CN104550202B - Compressor shell opening device and control method thereof - Google Patents
Compressor shell opening device and control method thereof Download PDFInfo
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- CN104550202B CN104550202B CN201510027710.8A CN201510027710A CN104550202B CN 104550202 B CN104550202 B CN 104550202B CN 201510027710 A CN201510027710 A CN 201510027710A CN 104550202 B CN104550202 B CN 104550202B
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- Prior art keywords
- compressor
- layer
- servomotor
- shell
- slide unit
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/82—Recycling of waste of electrical or electronic equipment [WEEE]
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- Compressor (AREA)
- Applications Or Details Of Rotary Compressors (AREA)
Abstract
The invention discloses a compressor shell opening device and a control method thereof. The control method is characterized by comprising the following steps: controlling a shell opening tool to automatically follow a shell shape of a compressor in an annular direction of a compressor annular welding line by using a detection signal of a laser distance measuring sensor; obtaining image information of the compressor annular welding line by using a camera; determining the height of the compressor annular welding line by image identification; and furthermore, controlling the shell opening tool by a control signal output by a measuring and monitoring module to automatically find a cutting point on a compressor shell. According to the compressor shell opening device and the control method thereof, the intelligent disassembling of the compressor shell is realized.
Description
Technical field
The present invention relates to a kind of compressor opening cover dismounting device and method.
Background technology
Compressor is the core component of electric refrigerator and air-conditioner, either it is carried out keeping in repair, remanufactures or to wherein
Copper, ferrum, the material such as aluminum reclaimed, be required for opening its shell.For the maintenance of compressor or remanufacturing, manual
Open shell to be difficult to meet the welding requirements after repairing, therefore a lot of life-span still unclosed malfunctioning compressor are special because lacking out shell
Machine, can only scrap process, cause the serious wasting of resources.
For the recovery of compressor, disassemble inefficiency and dangerous by hand, increasingly expensive working hour expense makes to tear open
Solution profit is very meagre.Statistics show, in the household appliances that 2013 scrap, refrigerator total amount reaches 1278.57 ten thousand, air-conditioning
For 1529.95 ten thousand.Only this year in 2013 scraps the total amount of compressor and just reaches more than 2,800 ten thousand, adds old accumulation not yet
The compressor disassembled needs out the number of compressors of shell very huge it is seen then that household electrical appliances reclaim industry.Household electrical appliances reclaim in industry at present
The recovery of compressor, most enterprises are still disassembled using original craft, and efficiency is very low, destructive disassemble so that compressing
Machine inner components can only carry out raw material recovery it is impossible to being remanufactured and reusing, and causes the serious waste of resource.
As can be seen here, either the manufacturing enterprise of compressor, repairing trades, or compressor disassemble recovery industry, all
Need badly a kind of efficient, intelligentized, automatically open casing equipment, maintenance and the recovery technology water of household appliances can be significantly improved
Flat, it is greatly improved labor productivity again, makes full use of existing resource, promote the sound development of household electric appliances.
The compressor case of electric refrigerator and air-conditioner generally stretched by low carbon steel plate after welding, thickness is in 3～4mm.Wherein
Cooler compressor mostly is cylinder, and compressor for refrigeration shape is more complicated, and cross sectional shape mainly has circle, oval and band
Rectangle of fillet etc..Method for opening shell of the prior art includes both at home and abroad:
1st, cryogenic pulverization: using liquid nitrogen cooling, the technology of cryogenic pulverization, this technology more than abroad when shell opened by the machine of being compressed
Need to be equipped with a set of liquid nitrogen chiller and metal disintegrating apparatus.And relevant device operating cost is high, energy consumption in shattering process
High, noise is big, serious wear, and shell cannot recycle after being broken, and the part meeting within compressor at very low temperature
Damage, can reuse it cannot be guaranteed that.
2nd, plasma arc cutting: though speed is fast during plasma arc cutting, because the shell of compressor is not smooth steel plate,
But revolving body, during plasma arc cutting, it is difficult to ensure that cutting torch keeps constant distance with case surface, if imprudence
Cutting torch is encountered shell, it will burn out the electrode of costliness.In addition, the air-flow in plasma arc cutting process high speed can will melt
The metal slag particle changed blows to the inside of compressor, brings inconvenience to follow-up remanufacturing or reclaim, or even can burn the electricity of inside
Line.
3rd, flame cutting: the advantage of flame cutting is low cost, cutting speed is fast.Shortcoming is the spray due to gas jet
Penetrate so that Mars, bead and scum splashes, easily cause the accident of scalding of burning；It is melt metal to evaporate under high temperature action, condense
Become metal fumes, suck insalubrity after human body；In addition, bad control flame during cutting, molten metal drop can be right
Compressor inner body impacts.
4th, grinding wheel cutting: be that equipment cost is low using the advantage that grinding wheel is cut, cutting efficiency is high；Shortcoming is to make an uproar
Sound is big, and dust is big, and abrasion of grinding wheel is fast, broken, dangerous.Lathe turning: for cylindrical compressor, can be using common
Horizontal lathe is cutting shell.Clamp the shell of compressor after the claw of lathe chuck can be lengthened, be cut with parting-off tool
Cut.The method utilizes universal machine tools, is not required to special equipment, but can only process the compressor of cylinder, for noncircular cross section
Compressor is helpless, and clamping efficiency is low.Spinning cuts: compressor of air conditioner is cut using spinning process, the method efficiency is low, and
The non-circular compressor in section can not be processed.
5th, profile milling: Chinese invention patent cn1927478a provides a kind of casing opening and disassembly device of waste and old compressor,
This equipment uses profile milling method.But compressor case is formed by punching of the steel plate, appearance has a pattern draft, in milling
It is impossible to ensure that profiling pinch roller is in close contact with compressor case in journey, so may result in and during milling, produce vibration, kerf quality
Difference, cutter is fragile.In addition, the shortcoming of this equipment also resides in completely by manual operations, open shell efficiency low.
6th, first survey and cut afterwards: Chinese invention patent cn100558477c proposes a kind of casing opening and disassembly method of compressor, should
The thinking of method is first to measure to cut afterwards.Before opening shell, appear for the first time by the detecting head of linear displacement transducer with elastic pressure against
Shell in compressor；Then rotary compressor, system gets final product the shape of recording compressed machine shell；Finally control compressor according to
The shape of systematic memory rotates a circle with respect to cutter, thus completing out shell task.In the method, the identification of shell shape adopts
Be contact sensor, specifically open shell practice in, three problems can be brought: one is linear displacement transducer and detecting head institute
Take up space big, shell operation is opened in impact；Two are because not being cylinder but the conical surface near some compressor circumferential weld positions, detecting head with
Shell contact is unstable, thus leading to measurement error excessive；Three is first to survey to cut afterwards, and compressor will rotate 540 ° just to start to cut afterwards
Cut, waste a lot of times, efficiency is low.
Content of the invention
The present invention is for avoiding the weak point existing for above-mentioned prior art, providing a kind of achievable intelligence to melt shell
A kind of device for opening cover of air compressor and method for opening shell, with realize variously-shaped compressor intelligent, automatically melt shell it is ensured that it is cut
Deep constant, make compressor open shell operation efficient, safe and reliable it is ensured that inner body is intact, otch is little and smooth, repair it
Easily weld afterwards.
The present invention is to solve technical problem to adopt the following technical scheme that
Being structurally characterized in that of device for opening cover of air compressor of the present invention:
Constitute " l " shape pedestal by horizontal base with positioned at the vertical upright column of horizontal base side；
Horizontal table is arranged on described horizontal base, described workbench is layered as top revolution layer and lower flat up and down
Move layer, described top revolution layer is rotatable by revolution layer Serve Motor Control；Described bottom translation layer is by translation layer servo
Motor control simultaneously can drive top revolution layer to move linearly on horizontal base；Compressor is clamped in described top and turns round layer
Top surface；
In described vertical upright column, vertical slide unit is set towards the side that horizontal table is located, described vertical slide unit is by vertical
Servomotor drives and can move up and down；On described vertical slide unit, shell cutter is driven in setting, and described shell cutter of opening is by being fixedly installed
Cutter motor on vertical slide unit drives the discoid metal saw in level of rotation；
Setting detector unit, is laser range sensor and video camera, institute to be fixedly installed in the bottom of described vertical slide unit
State laser range sensor for measuring the Laser Measuring at point of contact on compressor case for the metal saw and laser range sensor
The distance between head；Described video camera is used for obtaining the image information of compressor circular weld；
Setting control module, is with the detection information of detector unit acquisition as input signal, controls revolution layer servo respectively
Motor, the working condition of translation layer servomotor, vertical servomotor and cutter motor.
The feature that the control method of housing apparatus intelligently opened by compressor of the present invention is: using the inspection of described laser range sensor
Survey signal control and open the shell shape that compressor followed on the ring that compressor circular weld is located automatically by shell cutter；Using institute
State the image information that video camera obtains compressor circular weld, determine the residing height of compressor circular weld by image recognition
Degree, and then by described control module output control signal, control and open point of contact on compressor case for the shell cutter Automatic-searching.
The feature that the control method of housing apparatus intelligently opened by compressor of the present invention is to carry out as follows:
Step a, for the compressor being clamped on horizontal table, adjust the height of vertical slide unit, until compressor loop
Shape commissure, in the collection image of video camera, positions vertical slide unit height now, completes the height adjustment of metal saw；
Step b, startup cutter motor, are moved towards metal saw side by translation layer Serve Motor Control compressor
Dynamic, until metal saw reaches the penetraction depth of setting at the point of contact a of compressor case, record is examined by laser range sensor
Survey acquisition laser feeler now and the distance between the point of contact a of compressor case l0；
Step c, startup revolution layer servomotor make compressor rotate, and implement to cut by metal saw on compressor case
Cut；While implementing cutting, translate displacement on horizontal guide rail for the layer using translation layer Serve Motor Control so that Laser Measuring
Head and the distance between the point of contact of compressor case remain l0, until completing the complete cycle cutting of compressor.
Compared with the prior art, the present invention has the beneficial effect that:
1st, the present invention drives shell cutter using laser range sensor control and automatically follows outer hull shape in compressor circumferential direction
Shape, can achieve variously-shaped compressor intelligent, automatically melt shell, and can ensure that cutting-in is constant, make compressor opens shell behaviour
Make efficient, safe and reliable it is ensured that inner body is intact, otch is little and smooth, repair after easily weld.
2nd, the present invention adopts digital image recognition to judge that compressor circular weld, in short transverse present position, controls and opens shell
Cutter Automatic-searching point of penetration, is suitable for the compressor of differing heights, saves manually to the knife time, substantially increases out shell effect
Rate.
Brief description
Fig. 1 is apparatus of the present invention structural representation.
In figure label: 1 compressor, 2 clamping devices, 3 horizontal tables, 31 revolution layers, 32 translation layers, 4 revolution layer servo
Motor, 5 translation layer servomotor, 6 horizontal guide rails, 7a horizontal base, 7b vertical upright column, 8 vertical servomotors, 9 vertical slide units,
10 cutter motors, 11 milling arbors, 12 metal saws, 13 detector units, 14 control modules.
Specific embodiment
Referring to Fig. 1, the version that in the present embodiment, housing apparatus intelligently opened by compressor is:
Constitute " l " shape pedestal by horizontal base 7a with positioned at the vertical upright column 7b of horizontal base side；
Horizontal table 3 is arranged on described horizontal base 7a, described workbench is layered as top revolution layer 31 He about 3
Bottom translates layer 32, described top revolution layer 31 be controlled by revolution layer servomotor 4 rotatable；Described bottom translates layer 32
Controlled and can be driven by translation layer servomotor 5 top revolution layer 31 to move linearly on horizontal base 7a；Compressor 1 clamps
Turn round the top surface of layer 31 on described top；
In described vertical upright column 7b, vertical slide unit 9, described vertical slide unit 9 are set towards the side that horizontal table 3 is located
Driven and can be moved up and down by vertical servomotor 8；On described vertical slide unit 9, shell cutter is driven in setting, described open shell cutter be by
The cutter motor 10 being fixedly installed on vertical slide unit 9 drives the discoid metal saw 12 in level of rotation；
Setting detector unit 13, is laser range sensor and video camera to be fixedly installed in the bottom of described vertical slide unit 9,
Described laser range sensor is used for measuring swashing of point of contact on compressor case for the metal saw 12 and laser range sensor
The distance between light gauge head；Described video camera is used for obtaining the image information of compressor circular weld；
Setting control module 14, is with the detection information of detector unit acquisition as input signal, controls revolution layer to watch respectively
Take motor 4, the working condition of translation layer servomotor 5, vertical servomotor 8 and cutter motor 10；
In being embodied as, metal saw 12 is fixedly installed on the bottom of milling arbor 11 in level, and milling arbor 11 is by milling cutter electricity
Machine 10 drives；In order to avoid interference, laser range sensor and video camera in detector unit should be made to be slightly below metal saw 12
Highly, effectively measured with ensureing laser range sensor and shooting function；Compressor 1 is to be returned by clamping device 2 fixed clamp
Turn the top surface of layer 31, the circular weld place plane making compressor case is in level.
The control method that in the present embodiment, housing apparatus intelligently opened by compressor is the detection using described laser range sensor
Signal controls opens the shell shape that compressor followed on the ring that compressor circular weld is located automatically by shell cutter；Using described
Video camera obtains the image information of compressor circular weld, determines the residing height of compressor circular weld by image recognition,
And then by described control module output control signal, control and open point of contact on compressor case for the shell cutter Automatic-searching.
The control method that in the present embodiment, housing apparatus intelligently opened by compressor is to carry out as follows:
Step a, for the compressor 1 being clamped on horizontal table, adjust the height of vertical slide unit 9, until compressor
Circular weld is in the collection image of video camera, positions vertical slide unit 9 height now, and the height completing metal saw 12 is adjusted
Whole.
Step b, start cutter motor 10, control compressor to be located one towards metal saw 12 by translation layer servomotor 5
Side shifting, until metal saw 12 reaches the penetraction depth of setting at the point of contact a of compressor case, record is passed by laser ranging
Sensor detection obtains laser feeler and the distance between the point of contact a of compressor case l now0.
Step c, startup revolution layer servomotor 4 make compressor rotate, and are implemented on compressor case by metal saw 12
Cutting；While implementing cutting, control translation displacement on horizontal guide rail 6 for the layer 32 using translation layer servomotor 5 so that
The distance between point of contact of laser feeler and compressor case remains l0, until completing the complete cycle cutting of compressor.
Said process can be automatically performed under the control of control module, and the intellectuality realizing compressor case is disassembled.
Claims (1)
1. a kind of control method of device for opening cover of air compressor, the version of described device for opening cover of air compressor is:
Constitute " l " shape pedestal by horizontal base (7a) with positioned at the vertical upright column (7b) of horizontal base side；In described horizontal base
Seat (7a) is upper to arrange horizontal table (3), and described workbench (3) is layered as top revolution layer (31) and bottom translation layer up and down
(32), described top revolution layer (31) is rotatable by revolution layer servomotor (4) control；Described bottom translation layer (32) be by
Translation layer servomotor (5) controls and can drive top revolution layer (31) in the upper rectilinear movement of horizontal base (7a)；Compressor
(1) it is clamped in the top surface that layer (31) is turned round on described top；One being located towards horizontal table (3) in described vertical upright column (7b)
Side arranges vertical slide unit (9), and described vertical slide unit (9) is driven and can be moved up and down by vertical servomotor (8)；In described vertical cunning
Shell cutter is driven in the upper setting of platform (9), and described shell cutter of opening is to be driven by the cutter motor (10) being fixedly installed on vertical slide unit (9)
The discoid metal saw (12) in level of rotation；
Setting detector unit, is laser range sensor and video camera to be fixedly installed in the bottom of described vertical slide unit (9), described
Laser range sensor is used for measuring the laser at point of contact on compressor case for the metal saw (12) and laser range sensor
The distance between gauge head；Described video camera is used for obtaining the image information of compressor circular weld；
Setting control module (14), is with the detection information of detector unit acquisition as input signal, controls revolution layer servo respectively
Motor (4), the working condition of translation layer servomotor (5), vertical servomotor (8) and cutter motor (10)；
The control method of described device for opening cover of air compressor is to carry out as follows:
Step a, for the compressor (1) being clamped on horizontal table, adjust the height of vertical slide unit (9), until compressor
Circular weld is in the collection image of video camera, positions vertical slide unit (9) height now, completes the height of metal saw (12)
Degree adjustment；
Step b, startup cutter motor (10), control compressor to be located towards metal saw (12) by translation layer servomotor (5)
One side shifting, until metal saw (12) reaches the penetraction depth of setting at the point of contact a of compressor case, record is by Laser Measuring
Detect acquisition laser feeler now and the distance between the point of contact a of compressor case l away from sensor0；
Step c, startup revolution layer servomotor (4) make compressor rotate, and are implemented on compressor case by metal saw (12)
Cutting；While implementing cutting, control position on horizontal guide rail (6) for translation layer (32) using translation layer servomotor (5)
Move so that the distance between point of contact of laser feeler and compressor case remains l0, until completing the complete cycle cutting of compressor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510027710.8A CN104550202B (en) | 2015-01-20 | 2015-01-20 | Compressor shell opening device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510027710.8A CN104550202B (en) | 2015-01-20 | 2015-01-20 | Compressor shell opening device and control method thereof |
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| Publication Number | Publication Date |
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| CN104550202A CN104550202A (en) | 2015-04-29 |
| CN104550202B true CN104550202B (en) | 2017-02-01 |
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| CN201510027710.8A Expired - Fee Related CN104550202B (en) | 2015-01-20 | 2015-01-20 | Compressor shell opening device and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111299854A (en) * | 2019-12-10 | 2020-06-19 | 合肥工业大学 | Device and method for disassembling compressor by adopting laser |
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| CN105852150B (en) * | 2016-04-12 | 2017-10-20 | 宁波六谷信息技术有限公司 | Shell opening machine orbit altitude adjusting means |
| CN107388961A (en) * | 2016-05-16 | 2017-11-24 | 句容市宏亮汽车配件厂 | A kind of vehicle element size self-operated measuring unit |
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| CN107181931B (en) * | 2017-05-15 | 2019-10-25 | 华中科技大学 | A kind of camera system for orthogonal turning and milling process high speed imaging |
| CN109174916A (en) * | 2018-09-10 | 2019-01-11 | 无锡汉神电气股份有限公司 | The continuous automatic ring cutting machine of compressor casing and continuous automatic ring cutting method |
| CN109202238B (en) * | 2018-11-15 | 2021-09-21 | 上海迅选智能科技有限公司 | Flexible intelligent cutting device for waste compressor |
| CN109976250A (en) * | 2019-04-30 | 2019-07-05 | 北京弘燕高新技术有限公司 | A kind of steel rail welding line positioning device |
| CN113578925B (en) * | 2021-08-01 | 2022-06-28 | 西安威科多机电设备有限公司 | Motor shell opening machine |
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