Intelligent insulator full-automatic gluing device based on visual positioning

Abstract

This invention relates to the field of insulator processing technology, specifically to a fully automated intelligent insulator gluing equipment based on vision positioning. It includes a main conveyor frame installed on the ground, with a conveyor belt on its inner side and a slider fixed on the conveyor belt. It also includes a conveyor plate horizontally fixed to the slider, with bottom limiting bearing mechanisms evenly distributed circumferentially on the inner side of the conveyor plate. The main conveyor frame is equipped with a vision positioning mechanism, a glue injection mechanism, a column base gluing mechanism, and a cap gluing mechanism along the conveying direction. This fully automated intelligent insulator gluing equipment based on vision positioning constructs a high-precision gluing reference coordinate system through the vision positioning mechanism, enabling closed-loop control of the entire gluing process. This significantly improves the coaxiality and positioning accuracy of the gluing, effectively avoids defects such as porcelain chipping and glue layer bubbles, achieves fully automated continuous production, and significantly improves the product yield.

Description

Technical Field

[0001] This invention relates to the field of insulator processing technology, and more particularly to the field of insulator gluing and molding technology, specifically to a fully automatic intelligent insulator gluing equipment based on vision positioning. Background Technology

[0002] Insulators are key components in power transmission and transformation systems that perform both electrical insulation and mechanical fixation functions. They are widely used in ultra-high voltage and extra-high voltage AC / DC transmission lines, power plant distribution equipment, and rail transit power supply systems. The quality of their adhesive molding directly determines the mechanical tensile and torsional strength, electrical insulation performance, weather resistance and long-term operational reliability of the insulators. It is the most critical processing step in the entire insulator production chain. For example, patent CN120767077A discloses an automatic gluing device for ultra-high voltage suspension insulators, including a first plate and a second plate. An adjustment mechanism is provided on the surface of the second plate, and a sliding mechanism is provided on the side of the first and second plates that are close to each other. This invention utilizes a rack, gear, and turntable, etc., to rotate the insulator porcelain parts, metal caps, and steel feet, thereby facilitating rotary gluing, reducing the thickness deviation of the glue at the joint surfaces, and improving the gluing effect.

[0003] For example, patent CN114360822B discloses a horizontal gluing machine for gluing composite insulators, including a main frame, a support device and two heating devices. The support device and at least one heating device are slidably mounted on the main frame along the axial direction of the composite insulator. The support device is used to support the composite insulator, and the two heating devices are arranged along the axial direction on both sides of the support device and clamp the composite insulator. The horizontal gluing machine of this application adopts a heating method that surrounds the flange cylinder, which meets the gluing requirements of irregular flanges.

[0004] However, even with the aforementioned existing technical solutions and current technologies, the insulator gluing operation still has several technical shortcomings, such as: 1. Existing equipment mostly uses mechanical limiting to achieve the alignment of ceramic parts, steel feet and iron caps. It cannot collect key form and position parameters such as the center coordinates of the insulator ceramic parts, the coaxiality of the inner hole, the flatness of the glued surface, and the reference angle in real time. It also cannot perform real-time calibration and dynamic adjustment of the clamping posture of the steel feet and iron caps. It is difficult to eliminate the cumulative glued error caused by the workpiece's own machining tolerance and the positioning deviation during the conveying process. It is very easy to have quality defects such as excessive coaxiality, loose glued surface, and uneven glue layer thickness. 2. The clamping, bearing, and alignment mechanisms of existing adhesive bonding equipment are mostly fixed rigid mechanisms. For insulators of different models and sizes, tooling needs to be manually disassembled and replaced, which cannot achieve rapid changeover and adaptive production of multi-specification workpieces. In addition, the workpiece bearing mechanism is mostly rigid contact. During the feeding, conveying and pressing of ceramic parts, the ceramic parts are prone to chipping and cracking due to rigid impact, resulting in a decrease in product yield. 3. Most existing binding equipment can only automate a single binding process and cannot complete the entire process of fully automated production. The transfer of workpieces between processes requires manual labor or auxiliary equipment, which not only increases labor costs and equipment investment, but also introduces additional positioning errors due to multiple transfers.

[0005] Therefore, we propose a fully automated intelligent insulator gluing device based on vision positioning to solve the problems mentioned above. Summary of the Invention

[0006] The purpose of this invention is to provide a fully automated intelligent insulator gluing device based on vision positioning, in order to solve the problems mentioned in the background art, such as the lack of high-precision full-process vision positioning, poor flexibility and adaptability, and inability to meet the fully automated gluing requirements of multiple specifications of insulators.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a fully automatic intelligent insulator gluing equipment based on visual positioning, comprising a main conveyor frame installed on the ground, a conveyor belt provided on the inner side of the main conveyor frame, and a slider fixed on the conveyor belt; Also includes: A conveyor plate is horizontally fixed on a slider. Bottom limiting bearing mechanisms are evenly distributed on the inner circumference of the conveyor plate, and a clamping and positioning mechanism is provided on the top surface of the conveyor plate. The main conveyor frame is equipped with a visual positioning mechanism, a glue injection mechanism, a column base glue assembly mechanism, and a cap glue assembly mechanism along the conveying direction. The visual positioning mechanism includes visual acquisition components arranged vertically and vertically. The column base gluing mechanism and the cap gluing mechanism are symmetrically arranged below and above the main conveyor frame. Both the column base gluing mechanism and the cap gluing mechanism are equipped with workpiece clamping components, multi-degree-of-freedom posture adjustment components, press-fitting drive components, and rotation drive components.

[0008] Furthermore: the bottom limiting bearing mechanism includes a fixed plate, a lower baffle, a placement plate, a floating airbag, and a pressure sensor; The fixing plate is vertically fixed to the inner wall of the conveying plate. The lower baffle is integrally set at the inner end of the fixing plate, and its top surface is inclined towards the center of the conveying plate. The placement plate is horizontally set above the fixing plate. The floating airbag is connected between the bottom surface of the placement plate and the top surface of the fixing plate. The pressure sensor is set at the center of the bottom surface of the placement plate.

[0009] Furthermore: the clamping and positioning mechanism includes a fixed frame, a sleeve, a first telescopic rod, and a clamping block; The fixing frame is vertically assembled and installed on the top side of the conveying plate. The outer end face of the fixing frame is provided with a vertical sliding groove. The end of the sleeve plate is slidably embedded in the sliding groove and can slide and lock vertically along the sliding groove. The first telescopic rod is symmetrically fixed to the inner side of the sleeve plate. The clamping block is fixedly connected to the telescopic end of the first telescopic rod.

[0010] Furthermore: a limiting plate is provided on the outer side of the end of the sleeve plate, and a fixing bolt that is threadedly connected to the end of the sleeve plate is rotatably installed in the middle of the limiting plate. Rotating the fixing bolt causes the limiting plate to press and fit against the outer side of the fixing frame. The contact surface between the limiting plate and the fixing frame is provided with an anti-slip pad with anti-slip texture.

[0011] Furthermore: the visual positioning mechanism includes a lower platform, an upper platform, a height adjustment frame, a main camera, and a secondary camera, wherein the main camera and the secondary camera together constitute a visual acquisition component; The lower platform is horizontally positioned below the main conveyor frame. The upper platform is installed parallel to the lower platform above it via a height adjustment frame. The height adjustment frame is used to adjust the vertical distance between the upper and lower platforms. The main camera is vertically fixed at the center of the corresponding conveyor plate on the lower and upper platforms. The secondary cameras are symmetrically arranged on both sides of the main camera.

[0012] Furthermore: the column base gluing mechanism includes a column base conveying frame, a conveying cylinder, a second telescopic rod, a connecting frame, a rotating cylinder, a drive wheel, a connecting gear, a fixed rod, a mounting plate, a connecting ball, a third telescopic rod, and a clamping plate; The conveying cylinder circulates and conveys the material onto the column base conveying frame, and the second telescopic rod is vertically fixed inside the conveying cylinder to form a press-fitting drive assembly; The connecting frame is fixed to the telescopic end of the second telescopic rod. The rotating cylinder is rotatably mounted on the inner side of the connecting frame through a bearing. A connecting gear is fixedly mounted at the bottom of the rotating cylinder. The drive wheel is driven by a servo motor and mounted on the connecting frame, meshing with the connecting gear to form a rotary drive assembly. The fixed rod is vertically fixed to the center inside the rotating cylinder. The mounting plate is located above the top of the fixed rod. The bottom surface of the mounting plate is rotatably connected to the top of the fixed rod through a universal connecting ball. The third telescopic rod is evenly distributed around the bottom surface of the mounting plate. The cylinder end of the third telescopic rod is hinged to the top surface of the rotating cylinder, and the telescopic end is hinged to the bottom surface of the mounting plate. The third telescopic rod is independently driven to form a multi-degree-of-freedom attitude adjustment component. The clamping plate is detachably fixed to the top surface of the mounting plate, forming a workpiece clamping assembly.

[0013] Furthermore: the cap bonding mechanism includes a cap conveyor, and the internal arrangement of the cap bonding mechanism is the same as that of the column base bonding mechanism.

[0014] Furthermore, both the column base conveyor and the cap conveyor are equipped with scanning frames, and the scanning frames are fitted with visual scanning components.

[0015] Furthermore: the glue injection mechanism includes a mounting frame, a support rod, an adjusting arm, and a vacuum glue injection tube; The mounting frame is fixed to the outside of the glue-applying mechanism corresponding to the column foot of the main conveyor frame, the support rod is vertically fixed to the mounting frame, and the vacuum glue-applying tube is movably installed on the outside of the support rod through an adjusting arm.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects: the intelligent insulator fully automatic gluing equipment based on vision positioning constructs a high-precision gluing reference coordinate system through a vision positioning mechanism, which can realize closed-loop control of the entire gluing process, greatly improve the coaxiality and positioning accuracy of gluing, and effectively avoid defects such as ceramic chipping and glue layer bubbles, realize fully automatic continuous production, and significantly improve the product yield. 1. The present invention provides multiple sets of circumferentially equidistant bottom limiting bearing mechanisms on the inner side of the conveyor plate. The lower baffle with an inclined top surface forms a receiving cavity at the bottom of the insulator porcelain part, which can realize the initial automatic centering of the porcelain part during the feeding process, greatly reducing the difficulty of feeding and alignment. At the same time, the floating airbag set between the placement plate and the fixing plate realizes the flexible bearing of the porcelain part, which can adapt to the slight flatness deviation of the bottom surface of the porcelain part, avoid the porcelain part breakage caused by rigid contact, and effectively improve the product yield. Furthermore, by installing pressure sensors on the bottom of the placement plate, the downward pressure on the edge of the ceramic piece can be monitored in real time. The difference in values ​​from multiple pressure sensors can be used to determine whether the ceramic piece is placed in place and whether there is any off-center loading. If the off-center loading exceeds the tolerance, an alarm can be triggered immediately to avoid subsequent poor gluing problems caused by material feeding deviation. 2. The present invention is equipped with a clamping and positioning mechanism, which adopts a sleeve plate mechanism that can slide vertically along the fixed frame, and works with the first telescopic rod and the clamping block to adapt to the clamping and positioning of insulator bodies of different heights and outer diameters, significantly improving the applicability of the equipment; Furthermore, by using multiple independently controlled first telescopic rods, the horizontal position and tilt posture of the insulator body can be adjusted in conjunction with the detection data of the pressure sensor, which can quickly assist in workpiece correction, ensure the verticality of the adhesive bonding reference, and improve the coaxiality accuracy of the adhesive bonding. 3. This invention uses a visual positioning mechanism arranged vertically and vertically, with a main camera and symmetrically arranged secondary cameras on both sides, to completely acquire the overall outline, center coordinates, inner hole coaxiality, adhesive surface flatness and reference angle information of the insulator porcelain component, and generate a high-precision adhesive reference coordinate system. This solves the problems of insufficient positioning accuracy and large deviation of adhesive coaxiality. In addition, the vertical distance between the upper and lower platforms can be quickly adjusted by the height adjustment frame to adapt to the inspection needs of porcelain components of different specifications. 4. This invention is equipped with a column foot gluing mechanism and a cap gluing mechanism, which integrates the functions of workpiece conveying, posture adjustment, pressing and rotating gluing. It can realize fully automatic feeding and gluing of steel feet and iron caps without manual intervention, greatly improving the automation level of the equipment. Through multiple sets of circumferentially hinged third telescopic rods and universal connecting balls, it can achieve multi-degree-of-freedom attitude fine adjustment of the mounting plate. It can accurately match the adhesive reference coordinate system generated by the vision positioning mechanism, and correct the center position and deflection angle of the steel foot or iron cap in real time, significantly improving the coaxiality and bonding accuracy of the adhesive. Through the servo-driven meshing transmission mechanism, it can drive the workpiece to rotate at low speed during the pressing process, so that the adhesive is evenly spread on the adhesive surface, fully fills the adhesive gap, effectively eliminates air bubbles in the adhesive layer, greatly improves the adhesive bonding force, and ensures the mechanical and electrical performance of the finished insulator. At the same time, the quick-change clamping plate design can be adapted to different specifications of steel feet and iron caps, further expanding the applicability of the equipment. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the overall front structure of the present invention; Figure 2 This is a schematic diagram of the overall rear structure of the present invention; Figure 3 This is a schematic diagram of the overall bottom view of the present invention; Figure 4 This is a schematic diagram of the overall structure of the conveyor plate and fixing frame of the present invention; Figure 5 This is a cross-sectional structural diagram of the conveyor plate and fixing frame of the present invention; Figure 6 This is an exploded structural diagram of the fixing frame, sleeve plate, and clamping block of the present invention; Figure 7This is a schematic diagram of the arrangement structure of the column base conveyor, cap conveyor, and mounting frame of the present invention; Figure 8 This is a schematic diagram of the overall cross-sectional structure of the second telescopic rod of the present invention; Figure 9 This is an exploded top view of the second telescopic rod, rotating cylinder, and mounting plate of the present invention; Figure 10 This is an exploded bottom view of the second telescopic rod, rotating cylinder, and mounting plate of the present invention.

[0018] In the diagram: 1. Main conveyor frame; 2. Conveyor belt; 3. Slider; 4. Conveyor plate; 5. Fixing plate; 6. Lower baffle; 7. Placement plate; 8. Floating airbag; 9. Pressure sensor; 10. Fixing frame; 11. Slide chute; 12. Sleeve plate; 13. Clamping block; 14. First telescopic rod; 15. Limiting plate; 16. Fixing bolt; 17. Anti-slip mat; 18. Lower platform; 19. Upper platform; 20. Height adjustment frame; 21. Main camera; 22. 23. Secondary camera; 24. Column base conveyor frame; 25. Support rod; 26. Conveyor cylinder; 27. Second telescopic rod; 28. Connecting frame; 29. ​​Drive wheel; 20. Rotating cylinder; 31. Connecting gear; 32. Fixed rod; 33. Mounting plate; 34. Connecting ball; 35. Third telescopic rod; 36. Clamping plate; 37. Scanning frame; 38. Hat conveyor frame; 39. Mounting frame; 40. Support rod; 41. Adjusting arm; 42. Vacuum dispensing tube. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Please see Figures 1-10 The present invention provides the following technical solution: A fully automatic intelligent insulator gluing device based on vision positioning includes: a main conveyor frame 1, a conveyor belt 2, a slider 3, a conveyor plate 4, a fixing plate 5, a lower baffle 6, a placement plate 7, a floating airbag 8, a pressure sensor 9, a fixing frame 10, a slide 11, a sleeve plate 12, a clamping block 13, a first telescopic rod 14, a limiting plate 15, a fixing bolt 16, an anti-slip pad 17, a lower platform 18, an upper platform 19, a height adjustment frame 20, a main camera 21, a secondary camera 22, a column base conveyor frame 23, a support rod 24, a conveying cylinder 25, a second telescopic rod 26, a connecting frame 27, a drive wheel 28, a rotating cylinder 29, a connecting gear 30, a fixing rod 31, a mounting plate 32, a connecting ball 33, a third telescopic rod 34, a clamping plate 35, a scanning frame 36, a cap conveyor frame 37, a mounting frame 38, a support rod 39, an adjusting arm 40, and a vacuum gluing tube 41; Among them, the main conveyor frame 1 is horizontally fixed to the bottom surface by anchor bolts to serve as the bearing foundation of the equipment. The feeding station, vision positioning station, glue injection station, column base glue installation station, cap glue installation station and discharge station are set in sequence on the outside of the main conveyor frame 1. All stations are connected by the main conveyor mechanism.

[0021] In specific application scenarios: such as Figure 1 , Figure 2 , Figure 4 and Figure 5 In the process, a guide groove is opened on the inner side of the main conveyor frame 1 along the length direction. The conveyor belt 2 adopts a synchronous toothed belt and is laid at the bottom of the guide groove. The bottom surface of the slider 3 is fixed to the belt surface of the conveyor belt 2 by pressure plate bolts. The conveyor belt 2 is driven by a servo motor, which drives the slider 3 to move back and forth in a stepping manner along the main conveyor frame 1. The conveyor plate 4 is horizontally fixed to the inner side of the slider 3 by bolts. At the feeding station, a multi-axis robotic arm is used to place the insulator body on the inner side of the conveyor plate 4 for carrying the insulator body to move. A fixing plate 5 is vertically welded to the inner wall of the conveyor plate 4 towards its center. A lower baffle 6 is integrally provided at the inner end of the fixing plate 5. The top surface of the lower baffle 6 is inclined towards the center of the bottom surface of the conveyor plate 4. The inner side of the lower baffle 6 forms a receiving cavity at the bottom end of the insulator body. The placement plate 7 is horizontally placed above the fixing plate 5. Two sets of floating airbags 8 are provided between the bottom surface of the placement plate 7 and the top surface of the fixing plate 5. At the same time, a pressure sensor 9 is provided at the center of the bottom surface of the placement plate 7 to monitor the downward pressure of the edge of the insulator body on the placement plate 7 in real time when the insulator body is placed. The bottom limiting bearing mechanism, consisting of the fixed plate 5, the lower baffle 6, the placement plate 7, the floating airbag 8, and the pressure sensor 9, is set at equal intervals and angles on the inner side of the conveying plate 4.

[0022] The above technical solution is adopted as follows: During the feeding process, the main body of the insulator porcelain component is hoisted and placed into the receiving cavity inside the conveyor plate 4. The bottom of the porcelain component is initially centered by the inclined top surface of multiple sets of lower baffles 6, and the bottom surface of the porcelain component rests on the placement plate 7. The floating airbag 8 between the placement plate 7 and the fixed plate 5 provides flexible support, which can adapt to the slight flatness deviation of the bottom surface of the porcelain component and avoid the porcelain component from breaking due to rigid contact. At the same time, the pressure sensor 9 monitors the downward pressure of the edge of the porcelain component on the placement plate 7 in real time. The control system judges whether the porcelain component is placed in place and whether there is an off-center load by the difference in the values ​​of multiple sets of pressure sensors 9. If the off-center load exceeds the tolerance, an alarm is triggered, prompting the robotic arm to re-feed the component.

[0023] In specific application scenarios: such as Figure 1 , Figure 2 , Figure 4 and Figure 6 In this process, a clamping and positioning mechanism for ceramic parts is installed on the top surface of the conveying plate 4. The mechanism includes a fixed frame 10, a slide groove 11, a sleeve plate 12, a clamping block 13, a first telescopic rod 14, a limiting plate 15, a fixing bolt 16, and an anti-slip pad 17. The side of the fixed frame 10 is fixed to the side of the top surface of the conveying plate 4 by bolts. The outer end face of the fixed frame 10 has a slide groove 11 in the vertical direction. The end of the sleeve plate 12 protrudes and slides into the slide groove 11, and can slide up and down along the slide groove 11. The first telescopic rod 14 is a servo electric cylinder, which is symmetrically fixed to the inner side of the sleeve plate 12. The telescopic end of the first telescopic rod 14 is correspondingly fixedly connected to the clamping block 13, so that the clamping block 13 is slidably connected to the inside of the sleeve plate 12. The clamping block 13 is clamped by the first telescopic rod 14. Among them, a limiting plate 15 is provided on the outer side of the end of the sleeve plate 12. A fixing bolt 16 that is threadedly connected to the end of the sleeve plate 12 is rotatably installed in the middle of the limiting plate 15. By rotating the fixing bolt 16, the limiting plate 15 and the sleeve plate 12 can be pressed and fixed on the outer side of the slide groove 11. Furthermore, anti-slip pads 17 are evenly distributed on the inner side of the limiting plate 15. The surface of the anti-slip pads 17 is provided with anti-slip texture, which can ensure that the sleeve plate 12 as a whole will not slip.

[0024] The above technical solution is adopted: the clamping block 13 is driven by the first telescopic rod 14 to clamp the insulator body, and the sleeve 12 can be adjusted up and down inside the fixed frame 10 to adapt to different insulator body clamping uses. At the same time, by the different extension and retraction of the first telescopic rod 14 in different directions, the insulator body tilt can be adjusted by the pressure data of the pressure sensor 9 to adjust the position of the insulator body and make it vertical.

[0025] In specific application scenarios: such as Figure 1 , Figure 2 and Figure 3In the process, the vision positioning station is arranged after the loading station. The vision positioning mechanism arranged in the vision positioning station includes a lower frame 18, an upper frame 19, a height adjustment frame 20, a main camera 21, and a secondary camera 22. The lower frame 18 is a horizontal frame structure and is placed directly on the ground. The upper frame 19 is arranged parallel to the lower frame 18 through the height adjustment frame 20. The lower frame 18 and the upper frame 19 are located below and above the conveyor plate 4, respectively. The main camera 21 is a global shutter industrial camera with dual telecentric lenses. It is vertically fixed at the center of the lower platform 18 and the upper platform 19 corresponding to the center of the conveyor plate 4. The field of view covers the entire insulator ceramic part on the conveyor plate 4. Two sets of secondary cameras 22 are set up and symmetrically arranged on both sides of the main camera 21. Both of them are industrial fixed-focus lens cameras, used to collect the center coordinates, inner hole coaxiality, glue surface flatness and reference angle information of the ceramic part, and generate the glue reference coordinate system.

[0026] The above technical solution is adopted: the vertical distance between the upper platform 18 and the lower platform 19 is adjusted according to the specifications of the ceramic part by the height adjustment frame 20, so as to ensure the working distance and focusing accuracy of the main camera 21 and the secondary camera 22, and so that the shooting field of the upper and lower cameras completely covers the upper and lower glued surfaces and the overall outline of the ceramic part, so as to collect the insulator features.

[0027] In specific application scenarios: such as Figure 1 , Figure 2 , Figure 7 , Figure 8 , Figure 9 and Figure 10 In the middle section, the column base gluing station and the cap gluing station are located after the vision positioning station. The column base gluing station and the cap gluing station can be arranged vertically correspondingly. The column base gluing mechanism includes a column base conveyor frame 23, a support rod 24, a conveyor cylinder 25, a second telescopic rod 26, a connecting frame 27, a drive wheel 28, a rotating cylinder 29, a connecting gear 30, a fixing rod 31, a mounting plate 32, a connecting ball 33, a third telescopic rod 34, and a clamping plate 35. The column base conveyor frame 23 is located below the main conveyor frame 1, and the column base conveyor frame 23 is internally arranged with a conveyor belt connecting the conveyor cylinder 2. 5. For the circulating conveying of the conveying cylinder 25, the bottom surface of the column base conveying frame 23 is fixed with a support rod 24 for support. The inner bottom surface of the conveying cylinder 25 is vertically fixed with a second telescopic rod 26. The connecting frame 27 is fixed to the telescopic end of the second telescopic rod 26. The rotating cylinder 29 is vertically rotated and installed inside the connecting frame 27 through a bearing. The bottom end of the rotating cylinder 29 is fixedly fitted with a connecting gear 30. The drive wheel 28 is driven to rotate and installed on the connecting frame 27 through a servo motor. The drive wheel 28 meshes with the connecting gear 30 to drive the rotating cylinder 29 to rotate 360°. A fixing rod 31 is fixedly installed at the center of the rotating cylinder 29. A mounting plate 32 is set above the top of the fixing rod 31. The bottom surface of the mounting plate 32 is rotatably connected to the top of the fixing rod 31 through a connecting ball 33. Multiple sets of third telescopic rods 34 are evenly arranged around the bottom surface of the mounting plate 32. The cylinder end of the third telescopic rod 34 is hinged to the bottom surface of the rotating cylinder 29, and the telescopic end is hinged to the bottom surface of the mounting plate 32. The hinge rotation is universal. The clamping plate 35 is fixed to the top surface of the mounting plate 32 by bolts. The surface of the clamping plate 35 is provided with a clamping mechanism (not shown in the figure) to realize the centering clamping and loosening of the steel foot. Different clamping plates 35 can be assembled and used for different steel feet. The cap assembly mechanism and the column base assembly mechanism have the same layout structure. It includes a cap conveyor frame 37 and its internal structure, which is located above the main conveyor frame 1. A scanning frame 36 for mounting a scanning camera is also provided on the surface of the column base conveyor frame 23 and the cap conveyor frame 37, which can be used to scan and collect information of the column base and the cap.

[0028] The above technical solution is adopted as follows: the column base and cap are conveyed and fed by the conveyor frame, and the features of the column base and cap are collected by the scanning camera inside the scanner. By extending and retracting the third telescopic rod 34, the posture of the mounting plate 32 is adjusted by using its hinge and the rotation connection of the connecting ball 33. According to the visual data, the center position and deflection angle of the column base or cap are adjusted. After the column base, cap and insulator are aligned, the column base and cap are pressed by the second telescopic rod 26. The rotating cylinder 29 is driven to rotate at low speed by the drive wheel 28 meshing with the connecting gear 30, so that the adhesive is evenly spread on the adhesive surface, fully fills the adhesive gap, further eliminates the adhesive layer air bubbles and improves the adhesive bonding force.

[0029] In specific application scenarios: such as Figure 1 , Figure 2 , Figure 3 and Figure 7 In this system, the glue injection station is located outside the column base glue injection station and the cap glue injection station. A vacuum glue injection mechanism is set up at the glue injection station, including a mounting frame 38, a support rod 39, an adjusting arm 40, and a vacuum glue injection pipe 41. The core actuator is the vacuum glue injection pipe 41, which is equipped with a glue injection screw pump, a glue storage tank, and a vacuum generator. The mounting frame 38 is fixed to the outside of the corresponding station of the main conveyor frame 1, and the support rod 39 is vertically fixed to the upper and lower sides of the mounting frame 38. The vacuum glue injection pipe 41 is moved by the adjusting arm 40 for glue injection.

[0030] Using the above technical solution: the adjusting arm 40 moves according to the planned path based on the position of the insulator, driving the vacuum glue injection tube 41 to move precisely to the glue injection point on the upper and lower glue surfaces of the ceramic part for glue application.

[0031] Example: First, the insulator porcelain parts are loaded onto the conveyor plate 4 by a robotic arm, and the flexible centering and rigid clamping are automatically completed. The parts are then conveyed to the corresponding process station by a servo conveyor belt. By using an industrial camera array to scan the entire outline of the ceramic part, collecting and calculating the shape and position parameters and deviations, a unique glue-attachment reference coordinate system is generated, providing a unified and accurate alignment standard for the entire process. Based on the visual reference, the glue injection path is planned, and after vacuuming the glue-attachment cavity of the ceramic part, quantitative and uniform glue injection is completed, avoiding defects such as glue layer bubbles and uneven thickness. The upper and lower workstations simultaneously clamp the steel feet and iron caps, and correct the clamping posture in real time according to visual reference. After accurately pressing into the gluing position, they rotate to evenly apply glue, maintain pressure and shape, and complete the gluing of the main body of the insulator. The finished product is transported to the discharge station, and the robotic arm takes out the finished product and transfers it to the next process. The empty plate is returned to the feeding position to start the next round of automated production cycle.

[0032] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention; the contents not described in detail in this specification belong to the prior art known to those skilled in the art; in addition, the directional terms such as up, down, left, right, front, and back in the text only represent their relative positions and not absolute positions.

[0033] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0034] 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 fully automatic adhesive bonding equipment for intelligent insulators based on visual positioning, comprising a main conveyor frame (1) installed on the ground, wherein a conveyor belt (2) is provided on the inner side of the main conveyor frame (1), and a slider (3) is fixed on the conveyor belt (2). Its features are, Also includes: The conveying plate (4) is horizontally fixed on the slider (3). Bottom limiting bearing mechanisms are distributed equidistantly on the inner circumference of the conveying plate (4). A clamping and positioning mechanism is provided on the top surface of the conveying plate (4). The main conveyor frame (1) is provided with a visual positioning mechanism, a glue injection mechanism, a column base glue assembly mechanism and a cap glue assembly mechanism along the conveying direction. The visual positioning mechanism includes visual acquisition components arranged vertically and vertically. The column base gluing mechanism and the cap gluing mechanism are symmetrically arranged below and above the main conveyor frame (1). Both the column base gluing mechanism and the cap gluing mechanism are equipped with a workpiece clamping assembly, a multi-degree-of-freedom posture adjustment assembly, a press-fitting drive assembly, and a rotation drive assembly.

2. The fully automatic intelligent insulator gluing equipment based on vision positioning according to claim 1, characterized in that: The bottom limiting bearing mechanism includes a fixed plate (5), a lower baffle (6), a placement plate (7), a floating airbag (8), and a pressure sensor (9); The fixing plate (5) is vertically fixed to the inner side wall of the conveying plate (4). The lower baffle (6) is integrally set at the inner end of the fixing plate (5), and its top surface is inclined towards the center of the conveying plate (4). The placement plate (7) is horizontally set above the fixing plate (5). The floating airbag (8) is connected between the bottom surface of the placement plate (7) and the top surface of the fixing plate (5). The pressure sensor (9) is set at the center of the bottom surface of the placement plate (7).

3. The fully automatic intelligent insulator gluing equipment based on vision positioning according to claim 1, characterized in that: The clamping and positioning mechanism includes a fixed frame (10), a sleeve plate (12), a first telescopic rod (14), and a clamping block (13). The fixing frame (10) is vertically mounted on the top side of the conveying plate (4). The outer end face of the fixing frame (10) is provided with a vertical groove (11). The end of the sleeve plate (12) is slidably embedded in the groove (11) and can slide vertically along the groove (11) and lock. The first telescopic rod (14) is symmetrically fixed on the inner side of the sleeve plate (12). The clamping block (13) is fixedly connected to the telescopic end of the first telescopic rod (14).

4. The fully automatic intelligent insulator gluing equipment based on vision positioning according to claim 3, characterized in that: A limiting plate (15) is provided on the outer side of the end of the sleeve (12). A fixing bolt (16) that is threadedly connected to the end of the sleeve (12) is rotatably installed in the middle of the limiting plate (15). Rotating the fixing bolt (16) causes the limiting plate (15) to press and adhere to the outer side of the fixing frame (10). The contact surface between the limiting plate (15) and the fixing frame (10) is provided with an anti-slip pad (17) with anti-slip texture.

5. The fully automatic intelligent insulator gluing equipment based on vision positioning according to claim 1, characterized in that: The visual positioning mechanism includes a lower platform (18), an upper platform (19), a height adjustment frame (20), a main camera (21), and a secondary camera (22). The main camera (21) and the secondary camera (22) together constitute a visual acquisition component. The lower platform (18) is horizontally positioned below the main conveyor frame (1). The upper platform (19) is installed parallel to the lower platform (18) via a height adjustment frame (20). The height adjustment frame (20) is used to adjust the vertical distance between the upper platform (19) and the lower platform (18). The main camera (21) is vertically fixed at the center of the corresponding conveyor plate (4) on the lower platform (18) and the upper platform (19). The auxiliary cameras (22) are symmetrically arranged on both sides of the main camera (21).

6. The fully automatic intelligent insulator gluing equipment based on vision positioning according to claim 1, characterized in that: The column base adhesive bonding mechanism includes a column base conveyor (23), a conveyor cylinder (25), a second telescopic rod (26), a connecting frame (27), a rotating cylinder (29), a drive wheel (28), a connecting gear (30), a fixing rod (31), a mounting plate (32), a connecting ball (33), a third telescopic rod (34), and a clamping plate (35). The conveying cylinder (25) is circulated on the column base conveying frame (23), and the second telescopic rod (26) is vertically fixed inside the conveying cylinder (25) to form a press-fitting drive assembly; The connecting frame (27) is fixed to the telescopic end of the second telescopic rod (26). The rotating cylinder (29) is rotatably installed on the inner side of the connecting frame (27) through a bearing. The bottom end of the rotating cylinder (29) is fixedly fitted with a connecting gear (30). The drive wheel (28) is driven by a servo motor and installed on the connecting frame (27) and meshes with the connecting gear (30) to form a rotating drive assembly. The fixed rod (31) is vertically fixed to the center inside the rotating cylinder (29). The mounting plate (32) is located above the top of the fixed rod (31). The bottom surface of the mounting plate (32) is rotatably connected to the top of the fixed rod (31) through a universal connecting ball (33). The third telescopic rod (34) is evenly distributed around the bottom surface of the mounting plate (32). The cylinder end of the third telescopic rod (34) is hinged to the top surface of the rotating cylinder (29), and the telescopic end is hinged to the bottom surface of the mounting plate (32). The third telescopic rod (34) is independently driven to form a multi-degree-of-freedom attitude adjustment component. The clamping plate (35) can be detachably fixed to the top surface of the mounting plate (32) to form a workpiece clamping assembly.

7. The fully automatic intelligent insulator gluing equipment based on vision positioning according to claim 6, characterized in that: The cap assembly mechanism includes a cap conveyor (37), and the internal arrangement of the cap assembly mechanism is the same as that of the column base assembly mechanism.

8. The fully automatic intelligent insulator gluing equipment based on vision positioning according to claim 7, characterized in that: Both the column base conveyor (23) and the cap conveyor (37) are fixed with scanning frames (36), and visual scanning components are installed on the scanning frames (36).

9. The fully automatic intelligent insulator gluing equipment based on vision positioning according to claim 1, characterized in that: The glue injection mechanism includes a mounting bracket (38), a support rod (39), an adjusting arm (40), and a vacuum glue injection tube (41). The mounting bracket (38) is fixed to the outside of the glue-applying mechanism corresponding to the column foot of the main conveyor frame (1), the support rod (39) is vertically fixed on the mounting bracket (38), and the vacuum glue-applying tube (41) is movably installed on the outside of the support rod (39) through the adjusting arm (40).

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