An automatic cleaning and polishing device and method for epoxy cast insulation

Abstract

The application discloses an automatic cleaning and polishing device and method for epoxy pouring insulation parts, and relates to the technical field of insulation part processing equipment. The device comprises a rack, a flexible feeding system, a rotating double-station polishing unit, a closed dust collection system and a visual detection closed-loop system. The flexible feeding system automatically captures disordered insulation parts through a visual camera and a robot. The rotating double-station polishing unit realizes parallel feeding and polishing through an AB rotating table, and completes multi-stage polishing by cooperating with a quick-change tool. The closed dust collection system forms an IP6X protective sealed space, and there is no dust overflow. The visual detection closed-loop system detects roughness and burr width in real time, and automatically triggers secondary polishing for unqualified products. The application realizes full-automatic operation of insulation part cleaning and polishing, and the single-piece beat is less than or equal to 15 minutes, the surface roughness is less than or equal to 1.6 microns, the burr width is less than or equal to 2 mm, and the changeover time is less than or equal to 5 minutes. The application effectively improves production efficiency, polishing quality and operation safety.

Description

Technical Field

[0001] This invention belongs to the technical field of insulating component processing equipment, specifically relating to an automatic cleaning and polishing device and method for epoxy-cast insulating components. Background Technology

[0002] Epoxy-cast insulating components (such as support insulators, contact boxes, bushings, etc.) are critical insulating parts in power equipment, and their surface quality directly affects the safe operation of the power system. Currently, these insulating components are mostly produced using epoxy resin vacuum casting molding technology. During the casting process, residual burrs, flash, steps, and other defects inevitably occur at the gate, mold seam, and the interface between the metal insert and the epoxy resin. These defects must be cleaned and polished to meet the usage requirements.

[0003] Currently, most manufacturing enterprises still use manual hand-held pneumatic or electric grinding tools. However, this traditional manual grinding method has the following prominent problems: The working environment is harsh; the fine dust generated during epoxy resin grinding permeates the work area, and long-term inhalation by employees can easily lead to occupational health damage such as pneumoconiosis and chronic respiratory inflammation. Even wearing protective masks is difficult to completely isolate the dust, and worker compliance is poor in the high temperatures of summer, resulting in extremely high occupational safety risks. Grinding quality is unstable; manual grinding depends on the operator's skill level and condition. Common defects include burr residue, excessive step height at the mold joint (usually required to be no more than 0.3 mm, which is difficult to consistently achieve manually), over-grinding at the gate causing pits, and scratches on the surface of metal inserts. These problems can lead to… This leads to uneven electric field distribution on the surface of the insulation components, with localized increases in electric field strength, which can easily cause partial discharge or even insulation breakdown accidents during long-term operation; low production efficiency. Taking a typical double-rod insulation component as an example, manually completing all the grinding processes takes more than 20 minutes and requires multiple people to work in shifts. The production cycle time for a single piece is long and the labor cost is high, which cannot meet the high cycle time requirements of modern assembly line production and has become the bottleneck process of the entire insulation component production line; poor process adaptability. Insulation components have various specifications (single rod, double rod, triple rod, etc.) and large variations in shape, size and curvature. Manual grinding requires frequent changes of fixtures or adjustments of grinding angles, resulting in long changeover times and extremely low efficiency when producing small batches of multiple varieties.

[0004] In addition, although there are a few semi-automatic grinding equipment on the market, most of them are single-process manual operation, lacking flexible feeding, multi-level grinding closed-loop control and centralized dust collection functions, and cannot meet the requirements of zero dust, high precision and high cycle time automated production. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned problems and provide an automatic cleaning and grinding device and method for epoxy cast insulating parts, so as to solve the technical problems of low efficiency, unstable quality, high dust hazard and long production change time in the prior art when manually grinding epoxy cast insulating parts.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an automatic cleaning and polishing device for epoxy cast insulating parts, including a frame, wherein the frame is provided with a flexible feeding system, a rotary dual-station polishing unit, a closed dust collection system and a visual inspection closed-loop system; The flexible feeding system includes a vision camera, a loading / unloading robot, and an adjustable clamp. The vision camera is fixed on the frame and faces the material area. The base of the loading / unloading robot is fixed on the frame. The adjustable clamp is movably connected to the end effector of the loading / unloading robot. The rotary dual-station grinding unit includes a rotary table, a clamping mechanism, and a grinding robot. The rotary table is rotatably connected to the frame and has a first station and a second station. The clamping mechanism is fixedly mounted on the rotary table and corresponds to the first station and the second station respectively. The base of the grinding robot is fixed to the frame, and a grinding tool is detachably connected to its end. The closed dust collection system includes a sealing cover and a dust collector. The sealing cover is installed over the working area of ​​the rotary table and the grinding robot and is sealed to the frame. The air inlet of the dust collector is sealed to the sealing cover through a pipe. The visual inspection closed-loop system includes an inspection camera and a controller. The inspection camera is fixed on the frame and faces the workstation on the rotary table. The controller is electrically connected to the visual camera, the loading and unloading robot, the rotary table, the grinding robot, the dust collector, and the inspection camera.

[0007] A further improvement of the present invention is that the rotary table has an AB dual-station structure, with the first station being station A and the second station being station B. The rotary table rotates 180° to exchange the positions of station A and station B.

[0008] A further improvement of the present invention is that it also includes a quick-change tool holder, which is fixed on the frame and has multiple tool mounting positions. Different grinding tools are placed on each tool mounting position, and the end effector of the grinding robot is detachably connected to the grinding tools through a tool quick-change connector.

[0009] A further improvement of the present invention is that the different grinding tools include grinding wheels, flap wheels and eccentric grinding heads.

[0010] A further improvement of the present invention is that the adjustable clamp includes a clamping end and a clamp quick-change connector. The clamping end is an adjustable movable structure with a soft material layer on its working surface. One end of the clamp quick-change connector is movably connected to the end of the loading / unloading robot, and the other end is fixedly connected to the clamping end.

[0011] A further improvement of the present invention is that the pressing mechanism includes a pressing head and a driving component, the pressing head is a soft structure, the driving component is connected to the pressing head in a transmission manner, and the driving component is fixed on a rotating table.

[0012] Secondly, the present invention also provides a cleaning and polishing method based on the above-mentioned automatic cleaning and polishing device for epoxy casting insulating parts, comprising the following steps: S1, the vision camera collects the posture of the insulating parts in the material area and sends it to the controller. The controller controls the loading and unloading robot to drive the adjustable clamp to grab the insulating parts and place them at the first or second station of the rotary table. The clamping mechanism clamps and fixes the insulating parts. S2, the controller controls the rotary table to rotate, and swaps the positions of the first station and the second station, so that the station with the insulating parts is rotated to the grinding robot. S3, the controller controls the grinding robot to drive the grinding tools to clean and grind the gate, mold seam and metal contact parts of the insulating parts; S4, The camera captures images of the surface of the polished insulating parts and sends them to the controller. The controller determines whether the roughness and burr width are up to standard. S5, for qualified insulating parts, the controller controls the loading and unloading robot to pick them up from the rotary table and transfer them to the unloading area.

[0013] A further improvement of the present invention is that, in step S3, the controller controls the grinding robot to sequentially perform the steps of rough grinding, fine finishing, smoothing, root cleaning, trimming, and polishing, and automatically changes the corresponding grinding tools between each sub-step; wherein, the total time for rough grinding is 60-80 seconds, the total time for fine finishing is 50-80 seconds, the total time for smoothing is 40-60 seconds, the total time for root cleaning is 40-60 seconds, the total time for trimming is 30-40 seconds, and the total time for polishing is 60-80 seconds.

[0014] A further improvement of the present invention is that, in step S4, if the controller determines that the polished insulating part is unqualified, the controller controls the rotary table to keep the insulating part at the current work position or to exchange the work position to rotate it to the polishing robot, and controls the polishing robot to perform secondary polishing on the unqualified area, repeating the detection steps until it is qualified.

[0015] A further improvement of the present invention is that, in step S1, the loading and unloading robot picks up insulating components from a multi-layered material tray; and in step S5, the loading and unloading robot stacks qualified insulating components in multiple layers on the unloading tray, and the loading tray and the unloading tray are shared.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention provides an automated cleaning and polishing device for epoxy-cast insulating parts. By integrating a flexible feeding system, a rotary dual-station polishing unit, a sealed dust collection system, and a visual inspection closed-loop system, it achieves fully automated cleaning and polishing operations. The visual camera in the flexible feeding system can identify the posture of the insulating parts in the material area. Combined with the loading / unloading robot and adjustable clamps, it can adaptively grasp insulating parts of different specifications (such as single-bar, double-bar, and triple-bar), supporting multi-layer stacking and mixed placement. Changeover time is no more than 5 minutes, significantly improving production flexibility and reducing manual intervention. In the rotary dual-station polishing unit, the rotary table has a first station and a second station. A 180° rotation allows for station interchange, enabling parallel feeding and polishing, effectively shortening waiting time. The measured cycle time per part can reach 567 seconds, saving more than 40% of labor costs compared to manual polishing which takes more than 20 minutes. The grinding robot can detachably connect to various grinding tools and, together with a clamping mechanism, fix the workpiece, ensuring grinding precision. This results in a surface roughness of no more than 1.6 micrometers, a mold seam burr width of no more than 2 millimeters, and a gate step height of no more than 0.3 millimeters, eliminating visible edges and achieving a burr-free finish. The sealed dust collection system, through a sealed hood and dust collector, forms an IP6X-rated enclosed space, achieving zero dust leakage and complying with GB 16297 environmental standards, completely solving the occupational health hazards caused by manual grinding dust. The visual inspection closed-loop system uses a camera to acquire images in real time, and the controller judges the quality, ensuring that every product meets appearance standards, thus achieving comprehensive improvements in efficiency, quality, environmental protection, and flexibility.

[0017] Furthermore, the different grinding tools include grinding wheels, flap wheels, and eccentric grinding heads. By setting these three different types of grinding tools, the processing requirements of three different processes—rough grinding, fine finishing, and polishing—can be met respectively. Grinding wheels are used to quickly remove large excess burrs from gates and mold seams, flap wheels are used for fine finishing of surfaces and smoothing of cylindrical surfaces of metal parts, and eccentric grinding heads are used for end face finishing and rounded corner polishing. Thus, a single device can cover the entire process from roughing to finishing without the need for frequent manual tool changes, ensuring the continuity and consistency of the grinding process.

[0018] Furthermore, the clamping mechanism includes a pressure head and a drive component. The pressure head has a flexible structure, and the drive component is connected to the pressure head via a transmission mechanism. The drive component is fixed on the rotary table. By fixing the drive component to the rotary table and driving the pressure head to move, the insulating parts can be automatically clamped and fixed in the workstation after loading, preventing the workpiece from shifting or vibrating during the grinding process. The pressure head adopts a flexible structure, making flexible contact with the surface of the insulating parts. While ensuring sufficient clamping force, it avoids scratching or crushing the surface of the epoxy-cast insulating parts, thus ensuring both the stability of the grinding process and protecting the surface quality of the workpiece.

[0019] This invention also provides a cleaning and polishing method. A vision camera captures the posture of insulating components in the material area, and a controller drives a loading / unloading robot to grasp and place them on a rotary table. A clamping mechanism then secures the components, achieving precise grasping of randomly placed workpieces without the need for manual alignment, thus reducing operational difficulty and preparation time. The controller controls the rotary table to rotate and exchange the positions of the first and second workstations, automatically moving the workpiece to be polished to the polishing robot. Simultaneously, the other workstation can be used for loading and unloading, achieving seamless connection between workstations. Actual measurements show that the cycle time for a single piece can be controlled within 15 minutes (e.g., 567 seconds for a double-bar insulating component), while traditional manual polishing takes more than 20 minutes, significantly improving efficiency. The polishing robot automatically cleans and polishes the gate, mold seam, and metal contact areas, eliminating the inconsistencies of manual polishing. Actual measurements show that the surface roughness of all surfaces does not exceed 1.6 micrometers, the burr width of the mold seam does not exceed 2 millimeters, and the gate step does not exceed 0.3 millimeters, 100% meeting the appearance standards for insulating components. A camera captures images of the polished surface, and a controller determines whether the roughness and burr width are within acceptable limits. Only qualified products proceed to the unloading step, ensuring consistent product quality and preventing defective products from entering the next process. Qualified products are then transferred to the unloading area by loading and unloading robots, supporting multi-layer stacking and centralized transfer. This method eliminates direct human contact with dust throughout the process, and a closed dust collection system ensures zero dust spillage, completely eliminating occupational health risks for employees. Simultaneously, the data acquisition system can upload production data in real time, supporting intelligent management through the MES system. Attached Figure Description

[0020] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components of the invention.

[0021] Figure 1 This is a schematic diagram of the overall structure of the automatic cleaning and polishing device for epoxy cast insulating parts according to the present invention. Figure 2 This is a front view of the automatic cleaning and polishing device for epoxy cast insulating parts according to the present invention; Figure 3This is a side view of the automatic cleaning and polishing device for epoxy cast insulating parts according to the present invention; Figure 4 This is a top view of the automatic cleaning and polishing device for epoxy cast insulating parts according to the present invention; The components include: 1. Frame; 2. Vision camera; 3. Loading / unloading robot; 4. Adjustable clamp; 5. Rotary table; 6. Clamping mechanism; 7. Grinding robot; 8. First station; 9. Second station; 10. Grinding tool; 11. Sealing cover; 12. Dust collector; 13. Inspection camera; 14. Controller; 15. Quick-change tool holder; 16. Tool mounting position; 17. Tool quick-change connector; 18. Material tray; 19. Clamp quick-change connector. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0028] The present invention will now be described in further detail with reference to the accompanying drawings: like Figures 1 to 4 As shown, this invention provides an automatic cleaning and grinding device for epoxy-cast insulating parts, including a frame 1. The frame 1 is equipped with a flexible feeding system, a rotary dual-station grinding unit, a sealed dust collection system, and a visual inspection closed-loop system. The flexible feeding system includes a vision camera 2, a loading / unloading robot 3, and an adjustable clamp 4. The vision camera 2 is fixed to the frame 1 and faces the material area. The base of the loading / unloading robot 3 is fixed to the frame 1, and the adjustable clamp 4 is movably connected to the end of the loading / unloading robot 3. The rotary dual-station grinding unit includes a rotary table 5, a clamping mechanism 6, and a grinding robot 7. The rotary table 5 is rotatably connected to the frame 1 and has a first station 8 and a second station 9. The clamping mechanism 6 is fixed... The grinding robot 7 is set on the first station 8 and the second station 9. Its base is fixed to the frame 1, and its end is detachably connected to a grinding tool 10. The closed dust collection system includes a sealing cover 11 and a dust collector 12. The sealing cover 11 covers the working area of ​​the rotary table 5 and the grinding robot 7 and is sealed to the frame 1. The air inlet of the dust collector 12 is sealed to the sealing cover 11 through a pipe. The visual inspection closed-loop system includes an inspection camera 13 and a controller 14. The inspection camera 13 is fixed on the frame 1 and faces the station on the rotary table 5. The controller 14 is electrically connected to the visual camera 2, the loading and unloading robot 3, the rotary table 5, the grinding robot 7, the dust collector 12 and the inspection camera 13 respectively.

[0029] In this embodiment, the frame 1 serves as the mounting base for the entire device. In the flexible feeding system, the vision camera 2 is a 2D or 3D camera with a resolution of at least 5 megapixels, fixed to the frame 1 with its lens facing the material area; the loading / unloading robot 3 is a six-axis industrial robot with a load capacity of at least 40kg and a repeatability better than 0.06mm, its base fixed to the frame 1; the adjustable clamp 4 is movably connected to the end of the loading / unloading robot 3 via a quick-change clamp connector 19, used to clamp insulating parts of different specifications. In the rotary dual-station grinding unit, the rotary table 5 is rotatably connected to the frame 1, having a first station 8 and a second station 9. The rotary table 5 adopts an AB dual-station structure, i.e., the first station 8 is called station A, and the second station 9 is called station B; the rotary table 5 is driven by an electric rotary shaft and can rotate 180° to switch the positions of station A and station B. Thus, side A is used for loading and preparing materials, and side B is used for grinding, with the two stations working in parallel, reducing waiting time and improving production cycle time. Each workstation is equipped with a clamping mechanism 6; the base of the grinding robot 7 is fixed to the frame 1, and its end is detachably connected to a grinding tool 10 via a tool quick-change connector 17. In the closed dust collection system, a sealing cover 11 covers the working area of ​​the rotary table 5 and the grinding robot 7, forming an IP6X protected sealed space with a sealed connection to the frame 1; the air inlet of the dust collector 12 is connected to the sealing cover 11 through a sealed pipe, and the dust collection air volume is not less than 5000 m³ / h. 3 / h, with a filtration accuracy of no more than 0.3 microns. The electrical components in the grinding area adopt an explosion-proof electrical design, conforming to GB 3836.1 standard, and the grinding area is equipped with a constant temperature control device, with the temperature controlled within the range of 0-50℃. In the visual inspection closed-loop system, the inspection camera 13 is fixed on the frame 1 and faces the station on the rotary table 5, used to perform real-time inspection of the surface of the ground insulating parts. The inspection items include roughness and burr width, where the roughness is no more than 1.6 microns and the burr width is no more than 2 millimeters; the controller 14 is electrically connected to the visual camera 2, the loading and unloading robot 3, the rotary table 5, the grinding robot 7, the dust collector 12, and the inspection camera 13, respectively, and is used to control the coordinated operation of the entire device.

[0030] In this embodiment, the rotary table 5 adopts an AB dual-station structure, with the first station 8 referred to as station A and the second station 9 referred to as station B. The rotary table 5 is driven by an electric rotary shaft, enabling 180° rotation switching, allowing station A and station B to interchange positions. In this way, side A is used for loading and preparing materials, while side B is used for grinding. The two stations work in parallel, reducing waiting time and improving production cycle time.

[0031] In this embodiment, the device also includes a quick-change tool holder 15, which is fixed to the frame 1 and has multiple tool mounting positions 16. Different grinding tools 10 are respectively fixedly mounted on each tool mounting position 16. The end effector of the grinding robot 7 is movably connected to the grinding tools 10 on the quick-change tool holder 15 via a tool quick-change connector 17, enabling automatic gripping and return of the grinding tools 10. The automatic tool change time is approximately 13 seconds, which can meet the tool switching requirements of multi-process grinding.

[0032] In this embodiment, the grinding tools 10 placed on the quick-change tool holder 15 include a grinding wheel, a flap wheel, and an eccentric grinding head. The grinding wheel is used for roughing the gate and mold joint, the flap wheel is used for fine finishing and smoothing the cylindrical surfaces of metal parts, and the eccentric grinding head is used for finishing end face seams and polishing rounded corners. These three types of tools cover the entire process from rough grinding to fine grinding and polishing.

[0033] In this embodiment, the adjustable clamp 4 includes a clamping end and a quick-change clamp connector 19. The clamping end is an adjustable movable structure that can automatically adjust the clamping distance according to the size of the insulating component, adapting to workpieces with different structures such as single-bar, double-bar, and triple-bar. A soft material layer, made of polyurethane, is provided on the working surface of the clamping end to prevent scratching the surface of the insulating component during clamping. One end of the quick-change clamp connector 19 is movably connected to the end effector of the loading / unloading robot 3, and the other end is fixedly connected to the clamping end, enabling quick assembly and disassembly of the clamp.

[0034] In this embodiment, the clamping mechanism 6 includes a pressure head and a driving component. The pressure head is a soft structure, which can be made of silicone material, and can adapt to the flat or curved surface of the insulating component to avoid damaging the workpiece surface. The driving component is fixed on the rotary table 5 and is connected to the pressure head for transmission. The clamping force is no more than 50 Newtons. During grinding, the driving component pushes the pressure head to flexibly clamp and fix the insulating component on the work station.

[0035] The present invention also provides a cleaning and polishing method based on the above-mentioned automatic cleaning and polishing device, comprising the following steps: S1, the vision camera 2 collects the posture of the insulating parts in the material area and sends it to the controller 14. The controller 14 controls the loading and unloading robot 3 to drive the adjustable clamp 4 to grab the insulating parts and place them on the first station 8 or the second station 9 of the rotary table 5. The clamping mechanism 6 clamps and fixes the insulating parts. S2, the controller 14 controls the rotary table 5 to rotate, and swaps the positions of the first station 8 and the second station 9, so that the station with the insulating parts is rotated to the grinding robot 7. S3, the controller 14 controls the grinding robot 7 to drive the grinding tool 10 to clean and grind the gate, mold seam and metal contact parts of the insulating parts; S4, the detection camera 13 collects an image of the surface of the ground insulator and sends the image to the controller 14, and the controller 14 determines whether the roughness and the flash width are qualified; S5, for qualified insulators, the controller 14 controls the loading and unloading robot 3 to grasp them from the rotary table 5 and transfer them to the unloading area.

[0036] In this embodiment, the controller 14 controls the grinding robot 7 to perform the following steps sequentially in order: rough grinding of the gate, using a grinding wheel, which takes 30 to 40 seconds; fine trimming of the gate, using a flap wheel, which takes 20 to 30 seconds; rough cleaning of the mold clamping seam, using a grinding wheel, which takes 30 to 40 seconds; fine trimming of the mold clamping seam, using a flap wheel, which takes 30 to 50 seconds; finishing of the cylindrical surface of the metal part, using a flap wheel, which takes 10 to 15 seconds per shaft, with a total of 4 shafts; root clearing at the transition root between the metal part and epoxy resin, using a cutter for root clearing, which takes 10 to 15 seconds per shaft, with a total of 4 shafts; trimming of the fin on the end face, using eccentric grinding, which takes 15 to 20 seconds each time, for a total of 2 times; polishing of the rounded transition, using eccentric grinding, which takes 30 to 40 seconds each time, for a total of 2 times; and the corresponding grinding tool 10 is automatically replaced between each sub-step.

[0037] In this embodiment, when an unqualified product is detected, the controller 14, based on the position of the unqualified area, keeps the insulator at the grinding station or re-switches the station to return it to the grinding robot 7, then triggers secondary grinding for the specified unqualified area, and the secondary grinding lasts for about 35 to 45 seconds. After the secondary grinding is completed, the detection step is repeated until the product is qualified. The repeated positioning accuracy of secondary grinding for unqualified products is not more than 0.05 mm.

[0038] In this embodiment, the material tray 18 in the loading area supports multi-layer stacking, with a total height not exceeding 580 mm, and can mix and place insulators of various specifications. The loading and unloading robot 3 sequentially grasps insulators to be ground from the multi-layer trays. During unloading, the loading and unloading robot 3 stacks qualified insulators in multiple layers in the unloading tray, and the stacking height also does not exceed 580 mm. The loading tray and the unloading tray share standard trays of the same specification and can be used interchangeably, which improves the utilization rate of the trays.

[0039] Example 1 Taking a double-rod insulator with drawing number 5KA.743.119 as an example, the workpiece is 640 mm long, 120 mm wide, 80 mm high, and weighs 14.8 kg. The first step is the loading process: the vision system identifies the insulators mixed in the tray, acquiring their spatial orientation information. The controller then controls the loading / unloading robot to drive the adjustable clamp to grasp the insulator and precisely place it on the A-side fixture of the rotary table. Subsequently, the soft pressure head on side A presses down on the insulator to prevent surface scratches. Next, the rotation switch occurs: the rotary table rotates the insulator on side A 180°, moving it to the grinding station on side B. Simultaneously, the already ground insulators on side B are moved to the unloading position on side A. Then the polishing process begins, in the following order: rough grinding of the gate using a grinding wheel, taking 40 seconds; fine finishing of the gate using a flap wheel, taking 20 seconds; rough cleaning of the mold joint using a grinding wheel, taking 30 seconds; fine finishing of the mold joint using a flap wheel, taking 30 seconds; automatic tool change, taking 13 seconds; smoothing of the metal cylindrical surface using a flap wheel, taking 10 seconds per axis, for a total of 4 axes, totaling 40 seconds; cleaning the root of the metal-epoxy transition, using a special root cleaning tool, taking 10 seconds per axis, for a total of 4 axes, totaling 40 seconds; finishing the end face seam using eccentric grinding, 15 seconds each time, for a total of 2 times, totaling 30 seconds; visual inspection, taking 10 seconds; if the inspection fails, a second polishing is performed, taking 35 seconds; finally, final polishing is performed using eccentric grinding, taking 30 seconds. After polishing, the loading and unloading robot picks up the qualified insulating parts from the rotary table and transfers them to the unloading tray. The unloading tray supports multi-layer stacking, with a stacking height not exceeding 580 mm. After that, they are centrally transferred to the next process. According to actual measurements, the cycle time for a single piece is 567 seconds (i.e., 9.5 minutes), all surface roughness does not exceed 1.5 micrometers, there are no visible burrs or steps, and the dust collection rate reaches 99.8%.

[0040] Example 2 Taking a single-bar insulating component with drawing number 5KA.743.118 as an example, the workpiece is 640 mm long, 80 mm in diameter, and weighs 7.9 kg. The loading process is the same as in Example 1: the vision system identifies the posture of the insulating component in the tray, the robot picks it up and places it on the tooling on side A of the rotary table, and the soft pressure head clamps and fixes it. The rotation switching steps are the same: the rotary table rotates 180°, the insulating component on side A is moved to the grinding station on side B, and the finished product on side B is moved to side A to await unloading. The grinding process was adjusted according to the single-bar structure: rough grinding of the gate using a grinding wheel, taking 30 seconds; fine grinding of the gate using a flap wheel, taking 20 seconds; automatic tool change, taking 15 seconds; smoothing of the metal cylindrical surface using a flap wheel, taking 10 seconds per axis, for a total of 20 seconds; root cleaning of the metal-epoxy transition root using a root cleaning tool, taking 10 seconds per axis, for a total of 20 seconds; end face finishing using eccentric grinding, 15 seconds each time, for a total of 30 seconds; visual inspection, taking 10 seconds; secondary grinding of defective products, taking 35 seconds; final polishing, taking 30 seconds. The unloading steps are the same as in Example 1: qualified products are transferred by a robot to the unloading tray, with a stacking height not exceeding 580 mm, and centrally transported. Actual measurements showed that the cycle time for a single piece was 210 seconds (3.5 minutes), the surface roughness was no more than 1.5 micrometers, there were no burrs or steps, and the dust collection rate also reached 99.8%.

[0041] The above two embodiments demonstrate that the automatic cleaning and polishing device and method provided in this application can adapt to the production needs of insulating parts of different specifications, and realize automated cleaning and polishing operations with high efficiency, high quality and zero dust.

[0042] Many embodiments and applications beyond the examples provided will be apparent to those skilled in the art upon reading the foregoing description. Therefore, the scope of this teaching should not be determined by reference to the foregoing description, but rather by reference to the foregoing claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the applicant has not considered that subject matter as part of the disclosed inventive subject matter.

[0043] The above content provides a further detailed description of the present invention. It should not be construed that the specific embodiments of the present invention are limited to this. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection of the present invention as defined by the submitted claims.

Claims

1. An automatic cleaning and polishing device for epoxy-cast insulating parts, characterized in that, Includes a frame (1), on which a flexible feeding system, a rotary dual-station grinding unit, a sealed dust collection system and a visual inspection closed-loop system are provided; The flexible loading system includes a vision camera (2), a loading / unloading robot (3) and an adjustable clamp (4). The vision camera (2) is fixed on the frame (1) and faces the material area. The base of the loading / unloading robot (3) is fixed on the frame (1). The adjustable clamp (4) is movably connected to the end of the loading / unloading robot (3). The rotary dual-station grinding unit includes a rotary table (5), a clamping mechanism (6), and a grinding robot (7). The rotary table (5) is rotatably connected to the frame (1) and has a first station (8) and a second station (9). The clamping mechanism (6) is fixedly installed on the rotary table (5) and corresponds to the first station (8) and the second station (9) respectively. The base of the grinding robot (7) is fixed to the frame (1), and its end is detachably connected to a grinding tool (10). The sealed dust collection system includes a sealing cover (11) and a dust collector (12). The sealing cover (11) is installed over the working area of ​​the rotary table (5) and the grinding robot (7) and is sealed to the frame (1). The air inlet of the dust collector (12) is sealed to the sealing cover (11) through a pipe. The visual inspection closed-loop system includes an inspection camera (13) and a controller (14). The inspection camera (13) is fixed on the frame (1) and faces the workstation on the rotary table (5). The controller (14) is electrically connected to the visual camera (2), the loading and unloading robot (3), the rotary table (5), the grinding robot (7), the dust collector (12), and the inspection camera (13).

2. The automatic cleaning and polishing device for epoxy-cast insulating parts according to claim 1, characterized in that, The rotary table (5) is an AB dual-station structure. The first station (8) is station A, and the second station (9) is station B. The rotary table (5) rotates 180° to exchange the positions of station A and station B.

3. The automatic cleaning and polishing device for epoxy-cast insulating parts according to claim 1, characterized in that, It also includes a quick-change tool holder (15), which is fixed on the frame (1). The quick-change tool holder (15) is provided with multiple tool mounting positions (16), and different grinding tools (10) are placed on each tool mounting position (16). The end of the grinding robot (7) is detachably connected to the grinding tool (10) through a tool quick-change connector (17).

4. An automatic cleaning and polishing device for epoxy-cast insulating parts according to claim 3, characterized in that, The different grinding tools (10) include grinding wheels, flap wheels and eccentric grinding heads.

5. An automatic cleaning and polishing device for epoxy-cast insulating parts according to claim 1, characterized in that, The adjustable clamp (4) includes a clamping end and a clamp quick-change connector (19). The clamping end is an adjustable movable structure with a soft material layer on its working surface. One end of the clamp quick-change connector (19) is movably connected to the end of the loading and unloading robot (3), and the other end is fixedly connected to the clamping end.

6. An automatic cleaning and polishing device for epoxy-cast insulating parts according to claim 1, characterized in that, The pressing mechanism (6) includes a pressing head and a driving component. The pressing head is a soft structure, and the driving component is connected to the pressing head in a transmission manner. The driving component is fixed on the rotary table (5).

7. A cleaning and polishing method for epoxy-cast insulating parts based on any one of claims 1 to 6, characterized in that, Includes the following steps: S1, the vision camera (2) collects the posture of the insulating parts in the material area and sends it to the controller (14). The controller (14) controls the loading and unloading robot (3) to drive the adjustable clamp (4) to grab the insulating parts and place them on the first station (8) or the second station (9) of the rotary table (5). The clamping mechanism (6) clamps and fixes the insulating parts. S2, the controller (14) controls the rotary table (5) to rotate, and swaps the positions of the first station (8) and the second station (9), so that the station with the insulating parts is rotated to the grinding robot (7); S3, the controller (14) controls the grinding robot (7) to drive the grinding tool (10) to clean and grind the gate, mold seam and metal contact parts of the insulating parts; S4, the camera (13) collects images of the surface of the polished insulating part and sends them to the controller (14). The controller (14) judges whether the roughness and burr width are qualified. S5, for qualified insulation components, the controller (14) controls the loading and unloading robot (3) to grab them from the rotary table (5) and transfer them to the unloading area.

8. The cleaning and polishing method according to claim 7, characterized in that, In S3, the controller (14) controls the grinding robot (7) to perform rough grinding, fine finishing, smoothing, root cleaning, trimming and polishing steps in sequence, and automatically changes the corresponding grinding tool (10) between each sub-step; wherein, the total time for rough grinding is 60-80 seconds, the total time for fine finishing is 50-80 seconds, the total time for smoothing is 40-60 seconds, the total time for root cleaning is 40-60 seconds, the total time for trimming is 30-40 seconds, and the total time for polishing is 60-80 seconds.

9. The cleaning and polishing method according to claim 7, characterized in that, In S4, if the controller (14) determines that the polished insulating part is unqualified, the controller (14) controls the rotary table (5) to keep the insulating part at the current position or to exchange the position to rotate it to the polishing robot (7), and controls the polishing robot (7) to polish the unqualified area a second time, repeating the detection steps until qualified.

10. The cleaning and polishing method according to claim 7, characterized in that, In S1, the loading and unloading robot (3) picks up insulating parts from the multi-layered material tray (18); in S5, the loading and unloading robot (3) stacks qualified insulating parts in multiple layers in the unloading tray, and the loading tray and the unloading tray are shared.

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