixed to the trolley plate. The opposite surfaces of the two blank clamping plates are V-shaped; and the trolley motor is connected with the delay circuit. The feeding mechanism can be controlled through the plc system to achieve automatic conveying of blanks, automatic feeding and discharging of the blanks are achieved by arranging the grabbing and feeding and discharging mechanism, manual participation is not needed, the working intensity is relieved, and potential safety hazards are reduced.

Description

Technical Field

[0001] The invention relates to a post insulator loading and unloading device and method, and relates to the field of post insulator manufacturing. Background Art

[0002] Post insulators are an essential component of power transmission lines and are widely used in the power, petroleum, chemical, and construction industries. Currently, post insulator blanks in my country are repaired manually. This process, particularly for dry-process post insulators, which are large, heavy, and have poorly shaped components, often requires lengthy and repetitive loading and unloading maneuvers. This manual operation can easily lead to worker fatigue, impacting work efficiency and product quality, and potentially causing physical injury. Manual loading and unloading is also relatively slow, particularly in batch production, limiting productivity and making it difficult to adapt to large-scale production. Differences in operator skill and work attitude can lead to inconsistent force and position during loading and unloading, impacting subsequent repair accuracy and quality stability. Summary of the Invention

[0003] The purpose of the present invention is to design a post insulator loading and unloading device which can improve the speed and accuracy of post insulator loading and unloading.

[0004] The present invention includes a feeding mechanism, a grabbing and feeding and discharging mechanism arranged on a truss, the feeding mechanism includes a feeding trolley arranged on a track, the feeding trolley includes a trolley motor connected to its running wheels, a guide rail is provided on the car plate of the feeding trolley, and there are two blank clamps, at least one blank clamp is matched with the guide rail and is connected to the piston rod of the servo electric cylinder, and the cylinder body of the servo electric cylinder is fixed on the car plate; the relative surfaces of the two blank clamps are V-shaped; the trolley motor is connected to the delay circuit.

[0005] Furthermore, an X-axis guide rail is provided on the truss, and both ends of the Y-axis bracket cooperate with the X-axis guide rail; the gripping and feeding and discharging mechanism includes a mounting seat provided on the Y-axis bracket, and a vertical Z-axis bracket is provided on the mounting seat, and the Z-axis bracket is connected to the shaft of the lifting motor on the mounting seat; the lower end of the Z-axis bracket is rotatably connected to the clamp seat, and two parallel bidirectional screws are provided on the clamp seat, and a pair of feeding splints and a pair of discharging splints are respectively installed on the two screws, and the two screws are respectively connected to the clamping motor installed on the clamp seat through a transmission mechanism.

[0006] Furthermore, the opposing surfaces of the two discharging splints respectively have arc-shaped grooves near their outer ends, and the arc-shaped groove on each discharging splint is a step groove, and the groove depth of the upper groove to the outer surface of the discharging splint is greater than the groove depth of the lower groove; or, the opposing surfaces of the two feeding splints are planes, and flexible gaskets are arranged on the opposing surfaces near their outer ends.

[0007] Furthermore, a feeding trolley stop position is provided on the track, and a photo-taking mechanism with a lens facing upward is provided on one side of the stop position. The photo-taking mechanism is provided in the lower middle part of the frame, and a fill light is provided on the periphery of the upper surface of the frame.

[0008] Furthermore, it comprises a finished product rack, one end of which is provided with a column, and a distance sensor is provided on the column.

[0009] Furthermore, it includes a finished product rack, a bracket is installed on the finished product rack, and a group of upper positioning mechanisms are provided on the bracket, the upper positioning mechanism includes a sleeve, the middle part of the sleeve is provided with two opposite cavities connected to its inner cavity and protruding outward, each cavity is provided with a transverse limit block that cooperates with the transverse spring, and the lower surface of each transverse limit block is an inclined surface; an upper limit block that cooperates with the longitudinal spring is provided on the upper part of the sleeve, and a lower limit block is provided below the upper limit block, and the lower limit block is in an inverted cone shape; the upper limit block is fixed on the top shaft, the lower limit block is slidably connected to the top shaft, and the lower end of the top shaft extends out of the sleeve A method for loading and unloading a post insulator, using the aforementioned post insulator loading and unloading equipment, comprises the following steps: (1) Place the columnar blank on the feeding trolley, insert the positioning column under the columnar blank into the positioning hole at the bottom of the blank, and use the servo electric cylinder to push the blank clamp to clamp the columnar blank; (2) Set the running time of the feeding trolley, start the feeding trolley, and make it run along the track for the set time until the feeding trolley reaches the end position; (3) Operate the grabbing and feeding and discharging mechanism on the truss to reach the top of the feeding trolley, control the lifting motor to move the Z axis downward, and then the feeding part of the grabbing and feeding and discharging mechanism clamps the columnar blank and sends it to the processing equipment, and then the grabbing and feeding and discharging mechanism exits; (4) After the processing is completed, the direction of the grabbing and feeding and discharging mechanism is rotated so that the discharging part enters the processing equipment, the finished product is clamped and taken out and sent to the finished product rack.

[0010] Furthermore, the correct position of the bottom positioning hole of the columnar blank is set when it passes through the photographing mechanism, and the position is made to correspond to the position of the positioning block in the processing equipment and the distance is determined; in the operation process of step (3), after the columnar blank is grasped and before it is sent to the processing equipment, the columnar blank is stopped above the photographing mechanism, and the obtained photo is sent to the analysis system, and the position of the positioning hole in the photographed photo is compared with the X-direction and Y-direction distances x1 and y1 of the correct position, and the gantry is operated to move the grasping and feeding and discharging mechanisms by x1 and y1 on the X-axis and Y-axis respectively, so that the positioning hole is located at the correct position; (3.1) The grabbing and feeding and discharging mechanism moves the set distance in a straight line to deliver the cylindrical blank to the correct position of the processing equipment. Furthermore, the distance sensor on the column of the finished product rack measures the distance between the finished product and the distance sensor during movement, and controls the position of the finished product according to the distance between the top shaft on the finished product rack and the distance sensor. After reaching the bottom of each top shaft from far to near, the blank is moved up a set distance. After the lower limit block moves up to above the horizontal limit block, the finished product is moved down and placed on the finished product rack. A top shaft is inserted into a positioning hole on the top of the finished product. When the distance sensor measures that the finished product has reached the shortest distance set in advance, the finished product rack is fully loaded.

[0011] The present invention can automatically transport blanks by controlling the feeding mechanism through a PLC system. The provision of a gripping and feeding / discharging mechanism enables automatic loading and unloading of blanks, eliminating the need for manual intervention, reducing workload and lowering safety risks. A camera mechanism is also provided to correct the coordinate position of the blanks as they are loaded onto the processing equipment, thereby improving the accuracy and quality of subsequent blank repair. The gripping and feeding / discharging mechanism of the present invention is equipped with a feed clamp and a discharge clamp. The clamps can be switched by rotating a motor, enabling the device to clamp both pre-repaired columnar blanks and finished finished blanks after repair, thereby reducing production costs and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Schematic diagram of the structure of an embodiment of the present invention; Figure 2 for Figure 1 Structural diagram of the feeding mechanism; Figure 3 for Figure 2 The main view; Figure 4 for Figure 2 Left view of the feeding trolley; Figure 5 for Figure 1 Schematic diagram of the camera mechanism; Figure 6 for Figure 1 Structural diagram of the middle truss part; Figure 7 for Figure 6 A partial enlarged view of point A in the middle; Figure 8 for Figure 6 Right view; Figure 9 for Figure 8 A partial enlarged view of point B in the middle; Figure 10 for Figure 9 Schematic diagram of the structure of the middle fixture seat; Figure 11 for Figure 1 Structural diagram of the finished product rack; Figure 12 for Figure 11 The main view; Figure 13 for Figure 12 A full cross-sectional view of the center-upper positioning mechanism; Among them: 1. Feeding mechanism, 2. Feeding trolley, 3. Track, 4. Trolley motor, 5. Guide rail, 6. Blank splint, 7. Servo electric cylinder, 8. Positioning column, 9. Truss, 10. Grasping and feeding and discharging mechanism, 11. X-axis guide rail, 12. Y-axis bracket, 13. Y-axis guide rail, 14. Mounting seat, 15. Z-axis bracket, 16. Z-axis guide rail, 17. Lifting motor, 18. Clamp seat, 19. Rotating motor, 20. Gear transmission group, 21. Bidirectional screw, 22. Feed splint, 23. Discharging splint, 24. Clamping motor, 25. Transmission machine Structure, 26. Flexible gasket, 27. Arc groove, 28. Photographing mechanism, 29. Frame, 30. Camera column, 31. Camera, 32. Fill light, 33. Finished product rack, 34. Guide frame, 35. Rotating pressing cylinder, 36. Column, 37. Bracket, 38. Upper positioning mechanism, 39. Sleeve, 40. Horizontal limit block, 41. Horizontal spring, 42. Top shaft, 43. Upper limit block, 44. Longitudinal spring, 45. Lower limit block, 46. Distance sensor, 47. Columnar blank, 48. Positioning hole, 49. Finished product, 50. Processing equipment. DETAILED DESCRIPTION

[0013] by Figure 3 The up, down, left, right, front and back directions of this embodiment are defined.

[0014] As shown in the figure, this embodiment includes a feeding mechanism 1, which includes a feeding trolley 2. A track 3 fixed to the ground is provided below the feeding trolley 2, and the running wheels of the feeding trolley 2 are rotatably connected to the track 3. A trolley motor 4 is provided at the lower end of the feeding trolley 2. The rotating shaft of the trolley motor 4 is connected to the running wheels of the feeding trolley 2, which can control the movement of the feeding trolley 2 along the track 3. A guide rail 5 is provided on the upper end of the feeding trolley 2. The guide rail 5 is fixedly connected to the car plate. Two blank clamps 6 are provided above the guide rail 5. The opposing surfaces of the two blank clamps 6 are V-shaped, and the lower ends are slidably connected to the guide rail 5. A servo electric cylinder 7 is provided on the opposite sides of the two blank clamps 6. The cylinder body of the servo electric cylinder 7 is fixedly mounted on the car plate, and its piston rod is respectively connected to the opposing surfaces of the two blank clamps 6, which can push the blank clamps to move along the guide rail 5. A positioning post 8 is provided between the two blank clamping plates 6 and is fixedly mounted on the carriage plate of the feed trolley 2. Its shape matches the tapered positioning hole 48 provided at the lower end of the columnar blank 47. When a worker places the columnar blank 47 onto the feed trolley using a gantry, the positioning post 8 provides positioning and assists in securing the columnar blank 47. In this embodiment, the trolley motor 4 is connected to a delay circuit, enabling the system to control the energization time of the trolley motor 4 to ensure that the feed trolley 2 reaches the set coordinate position.

[0015] A truss 9 is provided above the feeding mechanism 1, and an X-axis guide rail 11 is provided at the front and rear ends above the truss 9. The X-axis guide rail 11 is fixedly connected to the truss 9, and a Y-axis bracket 12 is provided above it. The front and rear ends of the Y-axis bracket 12 match the X-axis guide rail 11. When in use, the Y-axis bracket 12 can be moved along the X-axis guide rail 11 by a motor-driven gear rack mechanism. The motor-driven gear rack mechanism in this application is an existing setting and will not be described in detail here. In this embodiment, a through slot is provided in the middle of the Y-axis bracket 12, and a grabbing and feeding and discharging mechanism 10 is provided in the through slot. The grabbing and feeding and discharging mechanism 10 includes a mounting seat 14, and the mounting seat 14 matches the Y-axis guide rails 13 provided at the left and right ends above the Y-axis bracket 12, and can control the mounting seat 14 to slide back and forth along the Y-axis guide rail 13 by a motor-driven gear rack structure. A vertical Z-axis bracket 15 is mounted on the mounting base 14. Z-axis guide rails 16 are fixedly mounted on both the front and rear sides of the Z-axis bracket 15. The mounting base 14 is slidably connected to the Z-axis guide rails 16. A lifting motor 17 is mounted on the right side of the mounting base 14. The rotating shaft of the lifting motor 17 extends between the Z-axis bracket 16 and the mounting base 14. The motor is connected to the Z-axis bracket 16 via a rack and pinion mechanism, which can control the vertical movement of the Z-axis bracket 16.

[0016] A clamp seat 18 is provided below the Z-axis bracket 16, and the clamp seat 18 is rotatably connected to the lower end surface of the Z-axis bracket 16. A rotary motor 19 is provided on the right side of the lower end of the Z-axis bracket 16. The rotary shaft of the rotary motor 19 passes downward through the Z-axis bracket 16 and is connected to the rotary shaft of the clamp seat 18 via a gear transmission group 20. When in use, starting the rotary motor 19 can control the rotation of the clamp seat 18. Two bidirectional screws 21 are provided in parallel at the front and rear ends of the clamp seat 18, and the two bidirectional screws 21 are rotatably connected to the clamp seat 18. In this embodiment, the two screws are respectively connected to two clamping motors 24 installed on the clamp seat 18 through a transmission mechanism. The transmission mechanism adopts a belt transmission mechanism. When in use, starting one clamping motor 24 can drive the connected bidirectional screw 21 to rotate. A pair of feed splints 22 are screwed onto the front bidirectional screw 21 through threads. The upper and lower ends of the two feed splints 22 are slidingly connected to the front surface of the clamp seat 18 through a guide rail structure. When in use, the two feed splints 22 can make relative motion with the rotation of the front bidirectional screw 21; the relative surfaces of the two feed splints 22 are flat, and flexible gaskets 26 are provided on the relative surfaces of the two splints near their front ends for clamping cylindrical columnar blanks 47. A pair of discharge clamps 23 are screwed onto the rear bidirectional screw 21 through threads, and the upper and lower ends of the two discharge clamps 23 are slidably connected to the rear surface of the clamp seat 18 through a guide rail structure. When in use, the two discharge clamps 23 can make relative movement with the rotation of the rear bidirectional screw 21; the relative surfaces of the two discharge clamps 23 are provided with arc-shaped grooves 27 near their outer ends, and the two arc-shaped grooves 27 are step grooves, and the groove depth of the upper groove to the outer surface of the discharge clamp 23 is greater than the groove depth of the lower groove. After the blank is repaired, the upper part of the finished product 49 is an inverted conical step shaft structure, and the shape of the arc-shaped groove 27 matches the shape of the upper structure of the finished product 49, which can improve the stability of clamping.

[0017] In this embodiment, the right portion of the track 3 after bending is the end position of the feeding trolley. A processing device 50 is provided at the rear side of the end position. The processing device 50 is a blanking machine. The present invention adopts existing equipment and will not be described in detail here. A photographing mechanism 28 is provided between the end position of the feeding trolley and the processing device 50. The photographing mechanism 28 includes a camera column 30 fixedly mounted on the ground, and a camera 31 with an upward lens is fixedly mounted on the upper end of the camera column 30; a frame 29 is provided on the periphery of the photographing mechanism 28, and a fill light 32 is provided on the periphery of the upper surface of the frame 29 to improve the clarity of the shooting; in this embodiment, the photographing mechanism 28 is provided in the middle and lower part of the frame 29 to avoid the phenomenon of unclear shooting due to the camera 31 being too high to block the light source.

[0018] A finished product rack 33 is provided on the right side of the track 3, and a guide rack 34 is provided below the finished product rack 33. The front end of the guide rack 34 is open. When in use, the finished product rack 33 is placed into the guide rack 34 through the opening at the front end of the guide rack 34 by the RGV trolley to fix the unloading position of the finished product 49. A rotating and pressing cylinder 35 is provided in the middle position of the guide rack 34, and a bending rack that cooperates with the rotating and pressing cylinder 35 is provided at the lower end of the finished product rack 33. When the RGV trolley places the finished product rack 33 into the guide rack 34, it reaches the set position and sends a signal to control the rotating and pressing cylinder 35 to start, retract its piston rod to press the bending rack, thereby fixing the finished product rack 33. Columns 36 are provided at the left and right ends of the finished material rack, and brackets 37 are fixedly installed on the upper ends of the two columns 36. A group of upper positioning mechanisms 38 are provided on the brackets 37. In this embodiment, 6 upper positioning mechanisms 38 are provided. Each upper positioning mechanism 38 includes a sleeve 39. Two outwardly protruding and opposite cavities are provided in the middle of the sleeve 39. The two cavities are communicated with the inner cavity of the sleeve 39; transverse limit blocks 40 are provided in the two cavities, and each transverse limit block 40 is connected to the cavity through a transverse spring 41. The lower surface of each transverse limit block 40 is an inclined surface. A vertical top shaft 42 is provided at the central axis of the sleeve 39, and the top shaft 42 is slidably connected to the sleeve 39, and its lower end extends out of the sleeve 39; the outer periphery of the top shaft 42 is in the shape of a stepped shaft, and an upper limit block 43 is fixedly connected to the upper part. The upper limit block 43 is conical, and a longitudinal spring 44 is provided on the upper part, which can push the upper limit block 43 through elastic force to move the top shaft 42 downward; a lower limit block 45 is provided below the upper limit block 43, and the lower limit block 45 is in the shape of an inverted cone, which is connected with the step surface on the outer periphery of the top shaft 42 and can slide up and down along the top shaft 42. During use, the finished product 49 is clamped to the bottom of the top shaft 42 by the discharging clamping plate 23. At this time, the positioning hole 48 at the upper end of the finished product 49 is aligned with the top shaft 42. The finished product 49 is moved upward, and the top shaft 42 is pushed to the lower limit block 45 to move above the horizontal limit block 40, and then the finished product 40 is moved downward. The top shaft 42 presses the positioning hole 48 at the upper end of the finished product 49 under the action of the longitudinal spring 44. The upper limit block 43 merges with the lower limit block 45 during the downward movement, and the horizontal limit block 40 is pushed to the left and right sides by the lower limit block 45, so that the upper limit block 43 moves to below the horizontal limit block 40. At this time, the longitudinal spring 44 expands, pushing the top shaft 42 to press the finished product 49.

[0019] In this embodiment, a distance sensor 46 is provided on the right column 36, which is used to measure the distance between the finished product 49 and the distance sensor 46 during the movement, and control the position of the finished product from far to near according to the distance between the top shaft 42 on the finished product rack 33 and the distance sensor 46, and reach the bottom of each top shaft 42 in sequence. When the distance sensor 46 measures that the finished product 49 has reached the shortest distance set in advance, the finished product rack 33 is fully loaded.

[0020] A method for loading and unloading a post insulator, using the aforementioned post insulator loading and unloading equipment, comprises the following steps: When loading and unloading post insulators, a worker first places the columnar blank 47 onto the feed trolley 2, aligns the positioning hole 48 below the columnar blank 47 with the positioning column 8, and then starts the servo electric cylinder 7, pushing the blank clamping plate 6 to clamp and fix the columnar blank 47. After completion, the trolley motor 4 is started, and the feed trolley 2 runs along the track 3 for a set time and then reaches the end position. After the feed trolley 2 is in place, the grabbing and feeding and discharging mechanism 10 on the truss 9 is controlled to reach the top of the feed trolley 2, and then the lifting motor 17 is started to control the Z-axis bracket 15 to move downward. After the feeding clamping plate 22 is in place, the clamping motor 24 is started to grab the columnar blank 47. After grabbing, the servo electric cylinder 7 resets, and the grabbing and feeding and discharging mechanism 10 sends the columnar blank 47 to the top of the photographing mechanism 28 for photographing. At this time, the feed trolley 2 resets. The photograph taken by the photographing mechanism 28 is sent to the analysis system, which compares the position of the positioning hole 48 in the photograph with the X- and Y-distances x1 and y1 of the correct position. The system then operates the gripping and feeding / discharging mechanism 10, causing it to move x1 and y1 along the X and Y axes, respectively, to position the positioning hole 48 in the correct position. The gripping and feeding / discharging mechanism 10 then moves a set distance in a linear direction, delivering the columnar blank 47 to the processing equipment 50 for trimming. After trimming is completed, the rotary motor 19 is activated, switching the discharge clamping plate 23. The gripping and feeding / discharging mechanism 10 is then controlled to extend the discharge clamping plate 23 into the processing equipment 50, gripping the finished product 49, removing it, and transporting it to the finished product rack 33. After the finished product 49 is delivered to the set position of the finished product rack 33, the positioning hole 48 at the upper end of the finished product 49 is aligned with the top shaft 42 at the far left end. The finished product 49 is moved upward, and the top shaft 42 is pushed to the lower limit block 45 to move above the horizontal limit block 40. Then the finished product 40 is moved downward and placed on the finished product rack 33. The top shaft 42 presses the positioning hole 48 at the upper end of the finished product 49 under the action of the longitudinal spring 44. The upper limit block 43 merges with the lower limit block 45 during the downward movement, and the horizontal limit block 40 is pushed to the left and right sides by the lower limit block 45, so that the upper limit block 43 moves to below the horizontal limit block 40. At this time, the longitudinal spring 44 expands, pushing the top shaft 42 to press the finished product 49. Subsequently, the finished products 49 are pressed from left to right in sequence. When the distance sensor 46 detects that the finished products 49 on the front and rear sides have reached the set minimum distance after a period of time, the finished product rack 33 is fully loaded, and the distance sensor 46 sends a signal. The RGV trolley docks the fully loaded finished product rack 33 and rotates the pressing cylinder 35 to reset and rise. The RGV trolley transports the fully loaded finished product rack 33 to the subsequent process.

Claims

1. A post insulator loading and unloading device, comprising a feeding mechanism, a grabbing and feeding and discharging mechanism arranged on a truss, characterized by: The feeding mechanism includes a feeding trolley arranged on a track, and the feeding trolley includes a trolley motor connected to its traveling wheels. A guide rail is arranged on the car plate of the feeding trolley, and there are two blank clamps. At least one blank clamp is matched with the guide rail and connected to the piston rod of the servo electric cylinder. The cylinder body of the servo electric cylinder is fixed on the car plate; the relative surfaces of the two blank clamps are V-shaped; the trolley motor is connected to the delay circuit.

2. The post insulator loading and unloading equipment according to claim 1 is characterized in that: The truss is provided with an X-axis guide rail, and the two ends of the Y-axis bracket cooperate with the X-axis guide rail; the gripping and feeding and discharging mechanism includes a mounting seat provided on the Y-axis bracket, and a vertical Z-axis bracket is provided on the mounting seat, and the Z-axis bracket is connected to the shaft of the lifting motor on the mounting seat; the lower end of the Z-axis bracket is rotatably connected to the clamp seat, and the clamp seat is provided with two parallel bidirectional screws, and a pair of feeding splints and a pair of discharging splints are respectively installed on the two screws, and the two screws are respectively connected to the clamping motor installed on the clamp seat through a transmission mechanism.

3. The post insulator loading and unloading equipment according to claim 2, characterized in that: The opposing surfaces of the two discharging splints are respectively provided with arc-shaped grooves near their outer ends. The arc-shaped groove on each discharging splint is a step groove, and the groove depth of the upper groove toward the outer surface of the discharging splint is greater than the groove depth of the lower groove; or, the opposing surfaces of the two feeding splints are planes, and flexible gaskets are provided on the opposing surfaces near their outer ends.

4. The post insulator loading and unloading equipment according to claim 1, 2 or 3, characterized in that: A feeding trolley stop position is provided on the track, and a photographing mechanism with a lens facing upward is provided on one side of the stop position. The photographing mechanism is provided in the lower middle of the frame, and a fill light is provided on the periphery of the upper surface of the frame.

5. The post insulator loading and unloading equipment according to claim 1, 2 or 3, characterized in that: The utility model comprises a finished product rack. One end of the finished product rack is provided with a column, and a distance sensor is provided on the column.

6. The post insulator loading and unloading equipment according to claim 1, 2 or 3, characterized in that: It includes a finished product rack, which is equipped with a bracket, and a group of upper positioning mechanisms are arranged on the bracket. The upper positioning mechanism includes a sleeve, and two opposite cavities are arranged in the middle of the sleeve, which are connected to its inner cavity and protrude outward. A transverse limit block is arranged in each cavity to cooperate with a transverse spring, and the lower surface of each transverse limit block is an inclined surface; an upper limit block is arranged on the upper part of the sleeve to cooperate with the longitudinal spring, and a lower limit block is arranged below the upper limit block, and the lower limit block is in an inverted cone shape; the upper limit block is fixed on the top shaft, and the lower limit block is slidably connected to the top shaft, and the lower end of the top shaft extends out of the sleeve.

7. A method for loading and unloading a post insulator, characterized by: The device comprises the post insulator loading and unloading equipment according to claims 1 to 6, and its working process comprises the following steps: (1) Place the columnar blank on the feeding trolley, insert the positioning column under the columnar blank into the positioning hole at the bottom of the blank, and use the servo electric cylinder to push the blank clamp to clamp the columnar blank; (2) Set the running time of the feeding trolley, start the feeding trolley, and make it run along the track for the set time until the feeding trolley reaches the end position; (3) Operate the grabbing and feeding and discharging mechanism on the truss to reach the top of the feeding trolley, control the lifting motor to make the Z-axis bracket move downward, and then the feeding part of the grabbing and feeding and discharging mechanism clamps the columnar blank and sends it to the processing equipment, and then the grabbing and feeding and discharging mechanism exits; (4) After the processing is completed, the direction of the grabbing and feeding and discharging mechanism is rotated so that the discharging part enters the processing equipment, the finished product is clamped and taken out and sent to the finished product rack.

8. The post insulator loading and unloading method according to claim 7, characterized in that: The correct position of the bottom positioning hole of the columnar blank is set when it passes through the photographing mechanism, and the position corresponds to the position of the positioning block in the processing equipment and the distance is determined; in the operation process of step (3), after the columnar blank is grasped and before it is sent to the processing equipment, the columnar blank is stopped above the photographing mechanism, and the obtained photo is sent to the analysis system, and the position of the positioning hole in the photographed photo is compared with the X-direction and Y-direction distances x1 and y1 of the correct position, and the gantry is operated to move the grasping and feeding and discharging mechanisms by x1 and y1 on the X-axis and Y-axis respectively, so that the positioning hole is located at the correct position; (3.1) The gripping and feeding and discharging mechanisms move the set distance in a straight line to deliver the cylindrical blank to the correct position of the processing equipment.

9. The post insulator loading and unloading method according to claim 7 or 8, characterized in that: The distance sensor on the column of the finished product rack measures the distance between the finished product and the distance sensor during movement, and controls the position of the finished product according to the distance between the top shaft on the finished product rack and the distance sensor. After reaching the bottom of each top shaft from far to near, the blank is moved up the set distance. After the lower limit block moves up to above the horizontal limit block, the finished product is moved down and placed on the finished product rack. A top shaft is inserted into a positioning hole on the top of the finished product. When the distance sensor measures that the finished product has reached the shortest distance set in advance, the finished product rack is fully loaded.

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