Automatic cementing production line and method for porcelain insulator

Abstract

The invention belongs to the technical field of automatic production of porcelain insulators, and relates to an automatic cementing production line and method for porcelain insulators. In the cementing production line, a cementing machine comprises a horizontal bottom plate and a vertical plate, lower flange clamping bases are installed on the two sides of the horizontal bottom plate, a pair of horizontally-moving lower clamping pin columns are installed on the upper portions of the lower flange clamping bases, a lifting upper flange clamping base is installed on the side face of the vertical plate, and a pair of horizontally-moving upper clamping pin columns are installed on the lower surface of the upper flange clamping base. A mortar tank and a peristaltic pump are installed on one side of the flange truss mechanical arm, and a glue outlet is formed in the bottom of the mortar tank and connected with a glue injection pipe through a hose. The cementing method comprises the following steps: placing the lower flange, injecting an adhesive into the lower flange, placing the porcelain piece, grabbing the upper flange, smearing the adhesive on the cylindrical section at the upper end of the porcelain piece, and pressing and buckling the upper flange on the glued cylindrical structure of the porcelain piece. Automatic cementing of the porcelain insulator is achieved, the multiple cementing machines and multiple stations work in parallel, the production efficiency is improved, and it can be ensured that adhesives cannot overflow.

Description

Technical Field

[0001] This invention belongs to the field of automated production technology of porcelain insulators, and particularly relates to an automated gluing production line and method for porcelain insulators. Background Technology

[0002] Porcelain insulators are insulating components for electrical equipment made of electrical ceramics. A common porcelain insulator consists of an upper flange, a lower flange, and an insulating porcelain component. The upper and lower flanges are glued to the upper and lower ends of the porcelain component, respectively.

[0003] Currently, the production of porcelain insulators requires workers to use forklifts to transfer porcelain components from the previous process to the gluing stage. The gluing process is then completed manually, involving the handling of flange fittings, the hoisting of porcelain insulators by overhead cranes, and the manual application of adhesive. After gluing, the finished porcelain insulators are transported to the curing stage using both overhead cranes and handcarts. Most steps in this process rely on manual operation, resulting in low production efficiency, high labor costs, and safety hazards. The hoisting process can easily damage the porcelain insulators and even injure workers. Furthermore, manual application of adhesive is prone to spillage, increasing subsequent cleanup costs. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides an automatic gluing production line and method for porcelain insulators. The technical solution adopted by the present invention is as follows: An automated bonding production line for porcelain insulators includes a gripping truss mechanism, on which a flange truss robotic arm and a porcelain component truss robotic arm are mounted. The flange truss robotic arm has a flange robotic gripper at its movable end, and the porcelain component robotic arm has a porcelain component robotic gripper at its movable end. The line also includes several porcelain component inlet assemblies, several flange inlet assemblies, and at least two bonding machines. Upper and lower flanges are placed at the flange inlet assemblies. Each bonding machine includes a horizontal base plate and a vertical plate fixedly installed in the center of the horizontal base plate. Lower flange clamps are mounted on the horizontal base plates on both sides of the vertical plate. A pair of horizontally movable lower clamping pins are mounted on the upper part of the lower flange clamps. An upper flange clamp, capable of lifting and lowering, is mounted on the side of the vertical plate, directly above the lower flange clamps. A pair of horizontally movable upper clamping pins are mounted on the lower surface of the upper flange clamps. A ash hopper and a peristaltic pump are mounted on one side of the flange truss robotic arm, and a stirring motor is mounted on the outer shell of the ash hopper. The ash tank is equipped with stirring blades, and the stirring motor shaft is fixedly connected to the stirring blades. The bottom of the ash tank is equipped with a glue outlet, which is sealed to the glue injection pipe on the flange robotic gripper through a hose.

[0005] Preferably, the lower flange clamp has an I-shaped cross-section. A lower clamping block sliding rail is machined in the middle of the upper cover of the lower flange clamp. A through groove is opened on the lower clamping block sliding rail. Two lower sliding clamping blocks are provided on the lower clamping block sliding rail. A lower clamping pin is installed on the top of the lower sliding clamp. A sliding groove that slides with the lower clamping block sliding rail is machined on the bottom of the lower sliding clamp. A lower clamping connecting block is installed at the bottom of the lower sliding clamp. A screw nut that is threadedly connected to the second clamping screw is installed at the bottom of the lower clamping connecting block. The bottom of the lower clamping connecting block passes through the through groove on the lower clamping block sliding rail. The front half and the rear half of the second clamping screw have opposite thread directions. A pair of bearing seats are installed below the upper cover of the lower flange clamp. The two ends of the second clamping screw are rotatably mounted on the bearing seats. A second pulley is installed at one end of the second clamping screw. A second clamping motor is installed below the upper cover of the lower flange clamp. A second drive wheel is installed at the shaft end of the second clamping motor. The second drive wheel is connected to the second pulley via a second belt.

[0006] Preferably, the upper flange clamp has a U-shaped upper section and a circular lower section. A clamp lifting screw nut is installed in the middle of one side of the upper flange clamp, and two clamp lifting sliders are installed at each end of one side of the upper flange clamp. A vertical clamp lifting slide rail and a clamp lifting screw are installed on the vertical plate. The upper end of the clamp lifting screw is connected to the shaft of the clamp lifting motor located on the upper part of the vertical plate. The clamp lifting slide rail and the clamp lifting slider are in sliding engagement, and the clamp lifting screw nut is in thread engagement with the clamp lifting screw. The lower part of the upper flange clamp is a hollow disc-shaped structure. A first clamping screw and two water-type screws are horizontally installed inside the disc-shaped structure. The upper clamping block is a sliding block; the upper clamping block includes an upper clamping pin and an upper clamping connecting block. The upper part of the upper clamping connecting block is provided with a screw nut that is threaded with the first clamping screw. The first half and the second half of the first clamping screw have opposite thread directions. Two upper clamping block grooves are machined in the middle of the bottom surface of the upper flange clamping seat. The middle part of the upper clamping connecting block is slidably connected to the upper clamping block grooves. The upper clamping pin is installed at the bottom of the upper clamping connecting block. The first clamping motor is provided at the top of the upper flange clamping seat. A drive wheel is provided on the output shaft of the first clamping motor. A pulley is installed at one end of the first clamping screw. The drive wheel is connected to the pulley via a belt.

[0007] Preferably, the ceramic part receiving assembly includes two ground rails and a ceramic part trolley. The bottom of the ceramic part trolley is provided with track wheels that cooperate with the ground rails. The top of the ceramic part trolley has four pairs of slide rails along its length. The bottom of the V-shaped bracket is provided with a slider that slides and connects to the slide rails. Support rollers are installed on the two inclined sides of the V-shaped opening of the V-shaped bracket. A bracket adjusting screw is rotatably installed at the middle position of the top of the ceramic part trolley along its length. One end of the bracket adjusting screw is fixedly connected to the adjusting handwheel. The middle part of the bracket screw slider is threadedly connected to the bracket adjusting screw. Both ends of the bracket screw slider are fixedly connected to one side of the V-shaped bracket.

[0008] Preferably, the ceramic component detection assembly is located on the side of the ground rail. The ceramic component detection assembly includes a ceramic component sensor frame installed on the ground. Several ceramic component sensors are installed on the crossbeam of the ceramic component sensor frame. The installation height of the ceramic component sensors is flush with the placement height of the ceramic component on the V-shaped bracket. The ceramic component sensors are photoelectric sensors.

[0009] Preferably, the flange receiving assembly includes a flange tray, which is a rectangular table frame structure with legs. The upper surface of the flange tray is divided into multiple square flange stacking areas. A camera truss mechanism is set above the flange tray. The camera truss mechanism includes a gantry truss and a movable arm. An industrial camera for downward shooting is installed at the lower end of the movable arm. A supplementary lighting mechanism is installed in the middle of the movable arm of the camera truss. The supplementary lighting mechanism includes a square supplementary light frame. Each of the four sides of the supplementary light frame is equipped with a supplementary light tube with a downward lighting direction.

[0010] Preferably, the flange robotic gripper includes a flange gripper base plate mounted on the movable end of the flange truss robotic arm. A slide rail is mounted on the flange gripper base plate. The bottom of the flange gripper moving disk slides along the slide rail of the flange gripper base plate via a slider. A flange gripper translation electric cylinder is fixedly mounted on the flange gripper base plate. The telescopic rod of the flange gripper translation electric cylinder is fixedly connected to the flange gripper moving disk. A slide rail is mounted on the flange gripper moving disk. Two flange fingers slide along the slide rail on the flange gripper moving disk via a slider. A flange gripping motor is fixedly mounted on the flange gripping motor. A flange finger screw is fixedly mounted on the shaft of the flange gripping motor. Screw nuts are installed at the bottom of the two flange fingers. The flange fingers are connected to the flange finger screw 708 threadedly via the screw nuts. The first half and second half of the flange finger screw have opposite thread directions. A glue injection tube is provided at one edge of the flange gripper moving disk. One end of the glue injection tube is connected to a hose, and the other end of the hose is connected to the glue outlet of the ash tank. A flange gripper laser sensor is also installed at one edge of the flange gripper moving disk.

[0011] Preferably, the ceramic gripper includes a ceramic gripper base plate. A set of slide rails is provided on each side of the front side of the ceramic gripper base plate. A first ceramic gripping finger and a second ceramic gripping finger are slidably connected on each set of slide rails. A ceramic gripping electric cylinder is provided on each side of the back side of the ceramic gripper base plate. The push rod of the ceramic gripping electric cylinder is fixedly connected to the first ceramic gripping finger. A double rack and pinion reversing mechanism is provided between the first and second ceramic gripping fingers. The double rack and pinion reversing mechanism includes a gear with a fixed rotating shaft and two opposing racks. The two racks are fixedly connected to the first and second ceramic gripping fingers respectively. A ceramic gripper laser sensor is installed in the middle of the ceramic gripper base plate.

[0012] An automatic gluing method for porcelain insulators, using the aforementioned automatic gluing production line for porcelain insulators, includes the following steps: The flange robotic gripper moves to the flange receiving assembly and picks up the lower flange. The two lower clamping pins move to align with the second through hole of the lower flange. The flange robotic gripper aligns the lower clamping pins with the second through hole and installs the lower flange onto the lower flange clamp. The two lower clamping pins move towards the center to complete the clamping of the lower flange. The flange robotic gripper adjusts its posture, inserts the adhesive injection tube into the adhesive-receiving area of ​​the lower flange, and starts the peristaltic pump to inject adhesive into the lower flange. The ceramic part robotic gripper picks up the ceramic part and places the cylindrical structure at the bottom of the ceramic part into the lower flange. The gripper moves to the flange receiving assembly and picks up the upper flange. The two upper clamping pins move to align with the through hole one of the upper flange. The flange robotic gripper aligns the upper clamping pins with the through hole one and installs the upper flange on the upper flange clamp. The two upper clamping pins move towards the center to complete the clamping of the upper flange. The flange robotic gripper adjusts its posture and aligns the glue injection tube with the cylindrical section at the top of the ceramic part. The peristaltic pump is started to apply adhesive to the cylindrical section at the top of the ceramic part. The upper flange clamp is pressed down, pressing the upper flange onto the adhesive-coated cylindrical structure of the ceramic part, and waiting for the adhesive to cure.

[0013] Preferably, after the adhesive has cured, the ceramic component robotic gripper clamps the ceramic insulator, and then the upper and lower clamping pins release their grip on the upper and lower flanges. The upper flange clamping seat rises, and the ceramic component robotic gripper picks up the ceramic insulator and stacks it in the discharge area.

[0014] The beneficial effects of this invention are: The entire gluing process replaces manual labor, achieving automated gluing of porcelain insulators. This solves the problems of time-consuming, labor-intensive, and physically demanding manual operations, while eliminating safety hazards. Multiple gluing machines and multiple gluing stations can work independently and in parallel, significantly improving production efficiency. The use of robotic arms to precisely control the glue injection position and peristaltic pumps to precisely control the glue dosage ensures reliable gluing while preventing adhesive overflow, saving adhesive usage and significantly reducing cleanup costs. Attached Figure Description

[0015] Figure 1 This is a structural diagram of a porcelain insulator. Figure 2 This is an overall structural diagram of the automatic gluing production line for porcelain insulators according to an embodiment of the present invention; Figure 3 A 3D view of the ceramic parts incoming material assembly and the ceramic parts inspection assembly; Figure 4 A 3D view of a porcelain cart; Figure 5 This is a magnified view of a section of the porcelain cart; Figure 6 A 3D view of the ceramic parts inspection components; Figure 7 This is a 3D view of the flange incoming assembly; Figure 8A 3D view of the camera truss mechanism; Figure 9 A 3D view of a perfect binding machine; Figure 10 A 3D view of the lower flange clamp of the adhesive binding machine; Figure 11 This is a sectional view of the lower flange clamp of the adhesive binding machine; Figure 12 A three-dimensional view of the transmission connection of the lower clamping block of the lower flange clamping seat; Figure 13 A top-down perspective view of the flange clamp on a binding machine; Figure 14 A perspective view of the flange clamp on a glue binding machine from an upward angle. Figure 15 This is a sectional view of the flange clamp on the adhesive binding machine; Figure 16 This is a three-dimensional view of the transmission connection of the upper clamping block of the upper flange clamping seat; Figure 17 To capture a 3D view of the truss mechanism; Figure 18 A 3D view of a flange truss robotic arm; Figure 19 A 3D view of the ash tank and peristaltic pump; Figure 20 This is a sectional view of the ash container; Figure 21 A 3D view of a flange robotic gripper; Figure 22 Right view of the flange manipulator gripper; Figure 23 Top view of the flange manipulator; Figure 24 A 3D model of a robotic gripper for ceramic parts; Figure 25 Left view of the robotic gripper for ceramic parts; Figure 26 This is a front view of the robotic gripper for ceramic parts. Figure 27 Rear view of the robotic gripper for ceramic parts; Wherein, 1 is a porcelain insulator, 101 is a porcelain component, 102 is the upper flange, and 103 is the lower flange; 2 is the ceramic part receiving assembly, 201 is the ground rail, 202 is the ceramic part trolley, 203 is the V-shaped bracket, 204 is the bracket adjustment handwheel, 205 is the bracket adjustment screw, and 206 is the bracket screw slider. 3 represents the ceramic component detection assembly, 301 represents the ceramic component sensor holder, and 302 represents the ceramic component sensor. 4 is the flange receiving assembly, 401 is the flange tray, 402 is the camera truss mechanism, 403 is the industrial camera, and 404 is the supplementary lighting mechanism. 5 is the binding machine, 501 is the main frame of the binding machine, 501a is the horizontal base plate, 501b is the vertical plate, 502 is the upper flange clamp, 503 is the lower flange clamp, 504 is the first clamping motor, 505 is the second clamping motor, 506 is the upper clamping block slide groove, 507 is the lower clamping block slide rail, 508 is the upper clamping block, 508a is the upper clamping pin, 508b is the upper clamping connecting block, 509 is the lower clamping block, 509a is the lower clamping pin, 509b is the lower clamping connecting block, 510 is the first clamping screw, 511 is the second clamping screw, 512 is the clamp lifting slide rail, 513 is the clamp lifting slider, 514 is the clamp lifting screw, 515 is the clamp lifting motor, and 516 is the clamp lifting screw nut. 6 is the gripping truss mechanism; 601 is the flange truss robotic arm; 602 is the ceramic truss robotic arm; 603 is the ash hopper; 603a is the stirring motor; 603b is the stirring blade; 603c is the glue outlet; 604 is the peristaltic pump. 7 is the flange robotic gripper, 701 is the flange gripper base plate, 702 is the flange gripper translation electric cylinder, 703 is the flange gripper moving plate, 704 is the flange gripping motor, 705 is the flange finger, 706 is the flange gripper laser sensor, 707 is the glue injection tube, and 708 is the flange finger lead screw. 8 is a ceramic gripper, 801 is a ceramic gripper base plate, 802a is the first ceramic gripper finger, 802b is the second ceramic gripper finger, 803 is a double rack and pinion reversing mechanism, 804 is a ceramic gripper electric cylinder, and 805 is a ceramic gripper laser sensor. Detailed Implementation

[0016] Example 1:

[0017] like Figure 1 As shown, the porcelain insulator 1 includes a central porcelain component 101, which is made of materials such as alumina and zirconia ceramics. The porcelain component 101 has a cylindrical structure at both its upper and lower ends. The upper flange 102 includes a circular top cover with four protruding structures machined around its perimeter, each protruding structure having a through hole. A ring-shaped structure is machined below the top cover of the upper flange 102, which can be fastened to the cylindrical structure on the upper part of the porcelain component 101. The lower flange 103 includes a circular bottom cover with four through holes evenly distributed near its outer edge. A ring-shaped structure is machined above the bottom cover of the lower flange 103, which can be fastened to the cylindrical structure on the upper part of the porcelain component 101.

[0018] The adhesive bonding refers to injecting adhesive (also known as mortar, whose main components are cement, quartz sand and water) at the connection between the upper flange 102 and the lower flange 103 and the ceramic part 101. Then, the upper flange 102 and the lower flange 103 are fastened to the upper and lower parts of the ceramic part 101 respectively, and the adhesive bonding is completed after the adhesive has cured.

[0019] like Figure 2 , 17 As shown in the figure, an automatic bonding production line for porcelain insulators provided in this embodiment of the invention includes several porcelain inlet assembly 2, porcelain inspection assembly 3, flange inlet assembly 4, bonding machine 5, and gripping truss mechanism 6. The gripping truss mechanism 6 is equipped with flange truss robotic arm 601 and porcelain truss robotic arm 602. The movable end of the flange truss robotic arm 601 is equipped with a flange robotic gripper 7, and the movable end of the porcelain truss robotic arm 602 is equipped with a porcelain robotic gripper 8.

[0020] like Figure 3-5 As shown, the ceramic component feeding area is equipped with four ceramic component receiving assemblies 2. Each ceramic component receiving assembly 2 includes two ground rails 201 and a ceramic component trolley 202. The ground rails 201 are located below the gripping truss mechanism 6 and are I-beam shaped steel rails. The ceramic component trolley 202 has track wheels at its bottom, allowing it to travel on the ground rails 201. V-shaped brackets 203 are slidably mounted on the top of the ceramic component 101. Two V-shaped brackets 203 form a group, providing support for both ends of the ceramic component 101. The V-shaped brackets 203 can slide along the length of the ceramic component trolley 202, and the front-to-back distance between the two V-shaped brackets 203 can be pre-adjusted to match the length of the ceramic component 101.

[0021] In this embodiment, the ceramic trolley 202 has four slide rails along its length at the top of the trolley body, with two slide rails forming a group; each V-shaped bracket 203 has a slider on the left and right sides at its bottom, and the sliders are slidably connected to a group of slide rails on the ceramic trolley 202. The V-shaped bracket 203 has an upward V-shaped opening, and support rollers are installed on the two inclined sides of the V-shaped opening.

[0022] A bracket adjusting screw 205 is rotatably mounted at the middle of the top of the ceramic piece carriage 202 along its length. One end of the bracket adjusting screw 205 is fixedly connected to the adjusting handwheel 204. The left and right ends of the bracket screw slider 206 are fixedly connected to the adjacent sides of the two grouped V-shaped brackets 203, respectively. The middle of the bracket screw slider 206 is threadedly connected to the bracket adjusting screw 205. By turning the adjusting handwheel 204 to rotate the bracket adjusting screw 205, the two bracket screw sliders 206 in the group can be moved closer to the center or further away from the front and rear sides, thereby adjusting the front-to-back distance between the two grouped V-shaped brackets 203.

[0023] like Figure 6 As shown, the ceramic component detection assembly 3 includes a ceramic component sensor rack 301 installed on the ground. Several ceramic component sensors 302 are mounted on the crossbeam of the ceramic component sensor rack 301, with each sensor 302 installed at the same height as the ceramic component 101 placed on the V-shaped bracket 203. The ceramic component sensors 302 can be photoelectric sensors. The ceramic component detection assembly 3 is located on the inner side of the ground rail 201, and its length is perpendicular to the length of the ground rail 201.

[0024] When feeding ceramic part 101, a backpack transport vehicle transports the ceramic part trolley 202 containing ceramic part 101 to the ground rail 201. The backpack transport vehicle is an existing product, such as the RGV shuttle disclosed in Chinese Patent CN120308573B. The ceramic part detection component 3 is used to detect whether there is a ceramic part 101 on each V-shaped bracket 203. The ceramic part robot 6 will remove the ceramic part 101 one by one for gluing. When it is detected that the ceramic part trolley 202 is empty, the backpack transport vehicle removes the empty ceramic part trolley 202, and then the feeding of the next set of ceramic parts 101 is performed.

[0025] The flange receiving assembly 4 and the ceramic part receiving assembly 2 are located below the same end of the gripping truss mechanism 6, with the flange receiving assembly 4 located to one side of the ceramic part receiving assembly 2. For example... Figure 7-8 As shown, the flange receiving assembly 4 includes a flange tray 401, which is a rectangular table frame structure with legs. The upper surface of the flange tray 401 is divided into multiple square stacking areas. A camera truss mechanism 402 is arranged above the flange tray 401. The camera truss mechanism 402 includes a gantry truss and a movable arm. An industrial camera 403 for downward shooting is installed at the lower end of the movable arm. A supplementary lighting mechanism 404 is installed in the middle of the movable arm of the camera truss 402. The supplementary lighting mechanism 404 includes a square supplementary lighting frame, and each of the four sides of the supplementary lighting frame is provided with a supplementary lighting tube with a downward lighting direction.

[0026] When loading the flanges, the staff first stacked the upper flange 102 and the lower flange 103 one by one on the flange pallet 401 in another area. Then, the flange pallet 401 was picked up by a backpack transport vehicle and moved to the corresponding placement area under the camera truss mechanism 402. Then, the flange robot 8 picked up the flanges one by one. With the visual assistance of the industrial camera 403, the flange robot 8 rotated to adjust the flanges to the correct angle and direction, and then placed the flanges on the flange clamp of the binding machine 5.

[0027] like Figure 2 , Figure 9-16As shown, the automatic gluing production line for porcelain insulators is equipped with four gluing machines 5. The gluing machines 5 are located below the gripping truss mechanism 6 and to the side of the flange material receiving assembly 4 and the porcelain component material receiving assembly 2. Each gluing machine 5 includes a main frame 501, which includes a horizontal base plate 501a fixedly installed on the ground. A vertical plate 501b is fixedly installed in the middle of the horizontal base plate 501a. Two lower flange clamps 503 are installed on the upper surface of the horizontal base plate 501a on both sides of the vertical plate 501b. The lower flange clamps 503 have an "I" shaped cross-section, and a lower clamping block sliding rail 507 is machined in the middle of the upper cover of the lower flange clamps 503. The lower clamping block sliding rail 507 has a through groove. The lower sliding rail 507 is provided with two lower sliding blocks 509. The top of the lower sliding blocks 509 is equipped with a lower clamping pin 509a, which can be inserted into the through hole 2 of the lower flange 103.

[0028] The bottom of the lower sliding clamping block 509 is machined with a groove, which slides in conjunction with the lower clamping block sliding rail 507. A lower clamping connecting block 509b is installed at the bottom of the lower sliding clamping block 509, and a lead screw nut is installed at the bottom of the lower clamping connecting block 509b. The lead screw nut is threadedly connected to the second clamping lead screw 511, and the bottom of the lower clamping connecting block 509b passes through a through groove on the lower clamping block sliding rail 507. The front and rear halves of the second clamping lead screw 511 have opposite thread directions. When the second clamping lead screw 511 rotates, the two lower clamping connecting blocks 509b that cooperate with it will move to the sides or move towards the center simultaneously.

[0029] A pair of bearing seats are installed below the upper cover of the lower flange clamp 503. The two ends of the second clamping screw 511 are rotatably mounted on the bearing seats, and a second pulley is installed at one end of the second clamping screw 511. A second clamping motor 505 is also installed below the upper cover of the lower flange clamp 503 via a motor seat. A second drive wheel is installed at the shaft end of the second clamping motor 505. The second drive wheel is connected to the second pulley at the end of the second clamping screw 511 via a second belt. A dust cover is provided above the second pulley, and the dust cover is welded to one side of the flange clamp 503.

[0030] The vertical plate 501b of the binding machine 5 is equipped with a liftable upper flange clamp 502. The upper flange clamp 502 has a U-shaped upper section and a circular lower section. Specifically, a clamp lifting screw nut 516 is installed in the middle of one side of the upper flange clamp 502, and two clamp lifting sliders 513 are installed at each end of one side of the upper flange clamp 502. A vertical clamp lifting slide rail 512 and a clamp lifting screw 514 are installed on the vertical plate 501b. The upper end of the clamp lifting screw 514 is connected to the shaft of the clamp lifting motor 515. The clamp lifting motor 515 is fixedly installed on the upper part of the vertical plate 501b. The clamp lifting slide rail 512 and the clamp lifting sliders 513 are in sliding engagement, and the clamp lifting screw nut 516 is in thread engagement with the clamp lifting screw 514. By driving the clamp lifting motor 515 to rotate the clamp lifting screw 514 forward or backward, the lifting of the upper flange clamp 502 can be precisely controlled.

[0031] The lower part of the upper flange clamp 502 is a hollow disc-shaped structure. Inside the disc-shaped structure, a first clamping screw 510 and two horizontally sliding upper clamping blocks 508 are horizontally mounted. The upper clamping block 508 includes an upper clamping pin 508a and an upper clamping connecting block 508b. A screw nut is provided on the upper part of the upper clamping connecting block 508b, and the screw nut is threadedly engaged with the first clamping screw 510. The first half and the second half of the first clamping screw 510 have opposite thread directions. When the first clamping screw 510 rotates, the two upper clamping connecting blocks 508b that are engaged with it will move to both sides or move towards the middle at the same time.

[0032] Two upper clamping block grooves 506 are machined in the middle of the bottom surface of the upper flange clamp 502, and the middle part of the upper clamping connecting block 508b can slide in the upper clamping block grooves 506. An upper clamping pin 508a is installed at the bottom of the upper clamping connecting block 508b, and the upper clamping pin 508a can be inserted into the through hole of the upper flange 102.

[0033] The top of the upper flange clamp 502 is provided with a first clamping motor 504. A drive wheel is provided on the output shaft of the first clamping motor 504. A pulley is installed at one end of the first clamping screw 510. The drive wheel is connected to the pulley at the end of the first clamping screw 510 via a belt.

[0034] like Figure 17-20 As shown, a gripping truss mechanism 6 is mounted on the upper part of the automatic bonding production line for porcelain insulators. The main body of the gripping truss mechanism 6 is a gantry truss, including two traveling beams and multiple columns supporting the traveling beams. A flange truss robotic arm 601 and a porcelain component truss robotic arm 602 are mounted on the gripping truss mechanism 6. Both the porcelain flange robotic arm 601 and the porcelain component truss robotic arm 602 are six-axis linkage truss robotic arms. Truss robotic arms are mature equipment in the field of automated processing, and their specific structure will not be described in detail here.

[0035] A grease tank 603 is installed on the upper part of one side of the flange truss robotic arm 601. The grease tank 603 is used to hold adhesive. A stirring motor 603a is installed on the upper part of the outer shell of the grease tank 603. A stirring blade 603b is provided inside the grease tank 603. The rotating shaft of the stirring motor 603a is fixedly connected to the stirring blade 603b. The stirring motor 603a can drive the stirring blade 603b to rotate. The bottom of the grease tank 603 is provided with an adhesive outlet 603c. The adhesive outlet 603c is sealed to the adhesive injection pipe 707 on the flange robotic gripper 7 through a hose.

[0036] A peristaltic pump 604 is also installed on the upper side of one side of the flange truss robotic arm 601. A peristaltic pump, also known as a hose pump, is a common product used for pumping fluids within hoses; its internal structure will not be described in detail here. The peristaltic pump 604 is used to pump the hose connected to the dispensing port 603c, precisely controlling the amount of adhesive dispensed. The ash tank 603 and the peristaltic pump 604 move horizontally together with the flange truss robotic arm 601. By controlling the rotation of the peristaltic pump 604, a stable adhesive supply can be provided to the dispensing hose 707. To maintain the fluidity of the adhesive, a stirring motor 603a drives the stirring blades 603b to continuously stir the adhesive in the tank.

[0037] like Figure 21-23 As shown, the flange manipulator 7 includes a flange manipulator base plate 701 mounted on the movable end of the flange truss manipulator arm 601. A slide rail is mounted on the flange manipulator base plate 701, and the bottom of the flange manipulator moving disk 703 slides in contact with the slide rail of the flange manipulator base plate 701 via a slider. A flange manipulator translation cylinder 702 is fixedly mounted on the flange manipulator base plate 701. The extension rod of the flange manipulator translation cylinder 702 is fixedly connected to the flange manipulator moving disk 703, and the flange manipulator translation cylinder 702 drives the flange manipulator moving disk 703 to move horizontally.

[0038] A slide rail is installed on the flange gripper moving plate 703, and two flange fingers 705 slide in engagement with the slide rail on the flange gripper moving plate 703 via sliders. A flange gripping motor 704 is fixedly installed on the flange gripper moving plate 703, and a flange finger screw 708 is fixedly installed on the rotating shaft of the flange gripping motor 704; screw nuts are installed at the bottom of the two flange fingers 705, and the flange fingers 705 are threadedly connected to the flange finger screw 708 through the screw nuts. The first half and the second half of the flange finger screw 708 have opposite thread directions.

[0039] A glue injection tube 707 is installed on one edge of the flange gripper moving disk 703. One end of the glue injection tube 707 is connected to a flexible hose, and the other end of the flexible hose is connected to the glue outlet 603c of the ash tank 603. A flange gripper laser sensor 706 is also installed on one edge of the flange gripper moving disk 703. The flange gripper laser sensor 706 is used to detect objects in front of the flange gripper moving disk 703, providing visual assistance and collision detection for flange gripping.

[0040] The flange gripping motor 704 drives the flange finger screw 708 to rotate forward or reverse, which in turn drives the two flange fingers 705 to move simultaneously towards the center or to both sides, thereby achieving the gripping and releasing of the flange. After the flange fingers 705 grip the upper flange 102 or lower flange 103 from the flange tray 401, the flange gripper translation cylinder 702 drives the flange gripper moving plate 703 to move and pick up the flange. Then, the flange truss robotic arm 601 moves to install the upper flange 102 or lower flange 103 onto the upper flange clamp 502 or lower flange clamp 503 of the binding machine 5.

[0041] like Figure 24-27 As shown, a ceramic gripper 8 is mounted on the lower end of the ceramic truss robotic arm 602. The ceramic gripper 8 includes a ceramic gripper base plate 801. A set of slide rails is provided on each of the left and right sides of the front of the ceramic gripper base plate 801. A first ceramic gripping finger 802a and a second ceramic gripping finger 802b are slidably connected on each set of slide rails. A ceramic gripping electric cylinder 804 is provided on each of the left and right sides of the back of the ceramic gripper base plate 801. The push rod of the ceramic gripping electric cylinder 804 is fixedly connected to the first ceramic gripping finger 802a. A double rack and pinion reversing mechanism 803 is provided between the first ceramic gripping finger 802a and the second ceramic gripping finger 802b. The double rack and pinion reversing mechanism 803 includes a gear with a fixed rotating shaft and two opposing racks, which are fixedly connected to the first ceramic gripping finger 802a and the second ceramic gripping finger 802b, respectively. A ceramic gripper laser sensor 805 is installed in the middle of the ceramic gripper base plate 801. The movable end of the ceramic gantry robotic arm 602 can rotate flexibly at multiple angles and move in multiple positions. Through the transmission of the double rack and pinion reversing mechanism 803, the first ceramic gripper finger 802a and the second ceramic gripper finger 802b can move synchronously in the same or opposite directions to grip or release the ceramic 101.

[0042] Example 2:

[0043] Embodiment 2 of the present invention provides an automatic gluing method for porcelain insulators, which adopts the automatic gluing production line for porcelain insulators described in Embodiment 1, and includes the following steps: During the adhesive bonding process, after the back-mounted transport equipment, in conjunction with the ceramic parts receiving assembly 2 and the flange receiving assembly 4, completes the loading, the gripping truss mechanism 6 is activated. The flange robotic gripper 7 moves to the flange tray 401 and, with the visual assistance of the industrial camera 403, grips the lower flange 103. Then, the second clamping motor 505 of the lower flange clamping seat 503 is activated. The distance between the two lower clamping blocks 509 is adjusted so that the two lower clamping pins 509a are aligned with the through hole two of the lower flange 103. Afterward, the flange robotic gripper 7 adjusts the lower flange 103 to the correct angle and installs it on the lower flange clamping seat 503, so that the two lower clamping pins 509a pass through the through hole two of the lower flange 103 respectively. The second clamping motor 505 drives the two lower clamping pins 509a to clamp towards the middle, thereby completing the clamping of the lower flange 103. The flange robotic gripper 7 adjusts its posture, inserts the adhesive injection tube 707 into the area to be injected into the lower flange 103, and starts the peristaltic pump 604 to inject the adhesive into the lower flange 103.

[0044] Then, the ceramic part robotic gripper 8 picks up the ceramic part 101 and places the cylindrical structure at the bottom of the ceramic part 101 into the lower flange 103.

[0045] The flange robotic gripper 7 moves again to the flange tray 401 to grasp the upper flange 102. The first clamping motor 504 is started, and the position of the two upper clamping pins 508a is adjusted to align with the position of the through hole one of the upper flange 102. After adjusting the upper flange 102 to the correct angle, the flange robotic gripper 7 installs it on the upper flange clamp 502, so that the two upper clamping pins 508a pass through the through hole one of the upper flange 102 respectively. The first clamping motor 504 drives the two upper clamping pins 508a to clamp in the middle, completing the clamping of the upper flange 102. The flange robotic gripper 7 adjusts its posture to align the glue injection tube 707 with the cylindrical section at the upper end of the ceramic part 101, and starts the peristaltic pump 604 to apply adhesive to the cylindrical section at the upper end of the ceramic part 101.

[0046] Then, the adhesive bonding machine 5 starts the clamp lifting motor 515, which presses down the upper flange clamp 502 and presses the upper flange 102 onto the glued cylindrical structure on the upper part of the ceramic part 101, and waits for the adhesive to cure.

[0047] After the adhesive has cured, the ceramic part robotic gripper 8 clamps the ceramic insulator 1. Then, the first clamping motor 504 and the second clamping motor 505 slightly reverse, so that the upper clamping pin 508a and the lower clamping pin 509a release their clamping of the upper flange 102 and the lower flange 103. Then, the clamp lifting motor 515 reverses, so that the upper flange clamp 502 rises. The ceramic part robotic gripper 8 picks up the ceramic insulator 1 and stacks it in the discharge area.

Claims

1. An automated gluing production line for porcelain insulators, comprising a gripping truss mechanism, characterized in that, The gripping truss mechanism includes a flange truss robotic arm and a ceramic part truss robotic arm. The flange truss robotic arm has a flange robotic gripper at its movable end, and the ceramic part truss robotic arm has a ceramic part robotic gripper at its movable end. It also includes several ceramic part inlet assemblies, several flange inlet assemblies, and at least two glue-binding machines. The flange inlet assemblies have upper and lower flanges. Each glue-binding machine includes a horizontal base plate and a vertical plate fixedly installed in the center of the horizontal base plate. Lower flange clamps are installed on the horizontal base plates on both sides of the vertical plate. A pair of horizontally movable lower clamping pins are installed on the upper part of the lower flange clamps. A liftable upper flange clamp is installed on the side of the vertical plate, directly above the lower flange clamps. A pair of horizontally movable upper clamping pins are installed on the lower surface of the upper flange clamp. A ash tank and a peristaltic pump are installed on one side of the flange truss robotic arm. A stirring motor is installed on the outer shell of the ash tank, and stirring blades are installed inside the ash tank. The stirring motor shaft is fixedly connected to the stirring blades. A glue outlet is located at the bottom of the ash tank. The dispensing port is sealed to the dispensing tube on the flange robotic gripper via a flexible hose.

2. The automatic gluing production line for porcelain insulators according to claim 1, characterized in that, The lower flange clamp has an I-shaped cross-section. A lower clamping block sliding rail is machined in the middle of the upper cover of the lower flange clamp. A through groove is opened on the lower clamping block sliding rail. Two lower sliding clamping blocks are provided on the lower clamping block sliding rail. A lower clamping pin is installed on the top of the lower sliding clamping block. A sliding groove that slides with the lower clamping block sliding rail is machined on the bottom of the lower sliding clamping block. A lower clamping connecting block is installed at the bottom of the lower clamping connecting block. A screw nut that is threadedly connected to the second clamping screw is installed at the bottom of the lower clamping connecting block. The bottom of the lower clamping connecting block passes through the through groove on the lower clamping block sliding rail. The first half and the second half of the second clamping screw have opposite thread directions. A pair of bearing seats are installed below the upper cover of the lower flange clamp. The two ends of the second clamping screw are rotatably mounted on the bearing seats. A second pulley is installed at one end of the second clamping screw. A second clamping motor is installed below the upper cover of the lower flange clamp. A second drive wheel is installed at the shaft end of the second clamping motor. The second drive wheel is connected to the second pulley via a second belt.

3. The automatic gluing production line for porcelain insulators according to claim 2, characterized in that, The upper flange clamp has a U-shaped upper section and a circular lower section. A clamp lifting screw nut is installed in the middle of one side of the upper flange clamp, and two clamp lifting sliders are installed at each end of one side of the upper flange clamp. A vertical clamp lifting slide rail and a clamp lifting screw are installed on the vertical plate. The upper end of the clamp lifting screw is connected to the shaft of the clamp lifting motor located on the upper part of the vertical plate. The clamp lifting slide rail and the clamp lifting slider are in sliding engagement, and the clamp lifting screw nut is in thread engagement with the clamp lifting screw. The lower part of the upper flange clamp is a hollow disc-shaped structure. Inside the disc-shaped structure, a first clamping screw and two horizontal slides are installed horizontally. The upper clamping block is movable; the upper clamping block includes an upper clamping pin and an upper clamping connecting block. The upper part of the upper clamping connecting block is provided with a screw nut that is threaded with the first clamping screw. The first half and the second half of the first clamping screw have opposite thread directions. Two upper clamping block grooves are machined in the middle of the bottom surface of the upper flange clamping seat. The middle part of the upper clamping connecting block is slidably connected to the upper clamping block grooves. The upper clamping pin is installed at the bottom of the upper clamping connecting block. The first clamping motor is provided at the top of the upper flange clamping seat. A drive wheel is provided on the output shaft of the first clamping motor. A pulley is installed at one end of the first clamping screw. The drive wheel is connected to the pulley via a belt.

4. The automatic gluing production line for porcelain insulators according to claim 1, characterized in that, The ceramic parts receiving assembly includes two ground rails and a ceramic parts trolley. The bottom of the ceramic parts trolley is equipped with track wheels that cooperate with the ground rails. The top of the ceramic parts trolley has four pairs of slide rails along its length. The bottom of the V-shaped bracket has a slider that slides and connects to the slide rails. Support rollers are installed on the two inclined sides of the V-shaped opening of the V-shaped bracket. A bracket adjusting screw is rotatably installed at the middle position of the top of the ceramic parts trolley along its length. One end of the bracket adjusting screw is fixedly connected to the adjusting handwheel. The middle part of the bracket screw slider is threadedly connected to the bracket adjusting screw. Both ends of the bracket screw slider are fixedly connected to one side of the V-shaped bracket.

5. The automatic gluing production line for porcelain insulators according to claim 4, characterized in that, The ceramic component detection assembly is located on the side of the ground rail. The ceramic component detection assembly includes a ceramic component sensor rack installed on the ground. Several ceramic component sensors are installed on the crossbeam of the ceramic component sensor rack. The installation height of the ceramic component sensors is flush with the placement height of the ceramic components on the V-shaped bracket. The ceramic component sensors are photoelectric sensors.

6. The automatic gluing production line for porcelain insulators according to claim 1, characterized in that, The flange receiving assembly includes a flange tray, which is a rectangular table frame structure with legs. The upper surface of the flange tray is divided into multiple square flange stacking areas. A camera truss mechanism is set above the flange tray. The camera truss mechanism includes a gantry truss and a movable arm. An industrial camera for shooting downwards is installed at the lower end of the movable arm. A supplementary lighting mechanism is installed in the middle of the movable arm of the camera truss. The supplementary lighting mechanism includes a square supplementary light frame. Each of the four sides of the supplementary light frame is equipped with a supplementary light tube with a downward lighting direction.

7. The automatic gluing production line for porcelain insulators according to claim 1, characterized in that, The flange robotic gripper includes a flange gripper base plate mounted on the movable end of the flange truss robotic arm. A slide rail is mounted on the flange gripper base plate. The bottom of the flange gripper moving disk slides along the slide rail of the flange gripper base plate via a slider. A flange gripper translation electric cylinder is fixedly mounted on the flange gripper base plate. The extension rod of the flange gripper translation electric cylinder is fixedly connected to the flange gripper moving disk. A slide rail is mounted on the flange gripper moving disk. Two flange fingers slide along the slide rail on the flange gripper moving disk via a slider. A flange gripping motor is fixedly mounted on the flange gripping motor's shaft. A flange finger screw is fixedly mounted on the bottom of the two flange fingers. Screw nuts are installed at the bottom of the two flange fingers. The flange fingers are connected to the flange finger screw via screw nuts and 708 threads. The first and second halves of the flange finger screw have opposite thread directions. A glue injection tube is located on one edge of the flange gripper moving disk. One end of the glue injection tube is connected to a hose, and the other end of the hose is connected to the glue outlet of the ash tank. A flange gripper laser sensor is also installed on one edge of the flange gripper moving disk.

8. The automatic gluing production line for porcelain insulators according to claim 1, characterized in that, The ceramic gripper includes a ceramic gripper base plate. A set of slide rails is provided on each side of the front side of the ceramic gripper base plate. A first ceramic gripping finger and a second ceramic gripping finger are slidably connected on each slide rail. A ceramic gripping electric cylinder is provided on each side of the back side of the ceramic gripper base plate. The push rod of the ceramic gripping electric cylinder is fixedly connected to the first ceramic gripping finger. A double-rack reversing mechanism is provided between the first and second ceramic gripping fingers. The double-rack reversing mechanism includes a gear with a fixed rotating shaft and two opposing racks. The two racks are fixedly connected to the first and second ceramic gripping fingers respectively. A ceramic gripper laser sensor is installed in the middle of the ceramic gripper base plate.

9. An automatic gluing method for porcelain insulators, characterized in that, The automatic gluing production line for porcelain insulators as described in claim 1 includes the following steps: The flange robotic gripper moves to the flange receiving assembly and picks up the lower flange. The two lower clamping pins move to align with the second through hole of the lower flange. The flange robotic gripper aligns the lower clamping pins with the second through hole and installs the lower flange onto the lower flange clamp. The two lower clamping pins move towards the center to complete the clamping of the lower flange. The flange robotic gripper adjusts its posture, inserts the adhesive injection tube into the adhesive-receiving area of ​​the lower flange, and starts the peristaltic pump to inject adhesive into the lower flange. The ceramic part robotic gripper picks up the ceramic part and places the cylindrical structure at the bottom of the ceramic part into the lower flange. The gripper moves to the flange receiving assembly and picks up the upper flange. The two upper clamping pins move to align with the through hole one of the upper flange. The flange robotic gripper aligns the upper clamping pins with the through hole one and installs the upper flange on the upper flange clamp. The two upper clamping pins move towards the center to complete the clamping of the upper flange. The flange robotic gripper adjusts its posture and aligns the glue injection tube with the cylindrical section at the top of the ceramic part. The peristaltic pump is started to apply adhesive to the cylindrical section at the top of the ceramic part. The upper flange clamp is pressed down, pressing the upper flange onto the adhesive-coated cylindrical structure of the ceramic part, and waiting for the adhesive to cure.

10. The automatic gluing method for porcelain insulators according to claim 9, characterized in that, After the adhesive has cured, the ceramic component robotic gripper clamps the ceramic insulator. Then, the upper and lower clamping pins release their grip on the upper and lower flanges, the upper flange clamping seat rises, and the ceramic component robotic gripper picks up the ceramic insulator and stacks it in the discharge area.

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