CN102107352A - Bearing-crankshaft intelligent press mounting method and system for scroll air-conditioning compressor - Google Patents
Bearing-crankshaft intelligent press mounting method and system for scroll air-conditioning compressor Download PDFInfo
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Abstract
The invention relates to a bearing-crankshaft intelligent press mounting method and a bearing-crankshaft intelligent press mounting system for a scroll air-conditioning compressor. The system comprises three parts, namely a press mounting device, an industrial robot and a visual device, wherein the industrial robot receives position signals of a bearing and a crankshaft output by the visual device, processes the position signals of the bearing and the crankshaft to generate a motion trail of the industrial robot, grabs the bearing to put the bearing into the press mounting device and grabs the crankshaft to put the crankshaft into the bearing; the press mounting device receives a state signal of the industrial robot, converts the state signal into a control signal and controls the press mounting device to perform press mounting on the crankshaft into the bearing; and after receiving the state signal of the press mounting device, the industrial robot takes the bearing and the crankshaft subjected to press mounting out of the press mounting device.
Description
Technical field
The present invention relates to a kind of bearing-crank axle intelligence press mounting system and pressing method of vortex compressor of air conditioner.
Background technology
The vortex compressor of air conditioner is because power consumption is little, high speed performance good, and progressively replacing oblique tray type compressor becomes a visual plant in the car air-conditioner process of refrigerastion.And in the vortex compressor of air conditioner, bearing and crank axle are two crucial parts.The tightness degree that these two parts cooperate directly has influence on the compressed-air actuated performance of scroll compressor, influences refrigeration, and influences the service life of compressor.
Existing a kind of on crank axle the method for pressing bearing, for example, Chinese invention patent CN100999047A comprises at first bent axle is fixed on the support; Then the bearing holder (housing, cover) that will install be located at bent axle installation portion upside and make the axial line of bearing and the axial line of bent axle overlap, place the top tool in the vacancy of bent axle, the two ends that make the top tool offset with one, two main shafts of bent axle respectively; At last to the bearing application of force until bearing fixing on installation portion.The weak point of this method is: this method needs hand emplacement top tool, the device more complicated, and contact stress is big, poor reliability.Forcing press is wayward to the bearing application of force, causes damage parts easily.
Existing a kind of bearing pressure-bearing device, for example, Chinese utility model patent CN200981152Y, comprise present a theatrical performance as the last item on a programme and with the supporting base of presenting a theatrical performance as the last item on a programme, connecting rod is arranged at the top of presenting a theatrical performance as the last item on a programme, flange arranged at the bottom of presenting a theatrical performance as the last item on a programme, have circular hole in the middle of the flange, circular-hole internal-wall stretches out and forms projection.Described base vertical direction is provided with the draw-in groove in U-shaped cross section.The weak point of this device is: this device needs hand emplacement counterpart worm screw, and automaticity is not high.Press moves back and forth for a long time and interacts with counterpart, causes press wearing and tearing and the reduction of counterpart installation accuracy easily.
An existing class engine bearing crank axle assembly method, the literary composition of for example in " vehicular engine " fifth phase in 1999 " talking the assembling of EQ6100-1 engine crankshaft bearing ", emphasize the method that the bearing elasticity cooperates, as determining with apparatus measures such as outside micrometer or empirical method, the bearing elasticity is allocated, bearing is contained in big end, tightens in accordance with regulations.The weak point of these class methods is: this method needs precision instrument and experiential operating workman's participation, and installation method is dumb.
In a word, the producer of China's overwhelming majority still continues to use traditional press-fit approach, by hand the crank axial compression is press fit in the bearing, and not only installation period is long, production efficiency is low, and the homogeneity of product can not get ensureing.In order to address this problem, the present invention has designed the air conditioner compressed machine bearing of the vortex-crank axle intelligence press mounting system that comprises sighting device, industrial robot and three parts of press-loading apparatus, proposed to discern bearing and crank axle automatically based on sighting device, utilize flexible extracting of industrial robot and placement bearing and crank axle to assigned address, and utilize microprocessor chip to control press-loading apparatus automatically, realize that the intelligence of bearing-crank axle press-fits flow process.
Because between crank axle and the bearing is tight fit, in assembling process, need apply bigger, a downward pressure on crank axle top and could guarantee that crank axle is pressed in the bearing fully.Thereby iff adopting industrial robot to press-fit, owing to need apply very big downforce, the industrial robot that need have the heavy load ability could satisfy the pressure requirement, can increase the cost of press-loading device like this.Therefore, adopt sighting device and industrial robot to cooperate press-loading apparatus that bearing-crank axle is press-fited, can improve the efficient and the flexibility of assembling on the one hand, improve the precision of assembling, guarantee closely cooperating between bearing-crank axle, also can reduce requirement on the other hand the industrial robot load capacity.
Summary of the invention
To press-fit automaticity not high for the bearing that solves the air-conditioning scroll compressor and crank axle, rely on artificial assembly precision not high, speed is slow, influence the quality and the efficiency of assembling of product, the problem that causes compressor reduction in service life, the purpose of this invention is to provide a kind of intelligent pressing method and press mounting system that is applied to air conditioner compressed machine bearing of vortex and crank axle, it can the intelligent decision bearing and the state of crank axle, and automatically crank axle is press fit in the bearing accurately.
In order to reach described purpose, the invention provides the bearing of vortex compressor of air conditioner and the intelligent press mounting system of crank axle, the technical scheme of technical solution problem comprises sighting device, industrial robot and press-loading apparatus, the network communication interface of sighting device is connected with the network communication interface of industrial robot, industrial robot receives the bearing of sighting device output and the position signalling of crank axle, and to output bearing and the position signalling of crank axle handle, generated the movement locus of industrial robot; Industrial robot is under the control of the movement locus that generates, and grip axes is held and is placed in the press-loading apparatus, grasps crank axle and is placed in the bearing; The communication interface of industrial robot is connected with the serial communication interface of press-loading apparatus, the status signal of the communication interface output industrial robot of industrial robot, press-loading apparatus receives this status signal, be converted into the control signal of press-loading apparatus, the control press-loading apparatus is press fit into crank axle in the bearing; The communication interface of industrial robot is imported the status signal of press-loading apparatus, and is converted into the control signal of industrial robot, will press-fit good bearing and crank axle and take out in press-loading apparatus.
Wherein, described press-loading apparatus is made up of control circuit board, motor, drive disk assembly, bearing anchor clamps, platen, range sensor, support, limit switch, wherein: the electric output interface of control circuit board connects the electric input interface of motor, control circuit board output motor control signal, motor control signal control motor forward rotation or backwards rotation; The electric input interface of limit switch is connected with power supply, and the electric output interface of limit switch is connected with the power input interface of motor, and when the position that motor rotates surpassed the position of limit switch setting, limit switch cut off the power supply of motor, and motor stops operating; The mechanical output interface of motor connects the mechanical input interface of drive disk assembly, and the mechanical output interface of drive disk assembly connects the mechanical input interface of platen, and the rotation of motor will drive the rectilinear motion of platen by drive disk assembly; The electric output interface of range sensor connects the electric input interface of analog quantity of control circuit board, and control circuit board is converted into data signal after receiving the analog signals of range sensor; The bearing anchor clamps are placed on the base of support.
Wherein, control circuit board comprises the drive circuit of microprocessor chip, analog acquisition circuit, serial communication circuit and motor, wherein: the electric input interface of the analog quantity of microprocessor chip connects the electric output interface of analog quantity Acquisition Circuit, the electric input interface of microprocessor chip connects the electric output interface of serial communication circuit, and the electric output interface of the digital quantity of microprocessor chip connects the electric input interface of drive circuit; The communication interface of serial communication circuit is connected with the communication interface of industrial robot, and the electric output interface of drive circuit and the electric input interface of motor are connected; In the analog acquisition circuit, the electrical input terminal of resistance is connected with the electrical input terminal of electric capacity; Storing control program in the microprocessor chip can be according to the command signal of industrial robot input, the rotation of control motor; The analog signals of range sensor is input in the analog acquisition circuit, carry out analog signal filtering, output analog filtering signal, the analog filtering signal is input in the microprocessor chip, carry out digital filtering, and be converted into motor control signal and be input in the drive circuit; Drive circuit receives and with motor control signal, is converted into the rotation command of motor; The status signal of serial communication circuit input microprocessor chip sends to industrial robot, receives the instruction of industrial robot simultaneously, is converted to the signal that microprocessor chip can be discerned, and is input in the microprocessor chip.
Wherein, there are two grooves the inside of described bearing anchor clamps, and the degree of depth of outer groove is about 1/2 of bearing height, and the degree of depth of inner groovy is about 1.1 times of long handle length of crank axle; The external diameter of outer groove is slightly larger than the outer ring of bearing, and the diameter of inner groovy is greater than the diameter of the long handle of crank axle; A bulge loop is arranged between two grooves, and the height of bulge loop is 1/3 of an outer depth of groove, and the width of bulge loop equals the width of bearing inner race.
Wherein, described platen is the cylinder of a hollow, and the platen side has concave indentation; The outer ring of platen is slightly less than the external diameter of crank axle top disk, and the width of concave indentation is slightly larger than the width of the top plush copper of crank axle.
For the pressing method of the intelligent press mounting system of reaching described purpose, the invention provides the bearing that utilizes the vortex compressor of air conditioner and crank axle, the technical scheme of technical solution problem comprises that step is as follows:
Step a1: vision camera is extracted the image of bearing and crank axle, handle the bearing of input and the image of crank axle by the image analysis algorithm that pattern process computer is stored in advance, the position of calculation bearing and crank axle, and pattern process computer outputs in the industrial robot control computer by the position of output interface with bearing and crank axle;
Step a2: industrial robot control computer is the target location with the position of bearing and crank axle, generate movement locus, according to being stored in the extracting of storing in the industrial robot in advance and placing the automatic grip axes of control algolithm and hold to be placed in the bearing anchor clamps and to grasp crank axle automatically and be placed in the bearing;
Step a3: press-loading apparatus receives the instruction that press-fits of industrial robot transmission, and the control algolithm control platen of storing in the microprocessor chip that press-fits moves, and platen is press fit into crank axle in the endoporus of bearing.
Wherein, described automatic grip axes is held to be placed in the bearing anchor clamps and to grasp the step that crank axle is placed in the bearing automatically and is comprised:
Step g 1: vision camera is extracted the original image that includes bearing and crank axle, and original image is input in the pattern process computer, and bearing image and crank axle are extracted from original image, obtains the image of bearing split image and crank axle;
Step g 2: store the bearing image of a standard in the pattern process computer in advance, the position of bearings of this standard picture representative is known; The bearing image of bearing split image and standard is compared, calculate image shift between the two, according to the skew of bearing split image and standard picture,, calculate the physical location of the bearing of determining bearing split image correspondence by the position of bearings of standard picture correspondence;
Step g 3: store the crank axle image of a standard in the pattern process computer in advance, the crank shaft of this standard picture representative is known; The crank axle image of crank axle image and standard is compared, calculate image shift between the two, according to the skew of crank axle image and standard picture,, determine the physical location of the crank axle of crank axle image correspondence by the crank shaft of standard picture correspondence.
Wherein, the step that crank axle is press fit in the endoporus of bearing of described platen is as follows:
Step s1: the microprocessor chip of press-loading apparatus sends to motor-drive circuit and presses down signal, and the motor-drive circuit drive motors clockwise rotates, and by the straight-line transmitting dynamic component, drives platen and moves downward;
Step s2: the analog acquisition circuit in the press-loading apparatus is gathered the signal of the range sensor input between platen and the bearing anchor clamps, and is input in the microprocessor chip, and microprocessor chip carries out digital signal filter to the range sensor signal that receives;
Step s3: the signal of microprocessor chip after according to digital filtering, determine whether platen continues to move downward: when distance signal greater than setting value more than 2 times the time, microprocessor chip continues the clockwise high speed rotating of control motor, when distance signal less than setting value 2 times the time, microprocessor chip control motor slowly runs, when distance signal equaled to set value, motor stopped operating;
Step s4: microprocessor chip is exported rising signals to motor-drive circuit, and the motor-drive circuit drive motors rotates counterclockwise, and by drive disk assembly, drives platen and moves upward;
Step s5: microprocessor chip passes through serial communication circuit, sends to press-fit to industrial robot control computer and finishes instruction, and the manipulator that is installed in the industrial robot body tip will press-fit good bearing-crank axle clamping and be placed into predefined position.
Beneficial effect of the present invention: the present invention can the intelligent decision bearing and the state of crank axle, and automatically crank axle is press fit in the bearing accurately.Having solved the bearing of air-conditioning scroll compressor and crank axle, to press-fit automaticity not high, relies on artificial assembly precision not high, and speed is slow, influences the quality and the efficiency of assembling of product, the problem that causes compressor to reduce service life.
Description of drawings
Fig. 1 is the pie graph of air conditioner compressed machine bearing of vortex of the present invention and crank axle intelligence press mounting system;
Fig. 2 is the structure chart of press-loading apparatus of the present invention;
Fig. 3 is the structural representation of bearing anchor clamps of the present invention and platen;
Fig. 4 is the circuit diagram of the control circuit board embodiment of press-loading apparatus of the present invention;
Fig. 5 is the flow chart that press-fits step of the present invention;
Fig. 6 obtains the algorithm pattern of the position of bearing and crank axle for sighting device of the present invention;
Fig. 7 is the control algolithm figure of industrial robot control calculator memory of the present invention storage;
The flow chart of the control program of storing in the microprocessor chip of Fig. 8 for the present invention's intelligence press-loading apparatus.
Among the figure:
Press-loading apparatus 3, control circuit board 31,
Bulge loop 343,
Bearing outer ring 41, inner ring 42,
Crank axle convex head 51, crank axle top disk 52,
Long handle 53,
Microprocessor chip 311, analog acquisition circuit 3121,
Resistance 3122, electric capacity 3123,
Serial communication circuit 314, motor-drive circuit 41
The specific embodiment
Below in conjunction with accompanying drawing concrete enforcement of the present invention is elaborated.
Fig. 1 is depicted as the air conditioner compressed machine bearing of vortex of the present invention-crank axle intelligence press mounting system schematic diagram, comprises sighting device 1, industrial robot 2, press-loading apparatus 3, wherein:
The network communication interface of sighting device 1 is connected with the network communication interface of industrial robot 2, industrial robot 2 receives the bearing of sighting device 1 output and the position signalling of crank axle, and to output bearing and the position signalling of crank axle handle, generated the movement locus of industrial robot 2; Industrial robot 2 is under the control of the movement locus that generates, and grip axes is held and is placed in the press-loading apparatus, grasps crank axle and is placed in the bearing;
The communication interface of industrial robot 2 is connected with the serial communication interface of press-loading apparatus 3, the status signal of the communication interface output industrial robot 2 of industrial robot 2, press-loading apparatus 3 receives this status signal, be converted into the control signal of press-loading apparatus 3, the control press-loading apparatus is press fit into crank axle in the bearing; The communication interface of industrial robot 2 is imported the status signal of press-loading apparatus 3, and is converted into the control signal of industrial robot 2, and the control robot will press-fit good bearing and crank axle and take out in press-loading apparatus.
The network communication interface of sighting device 1 is connected with the network communication interface of industrial robot control computer 23; Industrial robot control computer 23 receives the bearing of sighting device 1 output and the position signalling of crank axle, generates industrial machine human body 21 movement locus;
The communication interface of industrial robot control computer 23 connects the serial communication interface of press-loading apparatus 3: the communication interface of industrial robot control computer 23 sends industrial machine human body 21 status signal, press-loading apparatus 3 receives the status signal of industrial robot control computer 23 outputs, is converted into the enabling signal of press-loading apparatus 3; The communication interface of industrial robot control computer 23 receives the status signal that press-fits of press-loading apparatus 3 transmissions, and is converted into industrial machine human body 21 motion control signal.
Fig. 2 is the structure chart of press-loading apparatus of the present invention, press-loading apparatus comprises control circuit board 31, motor 32, drive disk assembly 33, platen 34, bearing anchor clamps 35, range sensor 36, support 37, limit switch 38, and wherein: the electric output interface of control circuit board 31 connects the electric input interface of motor 32; The motor control signal of control circuit board 31 output motors 32: motor 32 receives motor control signal, control motor 32 forward rotation or backwards rotation.The electric input interface of limit switch 38 is connected with power supply, the electric output interface of limit switch 38 is connected with the power input interface of motor 32: when the position that motor 32 rotates surpasses the position of limit switch 38 settings, limit switch 38 is cut off the electricity supply, and motor 32 stops operating.The mechanical output interface of motor 32 connects the mechanical input interface of drive disk assembly 33, and the mechanical output interface of drive disk assembly 33 connects the mechanical input interface of platen 35: the rotation of motor 32 by drive disk assembly 33, drives the rectilinear motion of platen 35.The electric output interface of range sensor 36 connects the electric input interface of analog quantity of control circuit board 31, and control circuit board 31 is converted into digital quantity signal after being input to the analog signals of range sensor 36.Bearing anchor clamps 34 are fixed on the base of support 37.Motor 32 is a direct current generator, can be the motor of other model also, is used to make drive disk assembly 33 to do the straight line back and forth movement, and drive platen 35 presses down or rises.Range sensor 36 is infrared sensors, can be the sensor of other type also, is used to gather the distance between platen and the bearing, and is input in the control circuit board 31 by the electric input interface of the analog quantity of control circuit board 31.Limit switch 38 is used to prevent motor 32 stalls, and promptly when motor 32 rotated counterclockwise spacing position, platen 35 contacted the button of limit switches 38, and limit switch 38 disconnects the driving signal of motors 32.
Fig. 3 is the structural representation of bearing anchor clamps 34 of the present invention and platen 35.
Bearing anchor clamps 34 are fixed on the base of support 37, and platen 35 is fixed on the end of drive disk assembly 33.
The inside of bearing anchor clamps 34 is two grooves, and the degree of depth of outer groove 341 is about 1/2nd of bearing 4 height, and the degree of depth of inner groovy 342 is about 1.1 times of long handle 53 length of crank axle 5; Outer groove 341 external diameter be slightly larger than the outer ring 41 of bearing, the diameter of inner groovy 342 is greater than the diameter of the long handle 53 of crank axle; A bulge loop 343 is arranged between two grooves, and the height of bulge loop 343 is 1/3 of outer groove 341 degree of depth, and the width of bulge loop 343 equals the width of the inner ring 42 of bearing.Platen 35 is the cylinder of a hollow, and side has concave indentation 351; The outer ring 352 of platen is slightly less than the external diameter of crank axle top disk 52, and the width of concave indentation 351 is slightly larger than the width of crank axle convex head 51.
Fig. 4 is the control circuit board schematic diagram of press-loading apparatus of the present invention, control circuit board 31 comprises the drive circuit 41 of microprocessor chip 311, analog acquisition circuit 3121, serial communication circuit 314 and motor 32, wherein: microprocessor chip 311 is 8-bit microprocessor chip Atemega16 of atmel corp, also can be the microprocessor chip of other model.Analog acquisition circuit 3121 is made of the analog/digital conversion chip of MAXIM company, and model can be MAX186, also can be the A/D conversion chip of other company; The front end of analog acquisition circuit 3121 has the resistance 3122 as filtering, electric capacity 3123.Serial communication circuit 314 adopts serial communication chip MAX232, also can adopt other communication mode and corresponding communication chip to carry out information exchange.
The electric input interface of the analog quantity of microprocessor chip 311 connects the electric output interface of analog quantity Acquisition Circuit 3121; The communication input interface of microprocessor chip 311 connects the electric output interface of serial communication circuit 314; The digital-quantity output interface of electric microprocessor chip 311 connects the electric input interface of drive circuit 41; The communication interface of serial communication circuit 314 is connected with the communication interface of industrial robot 2, and the electric output interface of drive circuit 41 is connected with the electric input interface of motor 32; In the analog acquisition circuit 3121, the electrical input terminal of resistance 3122 is connected with the electrical input terminal of electric capacity 3123.
The analog signals of range sensor is input in the analog acquisition circuit 3121, carries out analog signal filtering, output analog filtering signal; The analog filtering signal is input in the microprocessor chip 311, carries out digital filtering, and is converted into motor control signal, is input in the drive circuit 41; Drive circuit 41 receives motor control signal, is converted into the rotation command of motor 32; The status signal of serial communication circuit 314 input microprocessor chips 311 sends to industrial robot 2, imports the instruction of industrial robot 2 simultaneously, is converted to the signal that microprocessor chip 311 can be discerned, and is input in the microprocessor chip 311.
Figure 5 shows that air conditioner compressed machine bearing of vortex and crank axle intelligent press mounting system press-fit step, wherein, the video output interface of vision camera 11 is connected with the video input interface of pattern process computer 12,
Step a1: vision camera 11 is extracted the image of bearing and crank axle, the image analysis algorithm of pattern process computer 12 storages is handled the bearing of input and the image of crank axle, the position of calculation bearing and crank axle, and pattern process computer 12 outputs in the industrial robot 2 by the position of output interface with bearing and crank axle;
Step a2: industrial robot 2 receives the bearing of pattern process computer 12 outputs and the position signalling of crank axle, generate movement locus, the extracting of storage and placement control algolithm 62 automatic grip axes are held to be placed in the bearing anchor clamps and to grasp crank axle automatically and are placed in the bearing in the industrial robot 2;
Step a3: press-loading apparatus 3 receives the instruction that press-fits that industrial robots 2 send, in the microprocessor chip 311 storage press-fit the control algolithm controlled motion, platen 35 is press fit into crank axle in the endoporus of bearing.
Fig. 6 obtains the algorithm pattern of the position of bearing and crank axle for sighting device of the present invention; Wherein, the video output interface of vision camera 11 is connected with the video input interface of pattern process computer 12, vision camera 11 is extracted the original image that includes bearing 4 and crank axle 5, and original image is input in the pattern process computer 12,12 pairs of original images of pattern process computer are handled, and obtain the position of bearing and crank axle; Concrete step is:
Step g 1: vision camera 11 is extracted the original image that includes bearing 4 and crank axle 5, and original image is input in the pattern process computer 12; Bearing image and crank axle are extracted from original image, obtain the image of bearing split image and crank axle;
Step g 2: store the bearing image of a standard in the pattern process computer 12 in advance, the position of bearings of this standard picture representative is known; The bearing image of bearing split image and standard is compared, calculate image shift between the two, according to the skew of bearing split image and standard picture,, can calculate the physical location of the bearing of determining bearing split image correspondence by the position of bearings of standard picture correspondence;
Step g 3: store the crank axle image of a standard in the pattern process computer 12 in advance, the crank shaft of this standard picture representative is known; The crank axle image of crank axle image and standard is compared, calculate image shift between the two, according to the skew of crank axle image and standard picture,, can determine the physical location of the crank axle of crank axle image correspondence by the crank shaft of standard picture correspondence.
Fig. 7 is the extracting of storage in the industrial robot control computer 23 of the present invention and places the flow chart of control algolithm, wherein, the network communication interface of industrial robot 2 is connected with the network communication interface of sighting device 1, the industrial robot 2 reception optical axis hold the position signalling with crank axle, generate the movement locus of industrial robot 2; The communication interface of industrial robot 2 connects press-loading apparatus 3, the communication interface of industrial robot 2 sends the status signal signal of industrial robot 2, press-loading apparatus 3 receives the status signal of the industrial robot of industrial robot output, is converted into the enabling signal of press-loading apparatus 3; The communication interface of industrial robot 2 receives the status signal of press-loading apparatus 3, and is converted into the control signal of industrial robot 2.Concrete realization flow is:
Step h1: receive the bearing of sighting device 1 transmission and the position signalling of crank axle,, adopt the method for cubic curve track interpolation, calculate industrial machine human body 21 movement locus according to manipulator 22 current position information of storage;
Step h2: receive the instruction that press-loading apparatus 3 sends:
H2a) if grasp the bearing instruction, control manipulator 22 grasps the edge of bearing 4, and the bearing instruction has been grasped in output then;
H2b) if grasp the crank axle instruction, grasp the convex head of crank axle 5, the instruction of crank axle has been grasped in output then;
Step h3: receive the instruction of putting down of press-loading apparatus 3 transmissions:
H3a) if for putting down the bearing instruction, control manipulator 22 puts down bearing 4, and the instruction of bearing has been put down in output then;
H3b) if put down the crank axle instruction, control manipulator 22 puts down crank axle 5, and the instruction of crank axle has been put down in output then;
Step h4: receive press-loading apparatus 3 press-fiting of transmission and finish instruction, manipulator 22 will press-fit good bearing-crank axle clamping and be placed into predefined position.
Fig. 8 is the flow process that press-fits control algolithm of storage in the microprocessor chip 311 of press-loading apparatus 3 of the present invention, wherein, the electric input interface of microprocessor chip 311 connects the electric output interface of analog quantity Acquisition Circuit 312, the electric output interface of microprocessor chip 311 connects the electric input interface of motor-drive circuit 313, and the electric output interface of motor-drive circuit 313 connects the electric input interface of motor 32; The mechanical output interface of motor 32 connects the mechanical input interface of drive disk assembly 33, and the mechanical output interface of drive disk assembly 33 connects the mechanical input interface of platen 34.Concrete algorithm flow is:
Step s1: the microprocessor chip 311 of press-loading apparatus 3 sends to motor-drive circuit 41 and presses down signal, and motor-drive circuit 41 drive motors clockwise rotate, and by the straight-line transmitting dynamic component, drives platen 35 and moves downward;
Step s2: the analog acquisition circuit 3121 in the press-loading apparatus 3 is gathered the signal of range sensor 36 inputs between platen 35 and the bearing anchor clamps 34, and be input in the microprocessor chip 311, the 311 pairs of range sensor that receives 36 signals of microprocessor chip carry out digital signal filter;
Step s3: microprocessor chip 311 is according to the signal behind the digital filtering, determine whether platen 35 continues to move downward: when distance signal greater than setting value more than 2 times the time, microprocessor chip 311 continues control motor 32 clockwise high speed rotating, when distance signal less than setting value 2 times the time, microprocessor chip 311 control motors 32 slowly run, when distance signal equaled to set value, motor 32 stopped operating;
Step s4: microprocessor chip 311 is to motor-drive circuit 41 output rising signals, and motor-drive circuit 41 drive motors rotate counterclockwise, and by drive disk assembly 33, drives platen 35 and moves upward;
Step s5: microprocessor chip 311 is by serial communication circuit 314, send to press-fit to industrial robot control computer 23 and finish instruction, the manipulator 22 that is installed in industrial machine human body 21 ends will press-fit good bearing-crank axle clamping and be placed into predefined position.
The above; only be the specific embodiment among the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with the people of this technology in the disclosed technical scope of the present invention; can understand conversion or the replacement expected, all should be encompassed within the protection domain of claims of the present invention.
Claims (8)
1. the intelligent press mounting system of the bearing of a vortex compressor of air conditioner and crank axle is characterized in that comprising sighting device (1), industrial robot (2) and press-loading apparatus (3), wherein:
The network communication interface of sighting device (1) is connected with the network communication interface of industrial robot (2), industrial robot (2) receives the bearing of sighting device (1) output and the position signalling of crank axle, and to output bearing and the position signalling of crank axle handle, generated the movement locus of industrial robot (2); Industrial robot (2) is under the control of the movement locus that generates, and grip axes is held and is placed in the press-loading apparatus, grasps crank axle and is placed in the bearing;
The communication interface of industrial robot (2) is connected with the serial communication interface of press-loading apparatus (3), the status signal of the communication interface output industrial robot (2) of industrial robot (2), press-loading apparatus (3) receives this status signal, be converted into the control signal of press-loading apparatus (3), the control press-loading apparatus is press fit into crank axle in the bearing; The communication interface of industrial robot (2) is imported the status signal of press-loading apparatus (3), and is converted into the control signal of industrial robot (2), will press-fit good bearing and crank axle and take out in press-loading apparatus.
2. the intelligent press mounting system of air conditioner compressed machine bearing of vortex according to claim 1 and crank axle, it is characterized in that, described press-loading apparatus is made up of control circuit board (31), motor (32), drive disk assembly (33), bearing anchor clamps (34), platen (35), range sensor (36), support (37), limit switch (38), wherein:
The electric output interface of control circuit board (31) connects the electric input interface of motor (32), control circuit board (31) output motor control signal, motor control signal control motor (32) forward rotation or backwards rotation;
The electric input interface of limit switch (38) is connected with power supply, the electric output interface of limit switch (38) is connected with the power input interface of motor (32), when the position that motor (32) rotates surpasses the position of limit switch (38) setting, limit switch (38) cuts off the power supply of motor (32), and motor (32) stops operating;
The mechanical output interface of motor (32) connects the mechanical input interface of drive disk assembly (33), the mechanical output interface of drive disk assembly (33) connects the mechanical input interface of platen (35), the rotation of motor (32) will drive the rectilinear motion of platen (35) by drive disk assembly (33);
The electric output interface of range sensor (36) connects the electric input interface of analog quantity of control circuit board (31), after control circuit board (31) receives the analog signals of range sensor (36), is converted into data signal;
Bearing anchor clamps (34) are placed on the base of support (37).
3. the intelligent press mounting system of air conditioner compressed machine bearing of vortex according to claim 2 and crank axle, it is characterized in that, control circuit board (31) comprises the drive circuit (41) of microprocessor chip (311), analog acquisition circuit (3121), serial communication circuit (314) and motor (32), wherein:
The electric input interface of the analog quantity of microprocessor chip (311) connects the electric output interface of analog quantity Acquisition Circuit (3121), the electric input interface of microprocessor chip (311) connects the electric output interface of serial communication circuit (314), and the electric output interface of the digital quantity of microprocessor chip (311) connects the electric input interface of drive circuit (41); The communication interface of serial communication circuit (314) is connected with the communication interface of industrial robot (2), and the electric output interface of drive circuit (41) is connected with the electric input interface of motor (32); In the analog acquisition circuit (3121), the electrical input terminal of resistance (3122) is connected with the electrical input terminal of electric capacity (3123);
Storing control program in the microprocessor chip (311) can be according to the command signal of industrial robot (2) input, the rotation of control motor (32);
The analog signals of range sensor is input in the analog acquisition circuit (3121), carry out analog signal filtering, output analog filtering signal, the analog filtering signal is input in the microprocessor chip (311), carry out digital filtering, and be converted into motor control signal and be input in the drive circuit (41); Drive circuit (41) receives and with motor control signal, is converted into the rotation command of motor (32); The status signal of serial communication circuit (314) input microprocessor chip (311), send to industrial robot (2), receive the instruction of industrial robot (2) simultaneously, be converted to the signal that microprocessor chip (311) can be discerned, and be input in the microprocessor chip (311).
4. the intelligent press mounting system of air conditioner compressed machine bearing of vortex according to claim 2 and crank axle, it is characterized in that, there are two grooves the inside of described bearing anchor clamps (34), the degree of depth of outer groove is about 1/2 of bearing height, and the degree of depth of inner groovy is about 1.1 times of long handle length of crank axle (5); The external diameter of outer groove (341) is slightly larger than the outer ring (41) of bearing, and the diameter of inner groovy (342) is greater than the diameter of the long handle (53) of crank axle; A bulge loop (343) is arranged between two grooves, and the height of bulge loop (343) is 1/3 of outer groove (341) degree of depth, and the width of bulge loop (343) equals the width of bearing inner race (42).
5. the intelligent press mounting system of air conditioner compressed machine bearing of vortex according to claim 2 and crank axle is characterized in that, described platen (35) is the cylinder of a hollow, and platen (35) side has concave indentation (351); The outer ring of platen (352) is slightly less than the external diameter of crank axle top disk (52), and the width of concave indentation (351) is slightly larger than the width of the top plush copper (51) of crank axle.
6. a pressing method that utilizes the intelligent press mounting system of air conditioner compressed machine bearing of the described vortex of claim 1 and crank axle is characterized in that, it is as follows to press-fit step:
Step a1: vision camera (11) is extracted the image of bearing and crank axle, handle the bearing of input and the image of crank axle by the image analysis algorithm that pattern process computer 12 is stored in advance, the position of calculation bearing and crank axle, and pattern process computer (12) outputs in the industrial robot control computer (23) by the position of output interface with bearing and crank axle;
Step a2: industrial robot control computer (23) is the target location with the position of bearing and crank axle, generate movement locus, according to the extracting that is stored in storage in the industrial robot (2) in advance with place the automatic grip axes of control algolithm and hold to be placed in the bearing anchor clamps and to grasp crank axle automatically and be placed in the bearing;
Step a3: press-loading apparatus (3) receives the instruction that press-fits of industrial robot (2) transmission, and the control algolithm that press-fits of storage is controlled platen (35) motion in the microprocessor chip (311), and platen (35) is press fit into crank axle in the endoporus of bearing.
7. the intelligent pressing method of air conditioner compressed machine bearing of vortex according to claim 6 and crank axle is characterized in that, described automatic grip axes is held to be placed in the bearing anchor clamps and to grasp the step that crank axle is placed in the bearing automatically and comprised:
Step g 1: vision camera 11 is extracted the original image that includes bearing (4) and crank axle (5), and original image is input in the pattern process computer (12), bearing image and crank axle are extracted from original image, obtain the image of bearing split image and crank axle;
Step g 2: store the bearing image of a standard in the pattern process computer (12) in advance, the position of bearings of this standard picture representative is known; The bearing image of bearing split image and standard is compared, calculate image shift between the two, according to the skew of bearing split image and standard picture,, calculate the physical location of the bearing of determining bearing split image correspondence by the position of bearings of standard picture correspondence;
Step g 3: store the crank axle image of a standard in the pattern process computer (12) in advance, the crank shaft of this standard picture representative is known; The crank axle image of crank axle image and standard is compared, calculate image shift between the two, according to the skew of crank axle image and standard picture,, determine the physical location of the crank axle of crank axle image correspondence by the crank shaft of standard picture correspondence.
8. the intelligent pressing method of air conditioner compressed machine bearing of vortex according to claim 6 and crank axle is characterized in that, the step that described platen is press fit into crank axle in the endoporus of bearing is as follows:
Step s1: the microprocessor chip (311) of press-loading apparatus (3) sends to motor-drive circuit (41) and presses down signal, and motor-drive circuit (41) drive motors clockwise rotates, and by the straight-line transmitting dynamic component, drives platen (35) and moves downward;
Step s2: the analog acquisition circuit (3121) in the press-loading apparatus (3) is gathered the signal of range sensor (36) input between platen (35) and the bearing anchor clamps (34), and be input in the microprocessor chip (311), microprocessor chip (311) carries out digital signal filter to range sensor (36) signal that receives;
Step s3: microprocessor chip (311) is according to the signal behind the digital filtering, determine whether platen (35) continues to move downward: when distance signal greater than setting value more than 2 times the time, microprocessor chip (311) continues control motor (32) high speed rotating clockwise, when distance signal less than setting value 2 times the time, microprocessor chip (311) control motor (32) slowly runs, when distance signal equaled to set value, motor (32) stopped operating;
Step s4: microprocessor chip (311) is to motor-drive circuit (41) output rising signals, and motor-drive circuit (41) drive motors rotates counterclockwise, and by drive disk assembly (33), drives platen (35) and moves upward;
Step s5: microprocessor chip (311) is by serial communication circuit (314), send to press-fit to industrial robot control computer (23) and finish instruction, be installed in the terminal manipulator (22) of industrial machine human body (21) and will press-fit good bearing-crank axle clamping and be placed into predefined position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105928920A CN102107352B (en) | 2010-12-08 | 2010-12-08 | Bearing-crankshaft intelligent press mounting method and system for scroll air-conditioning compressor |
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| CN2010105928920A CN102107352B (en) | 2010-12-08 | 2010-12-08 | Bearing-crankshaft intelligent press mounting method and system for scroll air-conditioning compressor |
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| CN102107352A true CN102107352A (en) | 2011-06-29 |
| CN102107352B CN102107352B (en) | 2012-08-22 |
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