Full-automatic insulating basin polishing equipment based on visual guidance

Abstract

The utility model discloses full-automatic insulation basin polishing equipment based on visual guidance, which comprises a base, the front side of the base is provided with a feeding table top, the rear side of the feeding table top is provided with a front-back feeding mechanism, the left side and the right side of the front-back feeding mechanism are respectively provided with a left-right transverse moving platform, and the left-right transverse moving platform is provided with a turn-over mechanism and a side edge polishing mechanism. According to the full-automatic polishing machine, the characteristic position of a placed product is determined through the 3D camera, the polishing route is determined through 3D vision, the robot is guided to conduct polishing, the overturning mechanism completes overturning of a workpiece, and all polishing work of the front face and the back face of the workpiece can be completed in a full-automatic mode. And the self-grinding floating device completes grinding in the state that the hardness of the base body is lower than that of the block needing to be ground. And the grinding tool is heated to soften the epoxy resin and the ceramic polymer attached to the aluminum conductor, so that the grinding is easier.

Description

Technical Field

[0001] The utility model relates to the technical field of insulating basin grinding, in particular to a fully automatic insulating basin grinding device based on visual guidance. Background Art

[0002] The current insulating basin, i.e., basin insulator, generally includes a central electrode insert in the form of a rotating body and a basin body formed by epoxy resin casting, wherein the inner and outer end surfaces of the central electrode insert are generally provided with a conductor mounting structure for matching with the corresponding connecting conductor, such as a threaded hole or a fastener through-hole, and there are more than two threaded holes or fastener through-holes. The insulating basin can be divided into two forms according to whether the central electrode insert is through-through, one is a through-type insulating basin with a through hole in the center of the central electrode insert, such as a high-voltage basin insulator with a metal insert disclosed in a Chinese patent with an authorization announcement number of CN203746591U and an authorization announcement date of 2014.07.30; the other is a closed insulating basin with a small end of the insulating basin closed by a central electrode insert, such as a basin insulator disclosed in a Chinese patent with an application number of CN102842394B and an authorization announcement date of 2015.03.25.

[0003] Due to the presence of the center electrode insert, burrs often appear at the junction of the basin body and the center electrode insert when the epoxy resin is poured to form the basin body. For insulating basins with higher voltage levels, especially UHV insulating basins, the current passing through the center electrode insert is large and the electric field is strong, which places stringent requirements on the insulation performance. Therefore, the burrs around the electrode must be processed after the secondary curing of the product, and good work quality must be guaranteed. In the prior art, most of the processing of the above burrs is done manually with files and sandpaper, which is inefficient, poor in quality, and unstable in quality, seriously affecting the yield and delivery time of the insulating basin. In addition, the hardness of epoxy resin and ceramic polymer makes grinding more difficult. Therefore, the utility model provides a fully automatic insulating basin grinding device based on visual guidance to solve the problems raised in the above background technology. Summary of the invention

[0004] The purpose of the utility model is to provide a fully automatic insulating basin grinding device based on vision guidance to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A fully automatic insulating basin grinding device based on visual guidance comprises a base, a loading table is arranged on the front side of the base, a front and rear feeding mechanism is arranged on the rear side of the loading table, left and right lateral movement platforms are arranged on the left and right sides of the front and rear feeding mechanisms, a turning mechanism and a side grinding mechanism are installed on the left and right lateral movement platforms, a 3D vision component is arranged above the base, a robot and a grinding component are arranged on the rear side of the base, the front and rear feeding mechanism comprises a linear guide rail at the bottom and a lifting mechanism at the upper side, a rotating chassis is arranged on the upper side of the lifting mechanism to support the insulating basin,

[0007] A bottom plate is provided on the lower side of the left and right transverse movement platform, and the lower side of the bottom plate is slidably connected to a linear guide rail to drive the flipping mechanism and the side grinding mechanism to move left and right. The side grinding mechanism is located on the rear side of the flipping mechanism. A tool is installed on the grinding head in the robot and the grinding assembly. The side grinding mechanism includes front and rear symmetrical rubber rollers, which are rotatably connected to the frame and connected to the rotating mechanism. The floating grinding device and the grinding head are both equipped with a floating mechanism and a force control device.

[0008] Preferably, the middle part of the frame is movably connected to a floating polishing device, and the floating polishing device is laterally slidably connected to the frame to polish the mold line of the insulating basin.

[0009] Preferably, the 3D vision component protects the guide frame and the 3D line scan camera. The 3D line scan camera is installed on a sliding seat, and the sliding seat is slidably connected to a horizontal guide frame to confirm the area above the workpiece that needs to be polished. After completing the calculation, the 3D camera guides the robot and the mechanical arm in the polishing component to polish the area that needs to be polished.

[0010] Preferably, a heating system is provided on the robot and the grinding head in the grinding assembly, and a tool is installed on the grinding head to heat the tool.

[0011] Preferably, the floating grinding device and the grinding head are both equipped with a floating mechanism and a force control device, which can accurately grind without damaging the aluminum conductor.

[0012] Preferably, the floating mechanism is composed of a spring and a guide frame, so that the tool slides along the guide frame to perform flexible grinding.

[0013] Preferably, the force control device includes a pressure sensor and an electric telescopic device. When the pressure sensor detects that the pressure of the tool is greater than a predetermined value, the electric telescopic device drives the tool to retract, thereby reducing the compressive stress and performing precise grinding.

[0014] Preferably, the flipping mechanism includes a flipping clamp and a lifting assembly, the lifting assembly includes a cylinder and a lifting seat, the flipping clamp is rotatably connected to a motor, the motor is installed on the lifting seat, and drives the clamped workpiece to rise. After rising to the top, the motor drives the flipping clamp to flip to complete the flipping of the workpiece.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The utility model uses a 3D camera to determine the characteristic position of the placed product, and uses 3D vision to determine the polishing route and guide the robot to perform polishing.

[0017] The flipping mechanism can turn over the workpiece and automatically complete the grinding of the front and back sides of the workpiece. The self-developed floating device can complete the grinding when the hardness of the substrate is lower than the hardness of the grinding block. The heating of the grinding tool softens the epoxy resin and ceramic polymer attached to the aluminum conductor, making grinding easier. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an isometric structural diagram of a fully automatic insulation basin grinding equipment based on vision guidance.

[0019] Figure 2 This is a schematic diagram of the structure of the robot and grinding components in a fully automatic insulation basin grinding equipment based on vision guidance.

[0020] Figure 3 This is a structural schematic diagram of a vision-guided fully automatic insulation basin grinding equipment during processing.

[0021] Figure 4 This is a schematic diagram of the top view of the structure of a fully automatic insulation basin grinding equipment based on vision guidance.

[0022] Figure 5 This is a left-view structural schematic diagram of a fully automatic insulation basin grinding equipment based on vision guidance.

[0023] In the figure: 1. Loading table; 2. Front and rear feeding mechanism; 3. Left and right horizontal movement platform; 4. Flipping mechanism; 5. Side grinding mechanism; 6. 3D vision component; 7. Robot and grinding component. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] See also Figures 1 to 5In the embodiment of the utility model, a fully automatic insulating basin grinding device based on visual guidance includes a base, a loading table 1 is provided on the front side of the base, a front and rear feeding mechanism 2 is provided on the rear side of the loading table 1, and left and right lateral platforms 3 are provided on the left and right lateral platforms 3. A turning mechanism 4 and a side grinding mechanism 5 are installed on the left and right lateral platforms 3. A 3D vision component 6 is provided above the base, and a robot and a grinding component 7 are provided on the rear side of the base. The front and rear feeding mechanism 2 includes a linear guide rail at the bottom and a lifting mechanism on the upper side. The lifting mechanism 3 includes a bottom linear guide rail and a bottom lifting mechanism. A rotating chassis is provided on the upper side of the mechanism to support the insulating basin, and a bottom plate is provided on the lower side of the left and right transverse moving platform 3. The lower side of the bottom plate is slidably connected to a linear guide rail to drive the turning mechanism 4 and the side grinding mechanism 5 to move left and right. The side grinding mechanism 5 is located at the rear side of the turning mechanism 4. The side grinding mechanism 5 includes front and rear symmetrical rubber rollers, which are rotatably connected to the frame. The rubber rollers are connected to the rotating mechanism. The middle part of the frame is movably connected to a floating grinding device, which is laterally slidably connected to the frame to grind the mold line of the insulating basin.

[0026] The 3D vision component 6 protects the guide frame and the 3D line scan camera. The 3D line scan camera is installed on a sliding seat, and the sliding seat is slidably connected to the horizontal guide frame to confirm the area above the workpiece that needs to be polished. After the calculation is completed, the 3D camera guides the robot and the mechanical arm in the polishing component 7 to polish the area that needs to be polished. The grinding head in the robot and the polishing component 7 is provided with a heating system, and a tool is installed on the grinding head to heat the tool. The floating grinding device and the grinding head are both equipped with a floating mechanism and a force control device, which can accurately grind without damaging the aluminum conductor. The floating mechanism is composed of a spring and a guide frame, so that the tool slides along the guide frame for flexible grinding. The force control device includes a pressure sensor and an electric telescopic device. When the pressure sensor detects that the pressure of the tool is greater than a predetermined value, the electric telescopic device drives the tool to contract, reduce the compressive stress, and perform precise grinding. The flipping mechanism 4 includes a flip clamp and a lifting component. The lifting component includes a cylinder and a lifting seat. The flip clamp is rotatably connected to a motor, and the motor is installed on the lifting seat to drive the clamped workpiece to rise. After rising to the top, the motor drives the flip clamp to flip 180 degrees to complete the flipping of the workpiece.

[0027] The working principle of the utility model is:

[0028] 1. Manually place the workpiece on the loading table 1, press the start button, and the front and rear feeding mechanisms 2 rise to lift the workpiece off the loading table 1.

[0029] 2. The workpiece is delivered to the side grinding mechanism 5 through the front and rear feeding mechanism 2, and then the front and rear feeding mechanism 2 is lowered to bring the workpiece to a suitable height.

[0030] 3. The left and right lateral moving platforms 3 on both sides are driven by the motor below to drive the side grinding mechanism 5 to move closer to the middle and complete the clamping of the workpiece.

[0031] 4. After clamping, the motor on the side grinding mechanism 5 drives the rubber roller in contact with the workpiece to rotate, and the rubber roller rotates with the workpiece, and the floating grinding device between the rubber rollers on both sides grinds the parting line of the workpiece.

[0032] 5. Stop grinding after one round. The 3D line scan camera above scans the workpiece to confirm the area on the workpiece that needs to be polished.

[0033] 6. After the calculation is completed, the 3D camera guides the robot to polish the area that needs to be polished.

[0034] 7. Before grinding, the heating system installed on the grinding head will heat the tool.

[0035] 8. When grinding, the heated tool will soften the area to be ground, and the aluminum substrate will not be affected by the temperature.

[0036] 9. The grinding head is equipped with a floating mechanism and a force control device, which can grind accurately without damaging the aluminum conductor.

[0037] 10. After completing one side, the robot leaves the polishing area.

[0038] 11. The left and right lateral moving platforms 3 on both sides are driven by the motor below, driving the side grinding mechanism 5 to disperse to both sides and release the clamped workpiece.

[0039] 12. The workpiece is delivered to the turning mechanism 4 through the front and rear feeding mechanism 2.

[0040] 13. The left and right lateral moving platforms 3 on both sides are driven by the motor below, and the turning mechanism 4 moves toward the middle and completes the clamping of the workpiece.

[0041] 14. The cylinders on the left and right sides of the turning mechanism 4 are lifted at the same time, driving the clamped workpiece to rise.

[0042] 15. After rising to the top, the motor drives the turning mechanism to turn 180 degrees to complete the turning of the workpiece.

[0043] 16. The cylinder descends and places the workpiece on the front and rear feeding mechanism 2.

[0044] 17. The front and rear feeding mechanisms 2 bring the workpiece to the side grinding mechanism 5.

[0045] 18. At this time, the robot polishing process is performed again to complete the flip polishing.

[0046] 19. The robot retreats, the left and right lateral moving platforms 3 retreat, and the front and rear feeding mechanisms 2 bring the workpiece back to the loading table 1.

[0047] The utility model uses a 3D camera to determine the characteristic position of the placed product, uses 3D vision to determine the polishing route and guides the robot to perform polishing, which is achieved through a program and a recognition algorithm, and can be achieved with existing technologies.

[0048] The turning mechanism 4 turns the workpiece over and can automatically complete the grinding of the front and back sides of the workpiece. The self-developed floating device completes the grinding when the hardness of the substrate is lower than the hardness of the grinding block. The heating of the grinding tool softens the epoxy resin and ceramic polymer attached to the aluminum conductor, making grinding easier.

[0049] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A fully automatic insulating basin grinding device based on visual guidance, comprising a base, characterized in that: A loading table (1) is provided on the front side of the base, a front and rear feeding mechanism (2) is provided on the rear side of the loading table (1), left and right lateral moving platforms (3) are provided on the left and right lateral moving platforms (3), a turning mechanism (4) and a side grinding mechanism (5) are installed on the left and right lateral moving platforms (3), a 3D vision component (6) is provided above the base, a robot and a grinding component (7) are provided on the rear side of the base, the front and rear feeding mechanism (2) comprises a linear guide rail at the bottom and a lifting mechanism at the upper side, and a rotating chassis is provided on the upper side of the lifting mechanism; The lower side of the left and right lateral moving platform (3) is provided with a bottom plate, and the lower side of the bottom plate is slidably connected to a linear guide rail to drive the turning mechanism (4) and the side grinding mechanism (5) to move left and right. The side grinding mechanism (5) is located at the rear side of the turning mechanism (4). A tool is installed on the grinding head in the robot and grinding assembly (7). The side grinding mechanism (5) includes a front and rear symmetrical rubber roller, which is rotatably connected to the frame. The rubber roller is connected to a rotating mechanism. The middle part of the frame is movably connected to a floating grinding device. The floating grinding device and the grinding head are both equipped with a floating mechanism and a force control device.

2. According to claim 1, a vision-guided fully automatic insulating basin grinding device is characterized in that: The floating grinding device is slidably connected to the frame in a transverse direction to grind the mold line of the insulating basin.

3. The vision-guided fully automatic insulating basin polishing device according to claim 1 is characterized in that: The 3D vision component (6) protects the guide frame and the 3D line scan camera. The 3D line scan camera is mounted on a sliding seat, and the sliding seat is slidably connected to the horizontal guide frame.

4. The vision-guided fully automatic insulating basin polishing device according to claim 1 is characterized in that: The robot and the grinding head in the grinding assembly (7) are provided with a heating system.

5. The vision-guided fully automatic insulating basin grinding device according to claim 1 is characterized in that: The floating grinding device and the grinding head are both equipped with a floating mechanism and a force control device.

6. The vision-guided fully automatic insulating basin grinding device according to claim 5 is characterized in that: The floating mechanism consists of a spring and a guide frame, which allows the tool to slide along the guide frame.

7. The vision-guided fully automatic insulating basin grinding device according to claim 5 is characterized in that: The force control device includes a pressure sensor and an electric telescopic device.

8. The vision-guided fully automatic insulating basin polishing device according to claim 1 is characterized in that: The flipping mechanism (4) comprises a flipping clamp and a lifting assembly, the lifting assembly comprises a cylinder and a lifting seat, the flipping clamp is rotatably connected to a motor, and the motor is mounted on the lifting seat.

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