Switch control equipment high-voltage porcelain insulator assembling equipment and method thereof

Abstract

The invention discloses switch control equipment high-voltage porcelain insulator assembling equipment and a method thereof, and relates to the technical field of insulator production. The switch control equipment high-voltage porcelain insulator assembling equipment comprises a mechanical arm, an assembly line station, a bearing frame, a glue injection unit, an adsorption unit, a pressure sensing unit, an image recognition unit and a central control unit. According to the switch control equipment high-voltage porcelain insulator assembling equipment, the glue injection unit, the adsorption unit, the image recognition unit and the pressure sensing unit are integrated on the same bearing frame and are driven by the same mechanical arm; the full-process integrated and continuous operation of visual positioning, quantitative glue injection, quality judgment, nut sleeve taking and placing and final press fitting is achieved, the equipment space is compressed, the procedure connection time is shortened, errors are reduced, the assembling speed and the quality of assembled finished products are improved, and the consistency of the finished products is further improved.

Description

Technical Field

[0001] This invention relates to the field of insulator manufacturing technology, specifically to a high-voltage porcelain insulator assembly equipment and method for switch control devices. Background Technology

[0002] High-voltage porcelain insulators are critical insulating components in switchgear. During assembly, metal nut sleeves often need to be installed in specific pre-set holes within the porcelain insulator body. This is typically achieved using a combination of adhesive bonding and press-fitting to ensure a secure seal. Currently, there are two main modes for automating this process. One mode involves using multiple specialized machines for segmented operations. For example, adhesive application is completed on one machine, and then a robotic arm or conveyor transfers the workpiece to another machine for nut sleeve pickup and press-fitting. The other mode involves setting up multiple independent workstations on an automated production line, each equipped with a dedicated adhesive application and press-fitting mechanism. Robotic arms or linear modules move the workpiece between different workstations to complete each step sequentially.

[0003] While existing technologies have achieved automation to some extent, they suffer from the following shortcomings in actual operation: First, the spatial or temporal separation of the glue injection and nut fitting processes leads to a less compact production line layout, increased floor space, and increased production time and positioning error risk due to workpiece transfer between processes. Second, existing equipment typically focuses on the execution of actions, while real-time monitoring and feedback of key process parameters are relatively weak. For example, the glue injection process relies heavily on pre-set time or flow parameters, making it difficult to online real-time judgment and compensation for quality conditions such as whether the actual glue volume is sufficient or whether there are air bubbles in the glue. In the fitting process, it mainly relies on mechanical stroke or time control, lacking perception of real-time axial pressure during fitting, and cannot effectively avoid problems such as insufficient or excessive fitting interference force caused by workpiece dimensional tolerances or glue volume fluctuations. It relies heavily on manual sampling or subsequent offline testing, failing to achieve immediate judgment and intervention of process quality, resulting in poor consistency of finished product quality. To address the shortcomings of existing technologies, this invention provides a high-voltage porcelain insulator assembly device and method for switch control equipment to solve the above problems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a high-voltage porcelain insulator assembly device and method for switch control equipment. It integrates a glue injection unit, an adsorption unit, an image recognition unit, and a pressure sensing unit onto the same support frame and is driven by the same robotic arm. Through unified scheduling by a central control unit, it achieves integrated and continuous operation from visual positioning, quantitative glue injection, quality judgment, nut placement, and final pressing. This solution significantly reduces equipment space, shortens process connection time, reduces errors caused by multiple positioning and workpiece transfers, improves assembly speed and the quality of assembled products, and enhances the consistency of finished products.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: a high-voltage porcelain insulator assembly equipment for switch control devices, comprising a robotic arm, an assembly line station, a support frame, a glue injection unit, an adsorption unit, a pressure sensing unit, an image recognition unit, and a central control unit; The assembly line station is located below the robotic arm and is used to transport porcelain insulator components to be assembled; The support frame is located at the movable end of the robotic arm; The glue injection unit is mounted on the support frame and is used to inject glue into the preset holes of the porcelain insulator. An adsorption unit is mounted on the support frame and is used to adsorb and transfer the nut sleeve to the preset hole. A pressure sensing unit is installed on the adsorption unit to detect the pressure during the press-fitting process; An image recognition unit is mounted on the support frame and is used to collect image information of the glue injection and nut sleeve installation process; The central control unit is electrically connected to the robotic arm, the glue injection unit, the pressure sensing unit, and the image recognition unit, respectively, and is used to control the coordinated operation of each unit based on the feedback information from the image recognition unit to complete the automatic installation of the nut sleeve.

[0006] Preferably, the assembly line station includes a rotary table and a plurality of clamping devices evenly arranged along its circumference. The clamping devices are used to position and clamp the porcelain insulators, and the rotary table is provided with a nut sleeve at a preset position.

[0007] Preferably, the dispensing unit includes: The first and second raw material pipes are used to transport the different components of the two-component adhesive, respectively. A mixing pipeline is connected to the outlet ends of the first and second raw material pipelines; A stirring structure, disposed on the mixing pipe, is used to mix the adhesive components; The dispensing nozzle is detachably connected to the end of the mixing pipe.

[0008] Preferably, the mixing pipe is also equipped with a heating structure and a temperature sensor, and the central control unit controls the heating structure based on the feedback from the temperature sensor to keep the glue temperature constant.

[0009] Preferably, the mixing pipe is equipped with a viscosity sensor for real-time monitoring of the viscosity of the mixed adhesive; the first raw material pipe, the second raw material pipe, and the mixing pipe are all equipped with flow pumps.

[0010] Preferably, the adsorption unit includes: A vacuum generator is connected to an air pump via a pipe. The adsorption head is detachably connected to the bottom port of the vacuum generator. The pressure sensing unit includes a pressure sensor, which is disposed between the adsorption head and the bottom port of the vacuum generator.

[0011] Preferably, the vacuum generator is provided with a quick-connect female connector at the bottom, the adsorption head is provided with a quick-connect male connector at the top, and the pressure sensor is integrated into the quick-connect female connector or the quick-connect male connector.

[0012] Preferably, the image recognition unit includes at least one camera and an image analysis module integrated in the central control unit. The field of view of the camera covers the area below the dispensing nozzle of the dispensing head and the area below the adsorption end of the adsorption head.

[0013] Preferably, the central control unit is configured as follows: Based on the image analysis of the glue injection area by the image recognition unit, it is determined whether the glue injection amount meets the standard and whether there are air bubbles inside the glue, and the glue injection unit is controlled to add glue accordingly. Based on the image analysis of the adsorption head by the image recognition unit, it is determined whether the nut sleeve has been successfully adsorbed. After the adsorption unit presses the nut sleeve into the preset hole, the image analysis of the image recognition unit determines whether the nut sleeve is in place and whether there is excess glue on the surface. During the final pressing process, real-time pressure data from the pressure sensing unit is received and compared with a preset pressure threshold to control the pressing depth.

[0014] This invention also discloses a method for assembling high-voltage porcelain insulators for switch control equipment, applied to the aforementioned high-voltage porcelain insulator assembly equipment for switch control equipment. The method includes the following steps: Step S1, conveying and positioning: the station holding the porcelain insulator is moved to the working position below the robotic arm through the assembly line station. Step S2, visual guidance and glue injection: The image recognition unit identifies the precise coordinates of the preset hole positions on the porcelain insulator and guides the robotic arm to move so that the glue injection head of the glue injection unit is aligned with the hole position for quantitative glue injection. Step S3, glue injection quality judgment: The image recognition unit acquires and analyzes the image of the hole after glue injection. If it is determined that the amount of glue injected is insufficient or there are air bubbles in the glue, the glue injection unit is controlled to add glue until the requirements are met. Step S4, Nut sleeve adsorption and transfer: control the adsorption head of the adsorption unit to move to the nut sleeve feeding position, adsorb the nut sleeve, and confirm the adsorption success through the image recognition unit; Step S5, Nut sleeve pre-pressing and visual verification: The robotic arm is controlled to transfer the adsorbed nut sleeve to the pre-filled hole position for initial pressing; then the image recognition unit verifies whether the nut sleeve is in place and whether there is any excess glue around it. Step S6, final pressing: After visual verification, the robotic arm is controlled to press the nut sleeve to the preset depth according to the real-time feedback pressure from the pressure sensing unit, thus completing the assembly.

[0015] The technical effects and advantages of this invention are as follows: 1. This high-voltage porcelain insulator assembly equipment for switch control integrates the glue injection unit, adsorption unit, image recognition unit, and pressure sensing unit onto the same support frame and is driven by the same robotic arm. Through unified scheduling by the central control unit, it realizes integrated and continuous operation from visual positioning, quantitative glue injection, quality judgment, nut placement and final pressing. This solution greatly reduces equipment space, shortens process connection time, reduces errors caused by multiple positioning and workpiece transfer, improves assembly speed and the quality of assembled products, and also improves the consistency of finished products.

[0016] 2. This switch control equipment for high-voltage porcelain insulator assembly integrates a high-precision flow pump, heating structure, temperature sensor, viscosity sensor, and image recognition unit to construct a multi-parameter collaborative control glue injection function. This function not only precisely controls the mixing ratio and injection volume of the two-component adhesive but also maintains the optimal working temperature and viscosity of the adhesive. Through image analysis, it determines in real time whether the glue injection volume meets the standard and whether there are air bubbles inside, thereby triggering automatic glue replenishment or alarm. This ensures the stability of the adhesive itself and its injection state at each station, providing a foundation for the subsequent bonding of nut sleeves and further ensuring good product consistency.

[0017] 3. This switch control equipment for high-voltage porcelain insulator assembly integrates a pressure sensing unit at the end of the adsorption unit and sets up an image recognition unit covering key workstations on the support frame. This system can confirm successful adsorption when the nut sleeve is transferred, visually verify its positioning and the form of excess adhesive after pre-pressing, and precisely control the pressing depth by comparing the real-time data fed back by the pressure sensor with the preset pressure threshold during the final pressing process. This control method realizes monitoring and feedback of the pressing process, effectively preventing connection failure or porcelain damage caused by incomplete pressing or overload, and further ensuring the consistency and high quality of each installation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a front view of the support frame of the present invention; Figure 3 This is a schematic diagram of the structure of the adsorption unit, pressure sensing unit and image recognition unit of the present invention; Figure 4 This is an overall flowchart of the assembly method of the present invention; Figure 5 This is a diagram of the glue injection control logic for this invention; Figure 6 This is a flowchart for judging the installation quality of the nut sleeve of the present invention; Figure 7 This is a schematic diagram illustrating an application scenario of the image recognition unit of the present invention.

[0020] In the diagram: 1. Robotic arm; 2. Assembly line station; 21. Rotary disk; 22. Clamping device; 3. Support frame; 4. Glue dispensing unit; 41. First raw material pipeline; 42. Second raw material pipeline; 43. Mixing pipeline; 431. Heating structure; 432. Temperature sensor; 433. Viscosity sensor; 44. Stirring structure; 45. Glue dispensing head; 46. Flow pump; 5. Adsorption unit; 51. Vacuum generator; 52. Adsorption head; 6. Pressure sensing unit; 61. Pressure sensor; 7. Image recognition unit; 71. Camera; 8. Central control unit. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] This embodiment discloses a high-voltage porcelain insulator assembly device for switch control equipment, according to the appendix. Figure 1 To be continued Figure 7 As shown, the assembly includes a robotic arm 1, a production line station 2, a support frame 3, a glue injection unit 4, an adsorption unit 5, a pressure sensing unit 6, an image recognition unit 7, and a central control unit 8. The production line station 2 is located below the working radius of the robotic arm 1 and is used for continuous or intermittent conveying of ceramic insulator components and nut sleeves to be assembled. The support frame 3 is fixedly installed at the movable end of the robotic arm 1, serving as an installation platform for integrated functional modules. The glue injection unit 4 and the adsorption unit 5 are arranged side by side on the support frame 3, respectively for performing glue injection and nut sleeve pick-and-place operations. The pressure sensing unit 6 is integrated into the execution end of the adsorption unit 5 and is used to detect the pressing of the nut sleeves in real time. During the process, the axial pressure is controlled by the image recognition unit 7, which is also mounted on the support frame 3. The visual acquisition direction of the image recognition unit 7 is towards the working area below. The central control unit 8 is electrically connected to the controller of the robotic arm 1, the drive component of the glue injection unit 4, the signal output terminal of the pressure sensing unit 6, and the processing module of the image recognition unit 7 via cable or wireless network. It is used to receive the image information collected by the image recognition unit 7 and process and analyze it. Then, based on the analysis results, it generates control commands to coordinate and control the movement trajectory of the robotic arm 1, the start and stop and flow rate of the glue injection unit 4, and the action of the adsorption unit 5, thereby realizing the fully automatic installation of the nut on the preset hole position of the porcelain insulator.

[0023] Furthermore, the assembly line station 2 specifically includes a rotary table 21 driven by a servo motor and multiple clamping devices 22 uniformly fixed along its circumference. Each clamping device 22 is typically a pneumatic or electric clamp. The clamping device 22 is designed to match the specific shape of the high-voltage porcelain insulator to be assembled, and is used to firmly position and clamp the porcelain insulator during the station flow process to prevent the porcelain insulator from moving or shaking. The rotation angle of the rotary table 21 is precisely controlled by the central control unit 8, which can move the station holding the porcelain insulator sequentially and accurately to the pressing station. In addition, a nut sleeve supply is provided on the rotary table 21 or at a specific station on the side, which is used to arrange the nut sleeves in an orderly manner and transport them to the preset pickup position.

[0024] Furthermore, the dispensing unit 4 mainly includes a first raw material pipe 41, a second raw material pipe 42, a mixing pipe 43, a stirring structure 44, and a dispensing head 45. The first raw material pipe 41 and the second raw material pipe 42 are respectively connected to two independent glue tanks for conveying component A and component B of the two-component adhesive. The inlet end of the mixing pipe 43 is connected to the outlet end of the first raw material pipe 41 and the second raw material pipe 42 through a static or dynamic mixer to ensure that the two components can initially merge. The stirring structure 44 is set on the pipe section of the mixing pipe 43 and can be a miniature electric stirring paddle with its blades extending into the pipe to actively and fully mechanically mix the merged adhesive to eliminate stratification and ensure that the two components react evenly, thereby ensuring the performance of the final adhesive. The dispensing head 45 is detachably connected to the end of the mixing pipe 43 by means of threads or snaps, which is convenient for replacement according to different hole specifications.

[0025] In particular, in order to precisely control the adhesive curing process and ensure the quality of adhesive application, a heating structure 431 and a temperature sensor 432 are embedded in the outer wall or inside of the mixing pipe 43. The heating structure 431 can be a wound resistance wire or a semiconductor heating plate. The central control unit 8 receives the adhesive temperature signal fed back by the temperature sensor 432 in real time and controls the power output of the heating structure 431 through a PID algorithm, so that the adhesive is always kept within a preset constant temperature range before and during adhesive application. This is beneficial to the stability of adhesive viscosity and the controllability of curing reaction.

[0026] Specifically, a viscosity sensor 433 is also installed on the mixing pipe 43 to monitor the viscosity change of the mixed adhesive in real time. The viscosity data is fed back to the central control unit 8, which can serve as an important basis for judging the mixing quality, reaction status and whether any abnormalities have occurred. If a single component is missing, it can be detected and an alarm can be triggered immediately. At the same time, high-precision flow pumps 46, such as metering gear pumps or screw pumps, are installed on the first raw material pipe 41, the second raw material pipe 42 and the mixing pipe 43. The central control unit 8 controls the rotation speed or stroke of these flow pumps 46 to achieve precise volume ratio control of components A and B and accurate quantitative output of the total amount of adhesive injected, thereby ensuring that the amount of adhesive injected into each hole is consistent and meets the process requirements.

[0027] It is particularly important to emphasize that the adsorption unit 5 includes a vacuum generator 51 and an adsorption head 52. The vacuum generator 51 is connected to the air pump of the equipment through an air pipe. When the vacuum generator 51 is working, it can generate negative pressure at the adsorption end of the adsorption head 52. The adsorption head 52 is usually made of a wear-resistant and elastic material. The shape of the adsorption head 52 is adapted to the upper surface of the nut sleeve. It is detachably connected to the bottom port of the vacuum generator 51 for easy replacement after wear. The core of the pressure sensing unit 6 is the pressure sensor 61. The pressure sensor 61 is set on the force transmission path between the adsorption head 52 and the bottom port of the vacuum generator 51. When the adsorption head 52 picks up the nut sleeve and presses it into the hole of the porcelain insulator, the pressure applied along the axis is transmitted to the pressure sensor 61 through the adsorption head 52 and thus measured in real time.

[0028] It is particularly important to emphasize that, in order to facilitate quick replacement of different specifications of the adsorption head 52, the vacuum generator 51 is provided with a quick-connect female connector at the bottom, and the adsorption head 52 is provided with a quick-connect male connector at the top. The pressure sensor 61 can be cleverly integrated into the internal structure of the quick-connect female or quick-connect male connector. For example, the sensing surface of the pressure sensor 61 can be placed on the bottom bearing surface of the quick-connect female connector. When the quick-connect male connector is inserted and locked, the pressure can be transmitted to the sensing surface of the sensor through the male connector. This integrated design ensures the accuracy and directness of pressure measurement without adding extra complexity to the structure, and maintenance and replacement are very convenient. The image recognition unit 7 includes at least one high-resolution industrial camera 71 and an image analysis module integrated into the central control unit 8. The camera 71 is firmly mounted on the support frame 3 and has been precisely calibrated. The field of view of the camera 71 is designed to cover the area directly below the dispensing port of the dispensing head 45 and the area directly below the adsorption end of the adsorption head 52 simultaneously or at different times. This allows the same camera 71 to be used to guide dispensing, check the dispensing effect, confirm the adsorption status of the nut sleeve, and verify the initial installation position of the nut sleeve.

[0029] Regarding the control logic of the central control unit 8, it is configured to perform the following core functions: First, after the glue injection is completed, the image captured by the image recognition unit 7 on the glue injection area is analyzed, and the pixel area or volume of the glue filling area is calculated to determine whether the actual glue injection amount meets the preset standard; at the same time, the image processing algorithm is used to detect whether there are obvious air bubble defects inside the glue. If the glue injection amount is insufficient or there are excessive air bubbles, the glue injection unit 4 is controlled to supplement glue injection or recorded as a defective product. Second, after the adsorption unit 5 performs the picking action, the image of the end of the adsorption head 52 captured by the camera 71 is analyzed to determine whether the nut sleeve has been successfully and correctly adsorbed. Third, the robotic arm is controlled... 1. After the nut sleeve is initially pressed into the preset hole, image analysis is called again. Through template matching or feature recognition technology, it is determined whether the nut sleeve has been fully inserted into the hole and reached the initial positioning state. It is also detected whether there is glue overflow around the nut sleeve or the edge of the hole. Finally, during the final pressing process, the pressure data collected by the pressure sensing unit 6 is received in real time and compared with the preset pressure-displacement curve or the final pressure threshold. When the real-time pressure reaches the preset threshold, it indicates that the nut sleeve has been pressed to the required mating depth or torque. The central control unit 8 then controls the robotic arm 1 to stop pressing and complete the assembly, thereby avoiding the cracking of the porcelain insulator due to overpressure or the loose connection due to underpressure.

[0030] Example 1: This example uses the automated assembly of a standard high-voltage porcelain insulator as an example, combined with the attached... Figure 1 To be continued Figure 7 The complete workflow is described in detail below: Step S1: Start the equipment. The rotating disk 21 rotates at a fixed angle under the control of the central control unit 8, accurately transporting a high-voltage porcelain insulator that has been clamped and fixed by the clamping device 22 to the working center position below the robotic arm 1. The clamping device 22 ensures that the porcelain insulator does not move in subsequent operations.

[0031] In step S2, the robotic arm 1 moves the support frame 3, so that the camera 71 of the image recognition unit 7 is first aligned with the preset hole on the porcelain insulator where the nut sleeve needs to be installed. The image analysis module identifies the precise three-dimensional coordinates of the hole and guides the robotic arm 1 to adjust its posture so that the glue injection head 45 of the glue injection unit 4 is vertically aligned with the center of the hole. Subsequently, the central control unit 8 starts the flow pump 46, and the two-component glue delivered from the first raw material pipe 41 and the second raw material pipe 42 in a precise ratio is fully mixed through the mixing pipe 43 and kept at a constant temperature, and then quantitatively injected into the bottom and side wall of the preset hole through the glue injection head 45.

[0032] Step S3: After the glue injection is completed, the camera 71 immediately takes a picture of the hole where the glue has just been injected. The image analysis module in the central control unit 8 processes the image: it determines the amount of glue by calculating the pixel height of the glue liquid surface in the hole; it detects whether there are air bubbles by analyzing the texture uniformity of the glue area. If it is determined that the amount of glue is insufficient, it immediately controls the glue injection unit 4 to perform micro-addition of glue; if significant air bubbles are detected and the process does not allow it, the workpiece can be marked as abnormal. After it is deemed qualified, it can proceed to the next process.

[0033] In step S4, the central control unit 8 controls the movement of the robotic arm 1 to move the adsorption head 52 of the adsorption unit 5 to the nut sleeve feeding position next to the rotating disk 21. The vacuum generator 51 is started, and the adsorption head 52 generates negative pressure to pick up a nut sleeve. Subsequently, the camera 71 takes a picture of the end of the adsorption head 52. Image analysis confirms that the nut sleeve has been firmly and uprightly adsorbed. If the adsorption fails, the process of re-picking or alarm is executed.

[0034] Step S5: After confirming successful adsorption of the nut sleeve, the robotic arm 1, based on the visually positioned hole coordinates, precisely transfers the adsorbed nut sleeve to directly above the pre-applied glued hole. Then, the robotic arm 1 is controlled to press the nut sleeve into the hole to a certain depth along the axial direction at a low speed and force. After pre-pressing, the camera 71 again captures images of the installation area. The image analysis module verifies two key points: first, by identifying the relative position of the upper surface of the nut sleeve and the reference surface of the porcelain insulator, it determines whether it is initially in place; second, it detects whether glue is squeezed out at the joint between the nut sleeve and the hole wall, and whether the overflow glue pattern conforms to the process specifications. If the verification is passed, the final pressing is carried out; if the nut sleeve is skewed or the overflow glue is abnormal, it is corrected or treated as an abnormality.

[0035] In step S6, after visual verification is passed, the central control unit 8 controls the robotic arm 1 to continue pressing at a more stable speed. During this process, the pressure sensor 61 integrated on the adsorption head 52 monitors the pressing pressure in real time and feeds it back to the central control unit 8. The central control unit 8 dynamically compares the real-time pressure with the preset pressure threshold. When the real-time pressure reaches and stabilizes within the preset threshold range, the central control unit 8 immediately issues a command, the robotic arm 1 stops pressing, the vacuum generator 51 shuts off and releases the vacuum, the adsorption head 52 separates from the nut sleeve and lifts up. At this point, the automated bonding and pressing process of a nut sleeve on the preset hole of the porcelain insulator is completed. The rotating disk 21 then rotates, removes the assembled workpiece, and sends in the next workpiece to be assembled, starting a new cycle.

[0036] Example 2: This example uses the advanced quality control functions during the equipment assembly process as an example, combined with the attached... Figure 1 To be continued Figure 7 Its detailed workflow is explained in detail below: This embodiment focuses on how the equipment, based on Embodiment 1, achieves unconventional process quality control through multi-sensor fusion. After the porcelain insulator is positioned, during the glue injection stage in step S2, the working status of the glue injection unit 4 is monitored in multiple ways. In addition to basic flow control, the temperature sensor 432 and viscosity sensor 433 on the mixing pipe 43 work continuously. Assuming the glue's process requirement temperature is 25±1℃, when the temperature sensor 432 detects that the glue temperature has dropped to 23.5℃ due to environmental changes, the central control unit 8 will immediately increase the power of the heating structure 431 to quickly raise the glue temperature and stabilize it within the set range, ensuring the glue's fluidity. Consistent with the reactivity, the viscosity sensor 433 monitors the viscosity of the mixed adhesive in real time. Under normal circumstances, the viscosity of the two-component adhesive will increase slowly over time after mixing. The central control unit 8 stores a standard time-viscosity reference curve. If the viscosity rises abnormally fast, it may indicate that the proportion of component B is too high or that there is residual cured adhesive in the mixing pipe 43. If the viscosity hardly changes, it may indicate that component A is missing or the mixing has failed. Once the real-time viscosity data deviates significantly from the reference curve, the central control unit 8 will immediately alarm and stop dispensing adhesive to prevent the generation of batch defective products, thus realizing online, real-time, and forward-looking judgment on the quality of adhesive mixing.

[0037] In the pre-pressing visual verification in step S5, the image analysis module is particularly strict in checking for excess glue. It not only determines whether there is excess glue, but also quantitatively evaluates the uniformity, continuity and distribution pattern of the width of the excess glue through edge extraction and contour analysis. For example, for installations that require a seal, a continuous and uniform sealing ring is needed. The image analysis will calculate the variance of the width of the excess glue ring at various points. If the variance is too large, it indicates that the pressing process is uneven or the amount of glue is uneven in some areas. Even if the nut sleeve is in place, the system may still judge it as a questionable installation quality and trigger a secondary review or marking.

[0038] In the final pressing stage of step S6, the pressure sensing unit 6 plays a crucial role. The central control unit 8 does not simply wait for the pressure to reach a fixed threshold, but analyzes the shape of the pressure displacement curve in real time. A normal pressing curve will go through a process of slow pressure rise, rapid pressure rise, and then stabilization. The central control unit 8 compares the real-time curve with the standard qualified pressing curve stored in the database. If the real-time curve shows abnormal fluctuations, the peak pressure is reached too early, or the stroke required to reach stability is too long, the system will judge whether there is a potential risk in the pressing based on the degree of deviation, and make a judgment of qualified, unqualified, or pending review accordingly. The pressure curve data is bound and stored with the workpiece number to realize full-process quality traceability. This intelligent analysis based on the force curve enables the equipment to identify those workpieces that are judged as qualified only by the final depth or final pressure, but actually have installation hidden dangers, thus improving the consistency and reliability of product assembly.

[0039] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-voltage porcelain insulator assembly device for switch control equipment, characterized in that, include: robotic arm (1); The assembly line station (2) is located below the robotic arm (1) and is used to transport the porcelain insulator parts to be assembled. The support frame (3) is disposed at the movable end of the robotic arm (1); The glue injection unit (4) is installed on the support frame (3) and is used to inject glue into the preset holes of the porcelain insulator. An adsorption unit (5) is provided on the support frame (3) for adsorbing and transferring the nut sleeve to the preset hole position; A pressure sensing unit (6) is disposed on the adsorption unit (5) for detecting the pressure during the press-fitting process; An image recognition unit (7) is installed on the support frame (3) and is used to collect image information of the glue injection and nut sleeve installation process; The central control unit (8) is electrically connected to the robotic arm (1), the glue injection unit (4), the pressure sensing unit (6) and the image recognition unit (7) respectively, and is used to control the coordinated operation of each unit according to the feedback information of the image recognition unit (7) to complete the automatic installation of the nut sleeve.

2. The high-voltage porcelain insulator assembly equipment for switch control devices according to claim 1, characterized in that, The assembly line station (2) includes a rotating disk (21) and a plurality of clamping devices (22) evenly arranged along its circumference. The clamping devices (22) are used to position and clamp the porcelain insulators. The rotating disk (21) is provided with a nut sleeve at a preset position.

3. The high-voltage porcelain insulator assembly equipment for switch control devices according to claim 1, characterized in that, The dispensing unit (4) includes: The first raw material pipe (41) and the second raw material pipe (42) are used to transport different components of the two-component adhesive respectively; The mixing pipe (43) is connected to the outlet end of the first raw material pipe (41) and the second raw material pipe (42); A stirring structure (44) is provided on the mixing pipe (43) for mixing adhesive components; The dispensing nozzle (45) is detachably connected to the end of the mixing pipe (43).

4. The high-voltage porcelain insulator assembly equipment for switch control devices according to claim 3, characterized in that, The mixing pipe (43) is also equipped with a heating structure (431) and a temperature sensor (432). The central control unit (8) controls the heating structure (431) according to the feedback of the temperature sensor (432) so that the glue temperature is kept constant.

5. The high-voltage porcelain insulator assembly equipment for switch control devices according to claim 3, characterized in that, The mixing pipe (43) is equipped with a viscosity sensor (433) for real-time monitoring of the viscosity of the mixed adhesive; the first raw material pipe (41), the second raw material pipe (42) and the mixing pipe (43) are all equipped with flow pumps (46).

6. The high-voltage porcelain insulator assembly equipment for switch control devices according to claim 3, characterized in that, The adsorption unit (5) includes: The vacuum generator (51) is connected to the air pump via a pipe; The adsorption head (52) is detachably connected to the bottom port of the vacuum generator (51); The pressure sensing unit (6) includes a pressure sensor (61), which is disposed between the adsorption head (52) and the bottom port of the vacuum generator (51).

7. The high-voltage porcelain insulator assembly equipment for switch control devices according to claim 6, characterized in that, The vacuum generator (51) is provided with a quick-connect female connector at the bottom, the adsorption head (52) is provided with a quick-connect male connector at the top, and the pressure sensor (61) is integrated into the quick-connect female connector or the quick-connect male connector.

8. The high-voltage porcelain insulator assembly equipment for switch control devices according to claim 6, characterized in that, The image recognition unit (7) includes at least one camera (71) and an image analysis module integrated in the central control unit (8). The field of view of the camera (71) covers the area below the dispensing port of the dispensing head (45) and the area below the adsorption end of the adsorption head (52).

9. The high-voltage porcelain insulator assembly equipment for switch control devices according to claim 1, characterized in that, The central control unit (8) is configured as follows: Based on the image analysis of the glue injection area by the image recognition unit (7), it is determined whether the glue injection amount meets the standard and whether there are air bubbles inside the glue, and the glue injection unit (4) is controlled to add glue accordingly. Based on the image analysis of the adsorption head (52) by the image recognition unit (7), it is determined whether the nut sleeve has been successfully adsorbed; After the adsorption unit (5) presses the nut sleeve into the preset hole, the image analysis of the image recognition unit (7) determines whether the nut sleeve is in place and whether there is glue overflow on the surface. During the final pressing process, the real-time pressure data from the pressure sensing unit (6) is received and compared with the preset pressure threshold to control the pressing depth.

10. A method for assembling high-voltage porcelain insulators in a switch control device, applied to the high-voltage porcelain insulator assembly equipment for switch control devices as described in any one of claims 1-9, characterized in that, The method includes the following steps: Step S1, conveying and positioning, moving the station holding the porcelain insulator to the working position below the robotic arm (1) through the assembly line station (2); Step S2, visual guidance and glue injection: The image recognition unit (7) identifies the precise coordinates of the preset hole position on the porcelain insulator and guides the robotic arm (1) to move so that the glue injection head (45) of the glue injection unit (4) is aligned with the hole position for quantitative glue injection. Step S3, glue injection quality judgment: The image recognition unit (7) collects and analyzes the image of the hole after glue injection. If it is determined that the glue injection amount is insufficient or there are air bubbles in the glue, the glue injection unit (4) is controlled to add glue until the requirements are met. Step S4, Nut sleeve adsorption and transfer: control the adsorption head (52) of the adsorption unit (5) to move to the nut sleeve feeding position, adsorb the nut sleeve, and confirm the adsorption success through the image recognition unit (7); Step S5, Nut sleeve pre-pressing and visual verification: Control the robotic arm (1) to transfer the adsorbed nut sleeve to the pre-filled hole position for initial pressing; then verify whether the nut sleeve is in place and whether there is any overflow of glue around it through the image recognition unit (7); Step S6, final pressing: After visual verification, the robotic arm (1) presses the nut sleeve to the preset depth according to the real-time feedback pressure from the pressure sensing unit (6) to complete the assembly.

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