CN107363509B - Compressor rotor assembly system and assembly method - Google Patents
Compressor rotor assembly system and assembly method Download PDFInfo
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- CN107363509B CN107363509B CN201710726581.0A CN201710726581A CN107363509B CN 107363509 B CN107363509 B CN 107363509B CN 201710726581 A CN201710726581 A CN 201710726581A CN 107363509 B CN107363509 B CN 107363509B
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 208
- 230000005540 biological transmission Effects 0.000 claims abstract description 123
- 238000003825 pressing Methods 0.000 claims abstract description 29
- 230000000903 blocking effect Effects 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 12
- 230000008093 supporting effect Effects 0.000 claims description 10
- 238000004904 shortening Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 27
- 238000006073 displacement reaction Methods 0.000 description 9
- 238000012546 transfer Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000000418 atomic force spectrum Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009365 direct transmission Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The application provides a compressor rotor assembly system, comprising: the tooling plate transmission system comprises a transmission line formed by parallel tracks; at least one position of the transmission line is configured as a press-fit station; the rotor feeding system comprises a manipulator feeding device and a rotor conveying device, and is used for continuously conveying the received rotor to a third linear conveying mechanism, and clamping and conveying the rotor to the position above the track at the press-fit station; the press-fit system comprises a workpiece positioning and pressing mechanism, a tooling plate jacking mechanism and a press-fit mechanism, wherein the tooling plate jacking mechanism and the press-fit mechanism are provided with a rotor press-fit seat facing the press-fit mechanism, the rotor press-fit seat is driven to ascend to bear the rotor clamped and transmitted to the press-fit station by a third linear conveying mechanism, and the rotor passes through a through hole on the tooling plate lifted off a track by the tooling plate jacking mechanism to enable the rotor to be propped against the press-fit mechanism, so that the rotor and a compressor on the tooling plate are assembled. The application also provides a method correspondingly, and the method realizes the whole automation from loading to assembling.
Description
Technical Field
The application relates to the technical field of cold press assembly of a compressor rotor, in particular to an assembly system and an assembly method of the compressor rotor.
Background
The rotor assembly of the compressor is a key link of the assembly of the compressor, the rotor of the traditional compressor is assembled in a hot jacket mode, but when the rotor assembly is determined by the structure and the rotor material characteristics of the variable frequency compressor, only a cold pressing mode can be adopted, and rotor cracks can be caused in the hot jacket mode. The strict requirements of the eccentric characteristic, the non-bearing cylinder body structure and the rotor clearance after combination of the compressor crankshaft determine that the technical difficulty of realizing the precise press fit of the rotor is very large, and related foreign enterprises also have no mature equipment capable of meeting the requirements of the product structure and the manufacturing process in China.
In order to solve the problem that most of compressor enterprises in China use a manual assembly detection method at present, in order to enable assembly with high detection precision and higher efficiency, the inventor previously provides an online high-efficiency automatic precision press-fit equipment scheme, for example, a patent document with a Chinese patent application number of CN 201310122068.2.
However, the above solution still requires manual placement of the compressor onto the positioning table of the cold press, and is not suitable for an overall automated assembly solution. While no corresponding solution is provided for an automated assembly system from rotor loading to assembly into the compressor as a whole.
Disclosure of Invention
Accordingly, a primary object of the present application is to provide a system and a method for assembling a rotor of a compressor, which can realize the automation from loading to the whole assembly process.
The application provides a compressor rotor assembly system, comprising: frock board transmission system, rotor feeding system and pressure equipment system, wherein:
the tooling plate transmission system at least comprises a transmission line formed by parallel tracks, and tooling plates bearing compressors are driven and conveyed on the tracks; at least one position of the transmission line is configured as a press-fit station;
the rotor feeding system sets up in frock board transmission system's track outside, and it includes:
the manipulator feeding equipment is used for sequentially grabbing rotors to be fed and transferring the rotors to the rotor conveying equipment; and
The rotor conveying device is used for continuously conveying the received rotor to a third linear conveying mechanism, and the third linear conveying mechanism clamps and conveys the received rotor to the position above the track at the press-fit station through a clamping part of the third linear conveying mechanism;
the press-fit system is arranged at a press-fit station of the transmission line, and comprises:
the workpiece positioning and pressing mechanism is arranged at the top of the press-fitting system and is provided with a downward pressure head mechanism for bearing force;
the tooling plate jacking mechanism is arranged below the rails and is used for lifting the tooling plate to a certain height from the rails to reach the position to be assembled when the tooling plate is conveyed below the workpiece positioning and pressing mechanism; and
The rotor press-fit seat is driven to ascend to bear the rotor which is clamped and transmitted to the press-fit station by the third linear conveying mechanism, and ascend to pass through the through hole on the tooling plate lifted off the track to enable the rotor to be propped against the press-fit mechanism, so that the rotor and the compressor on the tooling plate are assembled.
From the top, the compressor is carried to the pressure equipment station by the transmission line, and the rotor is carried to the pressure equipment station by charging system and rotor conveying equipment to carry out the cold compressor of impressing of rotor in this pressure equipment station department by the pressure equipment system, whole process need not manually, realizes going up to the holistic automation of assembly process from the material loading.
Optionally, the tooling plate transmission system includes:
a main transmission line device comprising: a main transmission line formed by parallel tracks;
a branch transmission line apparatus comprising: a branch transmission line formed by parallel tracks; the press-fit station is arranged on the branch transmission line; an extensible blocking piece is arranged at the press fit station;
tooling plate push-pull device comprising: a jacking mechanism between the two ends of the lifting mechanism and the lower part of the guide rail of the main or branch transmission line; a slideway corresponding to the lifting mechanism and between the main transmission line equipment and the branch transmission line equipment; the push plate mechanism is positioned above the jacking mechanism and the slideway;
the position of the main transmission line and the branch transmission line corresponding to the push-pull equipment of the tooling plate is provided with an extendable blocking piece.
By the above, through setting up a transmission line equipment, and set up the pressure station of joining in marriage at this transmission line equipment, realize with the loose coupling of main transmission line equipment transmission frock board for a transmission line equipment can be convenient assemble in main transmission line optional position.
Optionally, the rotor conveying device further includes:
at least one linear conveying mechanism for continuously conveying the rotor, wherein a bearing part for bearing the rotor is arranged on one linear conveying mechanism and can horizontally rotate;
a rotor angle detection mechanism disposed toward the rotor when the linear conveying mechanism conveys the rotor to a certain position;
the bearing part rotates the rotor thereon to a prescribed orientation according to the detection of the rotor angle detection mechanism.
By the above, can carry out the straight line transport of material loading with the rotor through sharp conveying mechanism, and through rotor angle's detection mechanism with the loading part can be with the rotor adjustment of waiting to assemble the angle to wait to realize according to the required angle of rotor, position in the assembly process, adjust and send the rotor to, in order to realize to the support of whole automatic press-fit process.
Optionally, the rotor conveying device includes:
the first linear conveying mechanism is composed of the linear conveying mechanisms and is used for conveying the rotor to a certain distance in a direction of shortening from a target position of the rotor;
and the second linear conveying mechanism and the third linear conveying mechanism form angles, and the second linear conveying mechanism is provided with a clamping part for clamping and conveying the rotor and is used for conveying the rotor clamped by the first linear conveying mechanism to the third linear conveying mechanism.
By the above, through the straight line conveying mechanism of adjacent constitution angle, realize the rotor towards rotor destination position continuous transmission, can be adapted to the original feed position of rotor and the condition that destination position is difficult to direct transmission like this, be convenient for lay in the space on the production line.
Optionally, the rotor angle measuring mechanism comprises a sensor arranged above a delivery position of a transmission stroke of the linear conveying mechanism;
the clamping part of the third linear transmission mechanism is of an outer clamping structure, and an opening of the clamping part is arranged above the track at the press-fit station;
the first linear conveying mechanism bearing part and the third linear conveying mechanism clamping part are positioned on a horizontal plane;
the clamping part of the second linear conveying mechanism is of an internal supporting structure, is arranged downwards, and is arranged higher than the bearing part in a track supporting the clamping part, and the clamping part can move to a position above a delivery position of a transmission stroke of the linear conveying mechanism along the track of the second linear conveying mechanism;
the sensor is arranged in a sliding way, and can slide at a position above a delivery position far away from the transmission stroke of the linear conveying mechanism.
By the structure, when the clamping part of the second linear conveying mechanism moves to the position above the delivery position of the transmission stroke of the first linear conveying mechanism, the sensor can slide to give way, so that the system is compact in structure and saves space.
Optionally, the sensor side portion is connected to a slider below the sensor side portion through a vertical connecting rod and is matched with a corresponding track to perform sliding arrangement, and the track matched with the slider is arranged in parallel with the track of the second linear conveying mechanism.
By the above, slider, the track of sensor are located its below, and with the track parallel arrangement of second sharp conveying mechanism for system compact structure saves space.
Optionally, the opposite position of the clamping part of the third linear conveying mechanism is provided with a supporting table with the same horizontal plane, which is the connection position between the delivering position of the second linear conveying mechanism and the receiving position of the third linear conveyor.
By the supporting table with the connecting function, rotors of the two linear conveying mechanisms with the clamping parts are in loose connection and are not interfered with each other.
Optionally, the workpiece centering and crankshaft axial positioning mechanism further comprises:
the positioning mechanism and the limiting mechanism are arranged at two sides of the tooling plate of the to-be-assembled device in an opposite manner and are respectively provided with a positioning block which can extend towards the tooling plate;
the positioning block of the righting mechanism comprises a vertical concave part matched with a crankshaft connecting piece of the compressor on the tooling plate.
By the above, can carry out the righting adjustment to the bent axle through the concave part of this locating piece, can support the frock board after stretching out towards the frock board of waiting the assembly position through stop gear's locating piece level, prevent that the frock board from producing the removal when righting mechanism acts, realize the locate function.
Optionally, the press-fit mechanism includes from bottom to top in proper order: the rotor press-fit seat is arranged on the upper part of the sliding block;
one side part of the sliding block is in sliding connection with a linear guide rail in the vertical direction, and a floating connector is arranged between the servo electric cylinder and the sliding block.
By the upper part, the guide of the linear guide rail is coupled through the sliding block, so that the press-fit action in the vertical direction in the press-fit process is smooth and reliable. The flexible connection through the floating connector can be used for absorbing transverse force, so that the direction and the stress point of the output end of the servo electric cylinder are prevented from being not on the same line when the output end extends, the extending end of the servo electric cylinder is deformed or broken, and the service life of the servo electric cylinder is prolonged.
Optionally, the press-fitting system further includes a measuring mechanism including: a vertical downward measuring rod for measuring the movement quantity is arranged beside the pressure head mechanism, and a pressure sensor is arranged in the rotor press-fit seat; the press-fit mechanism performs the assembly control according to the measurement of the measurement mechanism.
From the top, set up the measuring staff of measuring the amount of movement aside pressure head mechanism, accessible work piece on the hole stretch into the cavity of installation rotor downwards when the frock board is by the jacking and realize the measurement of displacement, the accurate control of being convenient for in the pressure fit process. And the accurate control in the press-fit process is facilitated through the pressure detection of the rotor in the press-fit process.
The application also provides a method for assembling the compressor rotor, which comprises the following steps:
A. a transmission line formed by parallel tracks conveys the tooling plate to the lower part of a workpiece positioning and pressing mechanism of a press-fit system positioned at the press-fit station;
B. lifting the tooling plate away from the track of the transmission line by a tooling plate lifting mechanism of the press-fitting system to reach the position to be assembled;
C. sequentially grabbing rotors to be fed by a mechanical feeding device and transferring the rotors to a rotor conveying device;
D. the rotor conveying equipment sequentially conveys the received rotors to a third linear conveying mechanism, and the third linear conveying mechanism clamps and conveys the rotors to the position above the track at the press-fit station through a clamping part of the third linear conveying mechanism;
E. and a rotor press-fit seat of the driving press-fit mechanism is used for up-bearing the rotor above the track and up-running through the through hole on the tooling plate lifted off the track to enable the rotor to be abutted against the press-fit mechanism of the press-fit mechanism, so that the rotor and the compressor on the tooling plate are assembled.
From the top, the compressor is carried to the pressure equipment station by the transmission line, and the rotor is carried to the pressure equipment station by charging system and rotor conveying equipment to carry out the cold compressor of impressing of rotor in this pressure equipment station department by the pressure equipment system, whole process need not manually, realizes going up to the holistic automation of assembly process from the material loading.
Drawings
FIG. 1 is a schematic diagram of an overall top view of an automatic compressor rotor cold pressing apparatus;
FIG. 2 is a schematic diagram of an automated tooling plate transfer system;
FIG. 3 is a schematic diagram of a front view of a six-axis mechanical feeding mechanism;
FIG. 4 is a schematic diagram of a rotor transport mechanism;
FIG. 5 is a schematic diagram of a press-fit system; wherein fig. 5A is a front view and fig. 5B is a left side view.
Detailed Description
For convenience of description, the following left-right direction refers to a direction parallel to the production line, and the front-rear direction refers to a direction perpendicular to the production line in a horizontal plane. The method comprises the steps of,
the driving parts of the driving parts for performing the actions, such as the driving parts moving along the rail, or the driving parts for generating the actions such as clamping and supporting, are all conventional parts for realizing the automation, and the conventional driving parts can be used unless otherwise specified hereinafter, so the description of these driving parts is omitted hereinafter. For example, for driving the short stroke displacement of the slider on the rail (such as moving along the rail, clamping/supporting action), a cylinder driving method, a screw driving method, a gear driving method, etc. may be adopted, and for driving the long stroke displacement, a belt type synchronous driving mechanism method assembled in the rail may be adopted for driving. In the application, the linear displacement mechanism formed by the sliding rails of the sliding blocks is provided with a buffer ejector rod and an in-place sensor at the outer sides (the outer sides of relative transmission) of the receiving position and the delivering position. The method comprises the steps of,
when the components of the systems described below are assembled, the components are also assembled to the integral frames of the systems, the frames play a role in supporting and positioning the components, and when the components are assembled to the integral frames, the components can be assembled in a conventional manner, such as directly assembled to the frames, or assembled to brackets, panels (horizontal or vertical), support columns, support tables and the like which are already installed on the frames, so that the frames are not described. The method comprises the steps of,
according to the requirement of automatic control, corresponding sensors can be arranged at the required positions, and if no special description exists, certain automatic control function can be realized, and the implementation of the automatic control function can be realized by arranging the sensors and controllable devices. The method comprises the steps of,
in order to block and release the tooling plate on the transmission line, the blocking piece can be arranged on any side of the transmission line, and is driven to move towards or away from the tooling plate on the transmission line, so that the functions of blocking and releasing the tooling plate are realized, and the specific position of the blocking piece is not repeated.
The present application will be described in detail below with reference to the accompanying drawings. An automatic compressor rotor cold pressing system is shown in fig. 1, and mainly comprises the following subsystems:
the tooling plate transmission system 100 is used for sequentially transmitting the compressors to each station of the production line, including transmitting the compressors to the press-fit stations; rotor loading systems 200, 300 for moving the rotor to be assembled from the magazine onto the press-fit station; the press-fitting system 400 (according to the main line transmission flow direction, the press-fitting system 400 with double stations is arranged in the embodiment) is used for press-fitting the compressor and the rotor to be assembled; the control system (not shown) is composed of an industrial personal computer and an embedded industrial personal system and is used for controlling the coordination work among the systems in the whole transmission and assembly process. The following describes each system in detail:
as shown in fig. 2, the tooling plate transmission system 100 comprises a main transmission line device 101, a branch transmission line device 102, and tooling plate push-pull devices 103 which are arranged in pairs and move tooling plates between the main transmission line device and the branch transmission line device, wherein the press-fit station is positioned on the transmission line of the branch transmission device and between the paired tooling plate push-pull devices 103. The tooling plate transmission system 100 may further include a plurality of sensors for determining positions, such as RFID sensors. Specific:
a main transmission line device 101 for main transmission of the tooling plate. Comprising the following steps: a main transmission line formed by parallel tracks, wherein each track is respectively provided with a roller driven to rotate and can bear two ends of a tooling plate thereon; the blocking piece is located at the position of the main transmission line corresponding to the tooling plate pushing and pulling device 103, and is divided according to the transmission procedure, when the blocked tooling plate is conveyed to the branch transmission line by the tooling plate pushing and pulling device 103, the position of the blocking piece blocking the tooling plate forms an output station on the main transmission line, and when the tooling plate conveyed from the branch transmission line by the tooling plate pushing and pulling device 103 is stopped, so that the tooling plate is completely conveyed to the main transmission line, the position of the blocking piece blocking the tooling plate forms a receiving station on the main transmission line.
A branch transmission line device 102 for the transmission of branch lines of the tooling plate. Comprising a branch transmission line consisting of parallel tracks. The branch transmission line can be sequentially provided with a receiving station, a press-fit station and an output station according to the assembly procedure. The receiving station and the outputting station correspond to the outputting station and the receiving station of the main transmission line, and also correspond to the position of the tooling plate push-pull equipment 103, and blocking pieces are arranged at the corresponding positions of the receiving station and the outputting station, so that the tooling plate is blocked at the stations. Which is also provided with a blocking member corresponding to a press-fit station where a press-fit system 400 (to be described later) is provided for assembling the rotor into the compressor by the rotor transferred from the rotor transfer apparatus 300 of the rotor loading system 300 and the compressor on the tooling plate transferred to the press-fit station.
The tooling plate pushing and pulling device 103 is used for moving the tooling plate from the main transmission line to the branch transmission line for press fitting and moving the tooling plate after press fitting back to the main transmission line. It comprises the following steps: the jacking mechanism (not shown) corresponds to the corresponding receiving station and the output station (namely corresponds to the position of the corresponding blocking piece) of the main transmission line and the branch transmission line and is positioned between the guide rails of the main transmission line or the branch transmission line, the initial position of the jacking plate of the jacking mechanism is positioned below the position between the two guide rails of the transmission line, and when in operation, the jacking plate is driven to move upwards to lift the tooling plate away from the original transmission line; a slideway 1032 corresponding to the lifting mechanism and between the main and branch transmission line systems; a pushing plate mechanism 1033 located above the lifting mechanism and the slide 1032, for pushing the tooling plate from the original transmission line (main/branch transmission line) to the slide 1032 and onto another transmission line (branch/main transmission line). The push plate mechanism 1033 is composed of a guide rail 10331 in the front-rear direction above, a push plate 10332 located below the guide rail and slidably connected to the guide rail, and a driving mechanism, such as a cylinder, for driving the push plate to move.
In the embodiment shown in fig. 2, two sets of tooling plate push-pull devices 103 and a press-fit system 400 are included. The branch transmission lines are arranged beside the main transmission line in parallel, and the slide ways 1032 are perpendicular to the main transmission line and the branch transmission line, so that the tooling plate push-pull equipment 103 and the branch transmission line equipment 102 can be conveniently integrated into the main transmission line equipment 101, and the old main transmission line can be conveniently upgraded and reformed.
The rotor feeding system is shown in fig. 3 and 4, and comprises the manipulator feeding device 200 shown in fig. 3 and the rotor conveying device 300 shown in fig. 4.
Manipulator charging equipment 200 includes: a skip 201 for rotor turnover, on which a magazine 202 is placed, in which a rotor to be assembled is placed in the magazine 202; a six-axis manipulator 203 is located in the middle of the skip 201, and is used for sequentially grabbing the rotors from the material box 202 of the skip 201 and transferring the rotors to the rotor conveying device 300. Specific:
the skip 201 can be placed in place by a forklift, and a skip limiting mechanism 204 arranged beside the skip 201 is provided with a sensor for detecting whether the skip 201 is in place or not. The six-axis manipulator 203 can sequentially grasp the rotors and put them on the bearing base 3011 of the rotor conveying apparatus 300. When the empty box 202 appears, the six-axis manipulator 203 grabs the empty box and places the empty box on the uppermost empty tray of the empty skip 201 beside, and when the empty tray is full of the empty box 202, the empty skip is automatically warned to prompt the empty skip after the corresponding sensor for detecting whether the empty box 202 exists or not of the skip 201.
The rotor conveying apparatus 300 is used for adjusting the transferred rotor to a specific angle and conveying the rotor to be assembled right above a rotor press-fit seat of the press-fit system 400, and includes: the rotor auxiliary front-rear conveying mechanism 301 is a first linear conveying mechanism and is used for conveying the rotor on the first linear conveying mechanism to a certain distance towards the direction of the tooling plate conveying system 100 through a bearing seat 3011 moving in the front-rear direction; a rotor angle detection mechanism 302 and a turntable 305, for adjusting the rotor angle according to the situation of the positioning piece of the rotor; a rotor right-left conveying mechanism 303 which is a second linear conveying mechanism for moving the rotor to the rotor front-rear conveying mechanism 304; the rotor front-rear transfer mechanism 304 is a third linear conveying mechanism for transferring the rotor to a position right above the rotor press-fit seat of the press-fit station. Specific:
the rotor-assisted front-rear transfer mechanism 301 includes: a guide 3012 disposed in the front-rear direction, and a carrier 3011 provided on the guide 3012 and slidably connected to the guide 3012, and having a turntable 305 described later thereon. The positions of the carrying seats 3011 at both ends of the guide rail 3012 (i.e., both ends of the movement stroke) may be referred to as a receiving position and a delivering position of the workpiece (i.e., the rotor), and the carrying seats 3011 carry the rotor placed by the six-axis robot 203 at the receiving position and are then driven to move along the guide rail 3012 to the delivering position.
The rotor angle detection mechanism 302 and the turntable 305 include: a sensor 3021 located in the space above the carrying base 3011 and capable of detecting the position of the positioning piece of the lower rotor, wherein the sensor 3021 is fixed on a sliding block 3023 below by a bracket 3022, and the sliding block 3023 is slidably connected with a left-right direction rail 3024, so that the sensor 3021 can slide to avoid the corresponding position when the below-described rotor left-right conveying mechanism 303 moves to the position above the rotor; the turntable 305 mounted on the carrying base 3011 may be driven to rotate by a rodless cylinder, which rotates to adjust the angle of the rotor placed thereon according to the detection result of the sensor 3021.
The sensor 3021 of the rotor angle detection mechanism 302 may be fixedly disposed at a position above the carrier 3011 in a space obliquely above the carrier, and may not interfere with the operation of the rotor left-right conveying mechanism 303, but the sensor 3021 is obliquely directed to the rotor, and is not directly directed to the rotor.
A rotor left-right transfer mechanism 303 for transferring the rotor on the carrying base 3011 at the delivery position to the receiving position of the rotor front-rear transfer mechanism 304, comprising: a main body 3031; a rail 3032 extending in the left-right direction above the main body 3031, one side of the main body 3031 being slidably connected to the rail; an inner support type clamp 3033 is positioned at the lower end of the main body portion 3031 and is vertically and slidably connected with the other side portion of the main body portion 3031, and can extend downwards into the inner rotor cylinder and be expanded outwards to pick up the rotor, or can be moved upwards to be above the rotor to release the rotor after the rotor is loosened. It can be seen that the rotor left-right transfer mechanism 303 is a two-axis manipulator in a vertical plane.
And the rotor front-back conveying mechanism 304 is used for conveying the rotor left-right conveying mechanism 303 to the rotor clamping of the rotor front-back conveying mechanism 304 moving stroke receiving position, and suspending and waiting for press fit at a position right above a rotor press fit seat of a press fit station in front of the rotor clamping conveyed to the inner support type clamp 3033 after being released. It comprises the following steps: a main body 3041; a rail 3042 extending in the front-rear direction below the main body 3041, the main body 3041 being slidably connected thereto; the main body 3041 is provided with an outer clip type gripper 3043 toward the front (i.e., toward the tooling plate conveying system 100). When the main body 3041 is retracted, the outer clamp type gripper 3043 is opposite to the receiving position, a supporting table is arranged below the receiving position, the rotor conveyed by the rotor left-right conveying mechanism 303 is received, the outer clamp type gripper 3043 clamps the rotor and extends out, and the position right above the rotor press-fit seat of the press-fit station is reached to hover. It can be seen that the rotor front-to-back transfer mechanism 304 is primarily a linear robot.
As an alternative embodiment, the turntable 305 may also be arranged on the support table, and the sensor 3021 of the corresponding rotor angle detection means 302 is arranged towards the rotor on the support table.
As shown in fig. 5, the press-fit system 400 is located at a press-fit station of a branch transmission line, and includes: the workpiece positioning and pressing mechanism 401 is arranged at the upper part of the press-fitting system 400 and is used for bearing force so that the rotor to be assembled is pressed upwards during assembly; a tooling plate jacking mechanism 402, configured to lift the tooling plate away from the branch transmission line rail by a certain height to reach a position to be assembled; the workpiece centering and crankshaft axial positioning mechanism 403 is used for adjusting and positioning the positive position of the compressor crankshaft on the tooling plate; the press-fit mechanism 404 is used for assembling the rotor and the compressor by driving the rotor press-fit seat to contact and support the rotor upwards and enabling the rotor to contact the workpiece positioning and pressing mechanism 401; the real-time measurement device of the pressing force and the vertical displacement and the real-time measurement device of the clearance form a precise measurement mechanism 405 for real-time measurement of the pressing force and the vertical displacement in the assembly process and real-time measurement of the clearance in the vertical direction so as to perform precise press fit control of the assembly process. Specific:
the workpiece positioning and pressing mechanism 401 is located at the top of the press-fit station and comprises a top plate 4012, and a pressing head mechanism 4011 is assembled on the lower surface of the top plate 4012 and is used for bearing upward pressing force of a rotor to be assembled during assembly.
Tooling plate jacking mechanism 402 includes: the blocking piece is arranged at the press-fit station of the branch transmission line, so that the tooling plate on the branch transmission line can stay at the press-fit station; and the jacking mechanism is arranged below the press-fit station and the branch transmission line track and lifts the tooling plate away from the branch transmission line by a certain height to a position to be assembled. In the position to be assembled, the workpiece on the tooling plate is contacted with the pressing head mechanism 4011 of the workpiece positioning and pressing mechanism 401, and a measuring rod 4051 for measuring the movement quantity beside the pressing head mechanism 4011 extends downwards into a cavity for installing the rotor through a hole on the workpiece.
The workpiece centering and crankshaft axial positioning mechanism 403 comprises a positioning mechanism 4031 and a limiting mechanism 4032 which are positioned on two sides of the to-be-assembled position and are opposite to each other, and the positioning mechanism is composed of a cylinder and a positioning block. The positioning block of the righting mechanism 4031 comprises a vertically arranged concave part which can be matched with a crankshaft connecting piece of the compressor on the tooling plate, and after the cylinder drives the positioning block to horizontally extend towards the tooling plate at the position to be assembled, the crankshaft can be righted through the concave part of the positioning block. The cylinder of the limiting mechanism 4032 drives the positioning block to horizontally extend towards the tooling plate at the position to be assembled and then can prop against the tooling plate, so that the tooling plate is prevented from moving when the righting mechanism 4031 acts, and the positioning function is realized.
Servo electronic accurate press-fit mechanism 404 is located press-fit station below, includes from bottom to top in proper order: a servo cylinder 4041; a floating connector 4042 fitted to the end of the extendable end of the servo cylinder 4041; the slide block 4043 assembled on the upper part of the floating connector 4042, and the press-fit seat 4044 assembled on the upper part of the slide block 4043, wherein the press-fit seat 4044 is opposite to the press head mechanism 4011 of the upper workpiece positioning and pressing mechanism 401. One side part of the sliding block 4043 is in sliding connection with a linear guide rail 4045 in the vertical direction, and the sliding block is guided by the linear guide rail 4045, so that the press-fit action in the vertical direction in the press-fit process is smooth and reliable. Before press-fitting, the upper part of the press-fit seat 4044 is also right opposite to the rotor which is transferred to hover and hold by the rotor feeding system 200, and a pressure sensor is arranged in the press-fit seat 4044, so that the change condition of the press-fit force in the press-fit process can be monitored.
Because the servo electric cylinder 4041 has large force, the application adopts the floating connector 4042 to connect the servo electric cylinder 4041 and the sliding block 4043, and the flexible connection of the floating connector 4042 can be used for absorbing transverse force (the sliding block 4043 and the linear guide rail 4045 are in dovetail groove sliding connection, but the small transverse movement of the sliding block 4043 can not be avoided), so that the direction and the stress point of the output end of the servo electric cylinder 4041 are not in the same line when the output end extends, the extending end of the servo electric cylinder 4041 is deformed or broken, and the service life of the servo electric cylinder 4041 is prolonged.
The precision measuring mechanism 405 may include a displacement sensor mounted on the top plate 4012 of the workpiece positioning and pressing mechanism 401, a measuring rod 4051 for measuring the movement (or the clearance) is extended downward from the top plate 4012, and the precision measuring mechanism may further include the pressure sensor mounted in the press-fit seat 4044, an elastic mechanism for applying a pre-tightening force for measuring the pressure, and the like.
By the above, through high accuracy press-fit and clearance control, if adopt automatic centering structure, high accuracy servo press carries out press-fit, but the clearance is reinspected immediately after the press-fit is accomplished moreover, in press-fit and the location process, the compressor box only bears measuring force (less than 15N).
The press-fit system 400 operates as follows:
the compressor is conveyed to an assembly station along with the tooling plate on the branch transmission line 1021, the blocking piece blocks the tooling plate, and the tooling plate is lifted off the branch transmission line 1021 by the tooling plate lifting mechanism 402 below the position and is lifted to the position to be assembled;
the workpiece centering and crankshaft axial positioning mechanism 403 performs workpiece centering on the compressor, simultaneously positions the crankshaft in the compressor in the circumferential direction, automatically measures and prepares for rotor press-fitting according to a set clearance value between the rotor and the crankcase after the rotor is press-fitted;
the rotor front-rear transfer mechanism 304 in the rotor loading system 200 conveys the rotor to the assembly station, is located directly above the rotor press-fit seat 4044, and hovers and holds;
the servo electric precise press-fit mechanism 404 works quickly, drives the rotor press-fit seat 4044 to move upwards, and after bearing the rotor, the rotor front-rear conveying mechanism 404 in the rotor feeding system 200 releases the rotor and retracts to reset; the rotor press-fit seat 4044 carrying the rotor is driven to move upwards continuously, passes through the corresponding hole on the tooling plate and abuts against the pressing head mechanism 4011 of the upper workpiece positioning and pressing mechanism 401 so as to press-fit the rotor;
in the process of press-fitting the rotor, the above-described precision measuring mechanism 405 measures the press-fitting force, the displacement amount in the press-fitting direction (i.e., the vertical direction), and the gap in the press-fitting direction in the rotor. Specifically, when the workpiece contacts the measuring rod 4051 of the precision measuring mechanism 405, the sensor monitors the change of the measuring rod 4051 at any time to determine the displacement and the gap, and performs control measurement in cooperation with the pressure of the pressure sensor to perform precision press fit.
When the press-fitting is completed to the rotor, the press-fitting is stopped, the gap is measured, the rotor press-fitting seat 4044 is driven to descend and return, each system is reset (the reset comprises that the tooling plate jacking mechanism 402 descends, the assembled compressor returns to the branch transmission line 1021 again), and the blocking piece releases the tooling plate.
In the rotor pressing process, if the pressing force does not conform to the set stroke-force curve relationship, the rotor press-fit seat 4044 is driven to automatically return, the pressing process is stopped, the pressing is finished, and an alarm is given on a screen.
From the above, the device can automatically control the pressing-in size in the rotor cold press-in process, corresponding pressing-in forces of different pressing-in sizes in the pressing-in process and the like (displacement-force curves can be displayed), in addition, the axial clearance value of a crankshaft after press-in can be preset arbitrarily according to the process requirements, different press-in strategies can be set according to different varieties of workpieces, the whole press-in process can be automatically completed according to the set values by the device according to different pressing-in depths and the press-in forces, various parameter requirements of rotor press-in are ensured, the parameter range (such as too small or too large pressing-in force) is not met or exceeded, the device can automatically give an alarm to prompt, and the quality in the rotor press-in process is truly and reliably ensured.
The control system comprises an industrial personal computer and an embedded industrial personal system. The industrial personal computer and the embedded industrial control system are combined, so that a good human-computer interface, rich data processing and reliable control are realized, and the system and the mechanism are used for controlling the coordination work among the systems and mechanisms in the whole transmission and assembly process.
The working principle of the cold pressing system of the rotor of the compressor of the application is further described below, and the system of the application works as follows under the control of the control system:
firstly, on a tooling plate transmission system 100, a compressor to be assembled is transmitted on a main transmission line 1011 through a tooling plate, and is blocked, lifted and pushed to a branch transmission line 1021 after reaching a specific position;
then, the compressor to be assembled is transmitted on a branch transmission line 1021 through the tooling plate, and is blocked and lifted to a press-fit station to be assembled after reaching a specific position;
on the other hand, for the rotor feeding system 200, the rotor to be assembled is grabbed from the material box 202 of the skip 201 thereof by the six-axis manipulator feeding device 200 and transferred to the rotor conveying device 300;
for the rotor conveying device 300, the rotor is adjusted to a preset angle by a rotor angle detection and adjustment mechanism 302, and sequentially conveyed to a press-fit station to be assembled through a rotor auxiliary front-rear conveying mechanism 301, a rotor left-right conveying mechanism 303 and a rotor front-rear conveying mechanism 304, which are positioned below a tooling plate to be assembled;
then, for the press-fitting system 400, the workpiece centering and crankshaft axial positioning mechanism 403 is used for centering the workpiece of the compressor and positioning the crankshaft in the compressor in the circumferential direction, the servo electric precision press-fitting mechanism 404 is used for driving the rotor press-fitting seat 4044 to move upwards, and the rotor to be assembled right above the rotor is contacted and carried and then is continuously moved upwards to be press-fitted into the compressor, and the assembly process is monitored and controlled in real time by the precision measuring mechanism 405.
After the assembly, the press-fitting system 400 is reset, and the assembled compressor is released after the tool board jacking mechanism 402 descends to reset and touches the branch transmission line 1021 again, and is blocked, jacked and pushed to the main transmission line 1011 after reaching a specific position.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the application.
Claims (9)
1. A compressor rotor assembly system, comprising: frock board transmission system, rotor feeding system and pressure equipment system, wherein:
the tooling plate transmission system comprises main transmission line equipment, branch transmission line equipment and tooling plate push-pull equipment; the main transmission line device comprises a main transmission line formed by parallel tracks; the branch transmission line equipment comprises a branch transmission line formed by parallel tracks, wherein the branch transmission line is provided with a press-fit station, and an extensible blocking piece is arranged at the press-fit station; the tooling plate push-pull equipment comprises a jacking mechanism, a slide way and a push plate mechanism, wherein the two ends of the jacking mechanism correspond to the lower part of a guide rail of a main or branch transmission line, the slide way corresponds to the jacking mechanism and between the main and branch transmission line equipment, and the push plate mechanism is positioned above the jacking mechanism and the slide way; the position of the main transmission line and the branch transmission line corresponding to the push-pull equipment of the tooling plate is provided with an extensible blocking piece;
the rotor feeding system sets up in frock board transmission system's track outside, and it includes:
the manipulator feeding equipment is used for sequentially grabbing rotors to be fed and transferring the rotors to the rotor conveying equipment; and
The rotor conveying device is used for continuously conveying the received rotor to a third linear conveying mechanism, and the third linear conveying mechanism clamps and conveys the received rotor to the position above the track at the press-fit station through a clamping part of the third linear conveying mechanism; the rotor conveying equipment further comprises at least one linear conveying mechanism for continuously conveying the rotors, wherein a bearing part for bearing the rotors is arranged on one linear conveying mechanism and can horizontally rotate; a rotor angle detection mechanism disposed toward the rotor when the linear conveying mechanism conveys the rotor to a certain position; the bearing part rotates the rotor on the bearing part to a specified direction according to the detection of the rotor angle detection mechanism;
the press-fit system is arranged at a press-fit station of the transmission line, and comprises:
the workpiece positioning and pressing mechanism is arranged at the top of the press-fitting system and is provided with a downward pressure head mechanism for bearing force;
the tooling plate jacking mechanism is arranged below the rails and is used for lifting the tooling plate to a certain height from the rails to reach the position to be assembled when the tooling plate is conveyed below the workpiece positioning and pressing mechanism; and
The rotor press-fit seat is driven to ascend to bear the rotor which is clamped and transmitted to the press-fit station by the third linear conveying mechanism, and ascend to pass through the through hole on the tooling plate lifted off the track to enable the rotor to be propped against the press-fit mechanism, so that the rotor and the compressor on the tooling plate are assembled.
2. The system of claim 1, wherein the rotor conveyor apparatus comprises:
the first linear conveying mechanism is composed of the linear conveying mechanisms and is used for conveying the rotor to a certain distance in a direction of shortening from a target position of the rotor;
and the second linear conveying mechanism and the third linear conveying mechanism form angles, and the second linear conveying mechanism is provided with a clamping part for clamping and conveying the rotor and is used for conveying the rotor clamped by the first linear conveying mechanism to the third linear conveying mechanism.
3. The system of claim 2, wherein the system further comprises a controller configured to control the controller,
the rotor angle measuring mechanism comprises a sensor which is arranged above a delivery position of a transmission stroke of the linear conveying mechanism;
the clamping part of the third linear conveying mechanism is of an outer clamping structure, and an opening of the clamping part is arranged above the track at the press-fit station;
the first linear conveying mechanism bearing part and the third linear conveying mechanism clamping part are positioned on a horizontal plane;
the clamping part of the second linear conveying mechanism is of an internal supporting structure, is arranged downwards, and is arranged higher than the bearing part in a track supporting the clamping part, and the clamping part can move to a position above a delivery position of a transmission stroke of the linear conveying mechanism along the track of the second linear conveying mechanism;
the sensor is arranged in a sliding way, and can slide at a position above a delivery position far away from the transmission stroke of the linear conveying mechanism.
4. The system of claim 3, wherein the system further comprises a controller configured to control the controller,
the side part of the sensor is connected with a sliding block below the sensor through a vertical connecting rod to be matched with a corresponding track for sliding, and the track matched with the sliding block is arranged in parallel with the track of the second linear conveying mechanism.
5. A system according to claim 3, wherein the third linear conveyor clamp section has a support table at the same level as the second linear conveyor transport station and the third linear conveyor receiving station.
6. The system of claim 1, wherein the press-fit system further comprises a workpiece centering and crankshaft axial positioning mechanism comprising:
the positioning mechanism and the limiting mechanism are arranged at two sides of the tooling plate of the to-be-assembled device in an opposite manner and are respectively provided with a positioning block which can extend towards the tooling plate;
the positioning block of the righting mechanism comprises a vertical concave part matched with a crankshaft connecting piece of the compressor on the tooling plate.
7. The system of claim 1, wherein the press-fit mechanism comprises, in order from bottom to top: the rotor press-fit seat is arranged on the upper part of the sliding block;
one side part of the sliding block is in sliding connection with a linear guide rail in the vertical direction, and a floating connector is arranged between the servo electric cylinder and the sliding block.
8. The system of claim 1, wherein the press-fit system further comprises a measurement mechanism comprising: a vertical downward measuring rod for measuring the movement quantity is arranged beside the pressure head mechanism, and a pressure sensor is arranged in the rotor press-fit seat;
the press-fit mechanism performs the assembly control according to the measurement of the measurement mechanism.
9. A method of assembling a compressor rotor based on the system of any one of claims 1 to 8, comprising:
A. a transmission line formed by parallel tracks conveys the tooling plate to the lower part of a workpiece positioning and pressing mechanism of a press-fit system positioned at the press-fit station;
B. lifting the tooling plate away from the track of the transmission line by a tooling plate lifting mechanism of the press-fitting system to reach the position to be assembled;
C. sequentially grabbing rotors to be fed by a mechanical feeding device and transferring the rotors to a rotor conveying device;
D. the rotor conveying equipment sequentially conveys the received rotors to a third linear conveying mechanism, and the third linear conveying mechanism clamps and conveys the rotors to the position above the track at the press-fit station through a clamping part of the third linear conveying mechanism;
E. and a rotor press-fit seat of the driving press-fit mechanism is used for up-bearing the rotor above the track and up-running through the through hole on the tooling plate lifted off the track to enable the rotor to be abutted against the press-fit mechanism of the press-fit mechanism, so that the rotor and the compressor on the tooling plate are assembled.
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| CN201710726581.0A CN107363509B (en) | 2017-08-22 | 2017-08-22 | Compressor rotor assembly system and assembly method |
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| CN201710726581.0A CN107363509B (en) | 2017-08-22 | 2017-08-22 | Compressor rotor assembly system and assembly method |
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