CN107363509A - Compressor drum assembly system and assembly method - Google Patents
Compressor drum assembly system and assembly method Download PDFInfo
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- CN107363509A CN107363509A CN201710726581.0A CN201710726581A CN107363509A CN 107363509 A CN107363509 A CN 107363509A CN 201710726581 A CN201710726581 A CN 201710726581A CN 107363509 A CN107363509 A CN 107363509A
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- press
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- straight line
- track
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 126
- 230000007246 mechanism Effects 0.000 claims abstract description 120
- 230000006835 compression Effects 0.000 claims abstract description 14
- 238000007906 compression Methods 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 9
- 238000007667 floating Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 1
- 238000004904 shortening Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 22
- 230000007723 transport mechanism Effects 0.000 description 20
- 238000006073 displacement reaction Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 238000003825 pressing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000000686 essence Substances 0.000 description 3
- 238000000418 atomic force spectrum Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000004350 Strabismus Diseases 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
-
- 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
Abstract
The invention provides a kind of compressor drum assembly system, including：Working plate Transmission system, including the transmission line that parallel track is formed；An at least position for transmission line is configured to be press-fitted station；Rotor feeding system, including manipulator charging equipment and rotor conveying equipment, one the 3rd straight line conveyer structure that the rotor subsequent transmissions of reception are included to it, and transmitted by its clamping to above the track of the press-fitting station；Press mounting system, including workpiece positioning compression mechanism, working plate lifting body and press-fitting mechanism, there is the rotor towards the pressure heads mechanism to be press-fitted seat for it, the rotor is press-fitted seat and is driven up undertaking the 3rd straight line conveyer structure clamping to transmit to the rotor of the press-fitting station, and up pass through makes rotor be offseted with pressure heads mechanism by the through hole that working plate lifting body is lifted away from the working plate of track, carries out the assembling of rotor and the compressor on working plate.Method is also correspondingly provided, the present invention realizes the automation for expecting that assembling process is overall from above.
Description
Technical field
The present invention relates to a kind of compressor drum cold-pressing assembly technical field, more particularly to a kind of compressor drum assembling system
System and assembly method.
Background technology
Compressor drum assembling is the key link of compressor assembling, and the rotor of traditional compressor is assembled in a manner of hot jacket,
But when the structure and rotor material characteristic of frequency-changeable compressor determine rotor assembling, cold pressing mode, hot jacket mode meeting can only be used
Cause rotor crack.The strict demand of rotor clearance after the eccentric nature of compressor crank shaft, non-bearing housing structure and combination, certainly
Determine to realize that the technical difficulty of the accurate press-fitting of rotor is very big, external relevant enterprise is also without can meet China's product structure and manufacture
The mature equipment of technological requirement.
In order to solve method of the current most domestic compressor enterprise user's frock with detection, in order that essence must be detected
Degree is high, more efficient assembling, and the applicant proposes online high efficiency automatic precision press-fitting equipment scheme before, such as in
State's number of patent application is CN201310122068.2 patent document.
But in such scheme, it is still necessary to manually put compressor to the positioning table of cold press, be not particularly suited for whole
The Automated assembly scheme of body.And automatic assembly system overall in compressor is assembled to for expecting from rotor, not
Corresponding solution is provided.
The content of the invention
In view of this, it is real it is a primary object of the present invention to provide a kind of compressor drum assembly system and assembly method
The overall automation of assembling process is now expected from above.
The invention provides a kind of compressor drum assembly system, including：Working plate Transmission system, rotor feeding system and
Press mounting system, wherein：
The working plate Transmission system comprises at least the transmission line that parallel track is formed, and carries the working plate of compressor
Conveyed in being driven on the track；An at least position for transmission line is configured to be press-fitted station；
The rotor feeding system is set on the outside of the track of working plate Transmission system, and it includes：
Manipulator charging equipment, the rotor of feeding is treated for capturing successively and is transferred to rotor conveying equipment；And
Rotor conveying equipment, for one the 3rd straight line conveyer structure for including the rotor subsequent transmissions of reception to it, and
Transmitted by the 3rd straight line conveyer structure by the clamping of its clamping part to above the track of the press-fitting station；
The press mounting system is set at the press-fitting station of the transmission line, and it includes：
Workpiece positioning compression mechanism, set at the top of press mounting system, there is a pressure head downward for being used for load
Mechanism；
The working plate lifting body that lower section is set between track, for being transported to workpiece positioning compression in working plate
The working plate is lifted away from track certain altitude when below mechanism and reaches position to be assembled；And
The press-fitting mechanism that lower section is set between track, there is the rotor towards the pressure heads mechanism to be press-fitted seat for it, should
Rotor is press-fitted seat and is driven up undertaking the 3rd straight line conveyer structure clamping to transmit to the rotor of the press-fitting station, and up passes through
The through hole being lifted away from the working plate of track makes rotor be offseted with pressure heads mechanism, carries out rotor and the compressor on working plate
Assembling.
By upper, compressor is transmitted line and is delivered to press-fitting station, and rotor is delivered to by feeding system and rotor conveying equipment
Station is press-fitted, and the rotor for carrying out by press mounting system the press-fitting station is cold-pressed into compressor, whole process is without manually, realizing
The overall automation of assembling process is expected from above.
Optionally, the working plate Transmission system includes：
Main transmission line equipment, including：The main transmission line that parallel track is formed；
Branch transmission line equipment, including：The branch transmission line that parallel track is formed；Branch transmission line is provided with the press-fitting work
Position；Exsertile block piece is provided with the press-fitting station；
Working plate push-pull device, including：Its both ends corresponds to the lifting body between master or the guide rail lower section of branch transmission line；It is right
Answer at lifting body, master, the slideway between branch transmission line equipment；Rushing board mechanism above the lifting body and slideway；
Corresponding to working plate push-pull device position positioned at main transmission line and branch transmission line has exsertile block piece.
By upper, press-fitting station is set by setting branch transmission line equipment, and in the branch transmission line equipment, realized and main transmission
Line equipment transmits the loose couplings of working plate so that branch transmission line equipment easily can enter luggage in main transmission line optional position
Match somebody with somebody.
Optionally, the rotor conveying equipment also includes：
By an at least straight line conveying mechanism for subsequent transmissions described in rotor, wherein setting carrying institute on a straight line conveying mechanism
A supporting part of rotor is stated, the supporting part can horizontally rotate；
Rotor angle testing agency, set towards rotor when certain position is transported to by straight line conveyer structure；
The supporting part rotates rotor thereon to providing direction according to the detection of rotor angle testing agency.
By upper, the straight line that rotor can be carried out to feeding by straight line conveyer structure conveys, and the inspection for passing through rotor angle
Survey mechanism dispensing rotor to be installed can be adjusted to angle to be assembled with the supporting part, so as to realize according to rotor institute in assembling process
Angle, position are needed, rotor is adjusted and is sent to, to realize the support to the overall automatically press-fitting process.
Optionally, the rotor conveying equipment includes：
The first straight line conveying mechanism being made up of the straight line conveying mechanism, for by rotor towards apart from rotor purpose
The direction transmission certain distance that position is shortened；
The second straight line conveyer of angle is formed with the first straight line conveying mechanism, the 3rd straight line conveyer structure
Structure, there is the clamping part that the rotor is clamped to transmission, the rotor clamping for first straight line conveying mechanism to be sent to is transferred to
The 3rd straight line conveyer structure.
By upper, by the adjacent straight line conveyer structure for forming angle, realize and connect rotor towards rotor destination locations
Resume defeated, can so adapt to the situation come discharge position and destination locations and be difficult to directly transmit of rotor original, be easy in life
Spatial arrangement in producing line.
Optionally, the rotor angle measuring mechanism includes a sensor, in the transmission stroke of the straight line conveyer structure
The top that is sent at position set；
The clamping part of the 3rd linear transmission mechanism is external clamping structure, and it is open towards the rail at the press-fitting station
Set above road；
The first straight line conveying mechanism supporting part and the 3rd straight line conveyer structure retaining part are on a horizontal plane；
The clamping part of the second straight line conveying mechanism is built-in structure, is set downward, supports the clamping part
Track higher than the supporting part set, track of the clamping part along the second straight line conveying mechanism can run defeated to the straight line
That send the transmission stroke of mechanism is sent to top position at position；
The sensor is set to slide, and can be sent to a top position away from the transmission stroke of the straight line conveyer structure
Slide.
Structure from the above mentioned, when the clamping part of second straight line conveying mechanism is run to the biography of the first straight line conveying mechanism
Defeated stroke is sent at position before top position, and the sensor is slidably stepped down, so that system architecture is compact, is saved empty
Between.
Optionally, the sensor sidepiece coordinates a corresponding track by the sliding block of vertical connecting rod connection below
Carry out described slide to set, the parallel track of the track that the sliding block coordinates and the second straight line conveying mechanism is set.
By upper, sliding block, the track of the sensor are disposed below, and are put down with the track of the second straight line conveying mechanism
Row is set so that system architecture is compact, saves space.
Optionally, there is a supporting table of same level, it is at the 3rd straight line conveyer structure clamping part face
Second straight line conveying mechanism is sent to the handing-over position of position and the 3rd straight line conveyer received bit.
By upper, the supporting table that is acted on by the handing-over so that two have the rotors handing-over of the straight line conveyer structures of clamping part
It is loose to coordinate, it does not interfere with each other.
Optionally, in addition to workpiece is felt relieved and bent axle axial positioning mechanism, including：
The normotopia mechanism and position-limit mechanism being oppositely arranged positioned at the working plate both sides in position to be assembled, having respectively can court
The locating piece stretched out to working plate；
The locating piece of the normotopia mechanism includes a vertical recess matched with the bent axle connector of compressor on working plate.
By upper, normotopia adjustment can be carried out to bent axle by the recess of the locating piece, pass through the locating piece water of position-limit mechanism
The flat working plate towards position to be assembled can prop up working plate after stretching out, and prevent that working plate produces movement during normotopia mechanism action,
Realize positioning function.
Optionally, the press-fitting mechanism includes successively from bottom to top：Servo electric cylinders, it is assemblied in the extended end of servo electric cylinders
The sliding block of end, the rotor press-fitting seat for being assemblied in sliding block top；
The line slideway of the sidepiece of sliding block one and a vertical direction is slidably connected, and has between the servo electric cylinders and sliding block
There is floating connection head.
By upper, line slideway is coupled by sliding block and is oriented to, ensure that the press-fitting action of press-fitting process vertical direction is smooth, can
Lean on.It can be used for absorbing cross force by the flexible connection of floating connection head, prevent servo electric cylinders output end power when stretching out
Direction and stress point are not on one wire so that its external part deforms or fracture, extends the service life of servo electric cylinders.
Optionally, the press mounting system also includes measuring mechanism, including：Set straight down by the pressure heads mechanism
Measurement amount of movement measuring staff, in the rotor press-fitting seat built in pressure sensor；The press-fitting mechanism is according to measuring mechanism
Measurement carry out it is described assembling control.
, can be by workpiece when working plate is jacked by upper, the measuring staff for the measurement amount of movement being arranged at by pressure heads mechanism
Hole extend downwardly into the measurement of displacement realized in the cavity of installation rotor, the accurate control being easy to during press-fitting.Pass through pressure
The pressure detecting of rotor during matching somebody with somebody, the accurate control being easy to during press-fitting.
Present invention also offers a kind of compressor drum assembly method, including：
A, by the transmission line transportation tooling plate that parallel track is formed to the workpiece of the press mounting system positioned at press-fitting station
Below positioning compression mechanism；
B, by the working plate lifting body of press mounting system, the track certain altitude that the working plate is lifted away to the transmission line reaches
Position to be assembled；
C, captured successively by manipulator charging equipment and treat the rotor of feeding and be transferred to rotor conveying equipment；
D, one the 3rd straight line conveyer structure for being included the rotor subsequent transmissions of reception to it by rotor conveying equipment, and by
3rd straight line conveyer structure is transmitted to above the track at the press-fitting station by the clamping of its clamping part；
E, the up rotor accepted above the track of rotor press-fitting seat of driving press-fitting mechanism, and up pass through is lifted away from
Through hole on the working plate of track makes rotor be offseted with being press-fitted the pressure heads mechanism of mechanism, carries out rotor and the pressure on working plate
The assembling of contracting machine.
By upper, compressor is transmitted line and is delivered to press-fitting station, and rotor is delivered to by feeding system and rotor conveying equipment
Station is press-fitted, and the rotor for carrying out by press mounting system the press-fitting station is cold-pressed into compressor, whole process is without manually, realizing
The overall automation of assembling process is expected from above.
Brief description of the drawings
Fig. 1 is the schematic diagram of automatic compressor rotor cold pressing device overall top view；
Fig. 2 is working plate automatic transmission system schematic diagram；
Fig. 3 is the schematic diagram of six axis robot feed mechanism front view；
Fig. 4 is rotor conveying mechanism schematic diagram；
Fig. 5 is press mounting system schematic diagram；Wherein Fig. 5 A are front views, and Fig. 5 B are left views.
Embodiment
For the ease of description, following left and right directions refers to parallel to production line direction, and fore-and-aft direction refers to vertical in horizontal plane
In production line direction.And
The drive division of driving part execution action, as driving part moves along track, or produce the actions such as clamping, support
Drive division, it is the conventional components for realizing automation, hereinafter such as without certain illustrated represents that conventional drive division can be used,
Therefore description is also hereinafter omitted to these driving parts.For example, for sliding block short stroke displacement in orbit driving (such as along rail
Road is mobile, clamping/support part) cylinder driving, screw drive, driven side gear formula etc. can be used, for long stroke displacement
Driving, the belt synchronous drive mechanism mode being assemblied in track can be used to be driven.In the present invention, each sliding block
The straight-line displacement mechanism that slide rail is formed, received bit and is sent at position outside (outside of relative transport) and is provided with buffering push rod, arrives
Level sensor.And
For following each systems part assemble when, be also fitted on the general frame of each system, framework serves support
Effect and the positioning action of each part, unless otherwise instructed, usual manner can be used to assemble when being assembled to general frame, such as directly
It is assembled on framework, or is assembled in mounted support on framework, panel (horizontal or vertical), support column, supporting table etc., therefore
No longer separately state framework.And
According to the needs automatically controlled, respective sensor can be set in required position, unless otherwise instructed, not describe hereinafter
And certain automatic control function can be realized, implying can be by setting sensor, controllable device to carry out the realization of automatic control function.With
And
In order to stop on the transmission line and clearance transmission line on working plate, its may be provided at transmission line either side setting
Block piece, the block piece are driven toward or away from the working plate movements on transmission line, to realize stop and clearance working plate
Function, the particular location of block piece is repeated no more.
Below, referring to each accompanying drawing, the present invention will be described in detail.As Fig. 1 shows a kind of automatic compressor rotor
Cold pressing system, mainly including following subsystems：
Working plate Transmission system 100, for transmitting compressor successively to each station of production line, including by compressor
Transmit to press-fitting station；Rotor feeding system 200,300, for rotor to be assembled to be moved into press-fitting station out of magazine
On；Press mounting system 400 (is transmitted according to main line and flowed to, this example is provided with the press mounting system 400 of double), for will be to be assembled
Compressor and rotor are pressed；Control system (not shown), is made up of industrial computer and embedded industrial control system, for overall biography
The control of co-ordination in defeated, assembling process between above-mentioned each system.Each system is described in detail below：
Working plate Transmission system 100 as shown in Figure 2, including main transmission line equipment 101, branch transmission line equipment 102, and
Make the working plate push-pull device 103 being arranged in pairs that working plate moves between master, branch line transmission equipment, above-mentioned press-fitting station position
In on the transmission line of branch line transmission equipment, and between the paired working plate push-pull device 103.Wherein, the working plate
Transmission system 100 may also include the sensor of some judgement positions, such as RFID sensor.Specifically：
Main transmission line equipment 101, the main transmission for working plate.Including：The main transmission line that parallel track is formed, each
There is the roller rotated by driving respectively on track, the both ends of working plate thereon can be carried；Frock is corresponded on main transmission line
The block piece of the position of plate push-pull device 103, according to transmission process division, this is blocked when for working plate push-pull device 103
Working plate when being delivered to branch transmission line, the block piece stops that the position of working plate forms the output station on main transmission line, when
For carrying out backstop to the working plate that working plate push-pull device 103 comes from the conveying of branch transmission line to cause working plate to transmit completely
During to main transmission line, the block piece stops that the position of working plate forms the receiving station on main transmission line.
Branch transmission line equipment 102, the transmission for the branch line of working plate.Including the branch transmission being made up of parallel track
Line.Branch transmission line can be disposed with receiving station, press-fitting station, output station according to assembly process.Its receiving station, output
Station just corresponds to the output station and receiving station of main transmission line, also corresponds to the position of working plate push-pull device 103, in its reception
Station, output station relevant position are also equipped with block piece, so that working plate is blocked in the station.Its corresponding press-fitting station
Block piece is also equipped with, is press-fitted at station and is provided with press mounting system 400 (being described further below), for will be transmitted to the press-fitting work
The rotor that the transmission of rotor conveying equipment 300 of compressor and rotor feeding system 300 on the working plate of position comes, performs rotor dress
It is incorporated the process of compressor.
Working plate push-pull device 103, for working plate is moved into branch transmission line from main transmission line be pressed and will press fitting
The working plate of completion moves back to main transmission line.It includes：The corresponding master, the correspondingly received station of branch transmission line, output station are (i.e.
Corresponding corresponding block piece position) and the lifting body (not shown) between main or branch transmission line guide rail, lifting body
Raising plate initial position be located at lower section between the guide rail of transmission line two, raising plate, which is driven, during work is moved up, and working plate is lifted away from
Former transmission line；At corresponding lifting body, master, slideway 1032 between branch transmission line system；Positioned at the lifting body and slideway
The rushing board mechanism 1033 of 1032 tops, for pushing to slideway after working plate is jacked from former transmission line (master/branch transmission line)
1032 and it is delivered on another transmission line (branch/main transmission line).The rushing board mechanism 1033 by top fore-and-aft direction guide rail
10331st, the push pedal 10332 being slidably connected below guide rail with guide rail, and the drive mechanism of the driving push pedal movement, such as gas
Cylinder is formed.
Wherein, in the embodiment shown in Fig. 2, two sets of working plate push-pull devices 103 and press mounting system 400 are contained.Zhi Chuan
Defeated line, which is located at by main transmission line, to be arranged in parallel, and the 1032 vertical master of slideway, branch transmission line are set so that working plate push-pull device
103 can easily incorporate main transmission line equipment 101 with branch transmission line equipment 102, be easy to the upgrading to old main transmission line to change
Make.
As Fig. 3,4 show rotor feeding system, including turn shown in the manipulator charging equipment 200 and Fig. 4 shown in Fig. 3
Sub- conveying equipment 300.
Manipulator charging equipment 200 includes：For the truck 201 of rotor turnover, magazine 202 is placed thereon, in magazine 202
Place rotor to be assembled；Six axis robot 203 among truck 201, for out of truck 201 magazine 202 successively
Crawl rotor is transferred to rotor conveying equipment 300.Specifically：
Truck 201 can put each five groups of two row totally three hundred rotors, can be put in place, be arranged at by truck 201 by fork truck
Truck position-limit mechanism 204 on there is sensor can detect truck 201 whether in place have that it's too late.Six axis robot 203 can be successively
Crawl rotor is put on the load bearing seat 3011 of rotor conveying equipment 300.When sylphon occurs in magazine 202, six axis robot 203 enters
Row sylphon capture and be placed on side empty truck 201 most on empty pallet on, after magazine 202 are occupied on empty pallet, the material
The prompting of meeting automatic alarm empties sky truck after the sensor that detection magazine 202 corresponding to car 201 whether there is detects.
Rotor conveying equipment 300 is used to the next rotor of transfer being adjusted to special angle, and is delivered to press mounting system 400
To be assembled directly over rotor press-fitting seat, it includes：Transport mechanism 301 before and after rotor auxiliary, it is first straight line conveying mechanism, is used
Rotor thereon is transmitted necessarily towards the direction of working plate Transmission system 100 in the load bearing seat 3011 moved by its fore-and-aft direction
Distance；Rotor angle testing agency 302 and rotating disk 305, for adjusting rotor angle according to the spacer situation of rotor；Rotor is left
Right transport mechanism 303, it is second straight line conveying mechanism, for rotor to be moved into transport mechanism 304 before and after rotor；Before and after rotor
Transport mechanism 304, it is the 3rd straight line conveyer structure, and the rotor for rotor to be transferred to press-fitting station is press-fitted the surface of seat
Position.Specifically：
Transport mechanism 301 includes before and after rotor auxiliary：The guide rail 3012 that one fore-and-aft direction is set, on guide rail 3012
The load bearing seat 3011 being slidably connected with guide rail 3012, thereon with rotating disk 305 described later.Load bearing seat 3011 is located at guide rail 3012
The position (i.e. the both ends of shift motion) at both ends can be described as the received bit of workpiece (i.e. rotor) and be sent to position, and load bearing seat 3011 is connecing
The rotor that six axis robot 203 is placed is carried when receiving position, is then moved to by drives edge guide rail 3012 and is sent to position.
Rotor angle testing agency 302 and rotating disk 305 include：The sensor of a superjacent air space is sent to positioned at load bearing seat 3011
3021, the spacer position of the rotor of lower section is can detect, it is fixed on by a support 3022 on a sliding block 3023 of lower section, should
Sliding block 3023 is slidably connected with a left and right directions track 3024, to be moved in following rotors or so transport mechanism 303 above rotor
The sensor 3021 slidably merges out relevant position during position；The rotating disk 305 being installed on the load bearing seat 3011, rotating disk
305 can drive rotation by a Rodless cylinder, and it rotates turn being placed on it to adjust according to the testing result of sensor 3021
Subangle.
The sensor 3021 of the rotor angle testing agency 302 can also be fixedly installed on load bearing seat 3011 be sent to position it is oblique on
Side space position, the work of the rotor or so transport mechanism 303 is not disturbed, simply sensor 3021 is to squint rotor, non-
Face rotor.
Rotor or so transport mechanism 303, for it will be transferred to rotor positioned at the rotor being sent on the load bearing seat 3011 of position before
The receiving position of transport mechanism 304 afterwards, it includes：Main part 3031；Left and right directions is extended above main part 3031
Track 3032, a sidepiece and the track of main part 3031 are slidably connected；Positioned at the lower end of main part 3031, another with main part 3031
The inner bearing type clamper 3033 that one sidepiece vertical direction is slidably connected, it can extend downwardly into rotor inner cylinder and strut laterally to pick up
Take rotor, or unclamp on after rotor and move to above rotor to discharge rotor.It can be seen that rotor or so transport mechanism 303 is one vertical
Two axis robots in plane.
Transport mechanism 304 before and after rotor, for rotor or so transport mechanism 303 to be transferred into transport mechanism before and after rotor
The rotor clamping of 304 shift motion received bits, and rotor clamping is delivered to it after the inner bearing type clamper 3033 release
The rotor press-fitting seat position directly above hovering of the press-fitting station in front waits press-fitting.It includes：Main part 3041；Positioned at main part
The extended track 3042 of 3041 lower section fore-and-aft directions, main part 3041 are slidably connected with it；Main part 3041 is towards front
External gripper 3043 is provided with (i.e. towards the direction of working plate Transmission system 100).External clamping presss from both sides when main part 3041 is retracted
The face received bit of holder 3043, received bit lower section have a supporting table, accept turn that rotor or so transport mechanism 303 is transferred
Son, the grip roll of external gripper 3043 simultaneously stretch out, and reach the rotor press-fitting seat position directly above hovering of press-fitting station.Can
See, transport mechanism 304 is mainly a Linear manipulator before and after rotor.
As another optional embodiment, above-mentioned rotating disk 305 may also be arranged in the supporting table, corresponding rotor angle
The sensor 3021 for spending testing agency 302 is then set towards the rotor in the supporting table.
As Fig. 5 shows press mounting system 400, positioned at the press-fitting station position of branch transmission line, including：Workpiece positioning compression machine
Structure 401, set positioned at the upper position of press mounting system 400, for load so that dispensing rotor to be installed is pressed upward tightly in assembling；Work
Loading board lifting body 402, position to be assembled is reached for working plate to be lifted away from into branch transmission trajectory certain altitude；Workpiece feel relieved and
Bent axle axial positioning mechanism 403, for adjusting and positioning the compressor crank shaft normotopia on working plate；Mechanism 404 is press-fitted, is used for
By driving its rotor to be press-fitted seat upcoming contact, accepting rotor, and make rotor contact workpiece positioning compression mechanism 401, turned
The assembling of son and compressor；Pressing-in force and vertical displacement real-time measurement apparatus, gap real-time measurement apparatus, these form accurate survey
Measuring mechanism 405, is measured, vertical direction gap measures in real time in real time for the pressing-in force in assembling process and vertical direction displacement,
Controlled with the accurate press-fitting of the assembling process carried out accordingly.Specifically：
Workpiece positioning compression mechanism 401 is at the top of press-fitting station, including top plate 4012, its lower surface are equipped with heading machine
Structure 4011, the thrust upward in assembling for bearing rotor to be assembled.
Working plate lifting body 402 includes：In the block piece that the press-fitting station of branch transmission line is set, make on branch transmission line
Working plate can rest on the press-fitting station；The lifting body set below the press-fitting station, branch transmission trajectory, by frock
Plate is lifted away from branch transmission line certain altitude to position to be assembled.In position to be assembled, workpiece and workpiece positioning compression on working plate
The pressure heads mechanism 4011 of mechanism 401 is in contact, and the measuring staff 4051 of the measurement amount of movement on the side of pressure heads mechanism 4011 then passes through workpiece
On hole extend downwardly into installation rotor cavity in.
Workpiece is felt relieved and bent axle axial positioning mechanism 403, including is set just positioned at the position both sides to be assembled face
Position mechanism 4031 and position-limit mechanism 4032, formed by cylinder and locating piece.It is vertical that the locating piece of normotopia mechanism 4031 includes one
The recess of setting, it can be matched with the bent axle connector of compressor on working plate, its cylinder drives its locating piece horizontally toward to be installed
After working plate with position stretches out, normotopia adjustment can be carried out to bent axle by the recess of the locating piece.Position-limit mechanism 4032
Cylinder drive its locating piece horizontally toward position to be assembled working plate stretch out after can prop up working plate, prevent normotopia mechanism 4031
Working plate produces movement during action, realizes positioning function.
The accurate press-fitting mechanism 404 of servo-electric, below press-fitting station, includes successively from bottom to top：Servo electric cylinders
4041；It is assemblied in the floating connection first 4042 of the end at 4041 extended end of servo electric cylinders；It is assemblied on floating connection first 4042
The sliding block 4043 in portion, the press-fitting seat 4044 for being assemblied in the top of sliding block 4043, press-fitting seat 4044 face top workpiece positioning compression machine
The pressure heads mechanism 4011 of structure 401.The line slideway 4045 of the sidepiece of sliding block 4,043 1 and a vertical direction is slidably connected, and passes through straight line
Guide rail 4045 is oriented to, and ensures that the press-fitting action of press-fitting process vertical direction is smooth, reliably.It is described press-fitting seat 4044 before press-fitting,
Also face rotor feeding system 200 is transferred come the rotor for holding of hovering directly over it, is press-fitted the built in pressure sensor of seat 4044, can
The situation of change of press-fitting force during monitoring press-fitting.
Because servo electric cylinders 4041 are contributed very greatly, the present invention is using the first 4042 connection servo electric cylinders 4041 of floating connection with sliding
Block 4043, it can be used for absorbing cross force (sliding block 4043 and line slideway 4045 by the flexible connection of floating connection first 4042
It is slidably connected using dovetail groove, but still small transverse shifting can occur for inevitable sliding block 4043), prevent servo electric cylinders 4041
The direction of power and stress point be not on one wire when stretching out for output end so that its external part deforms or fracture, extends servo
The service life of electric cylinders 4041.
Shown accurate measurement mechanism 405, it may include the displacement for being installed on the top plate 4012 of workpiece positioning compression mechanism 401 passes
Sensor, the measuring staff 4051 of amount of movement (also measurable gap) as measured above are extended downwardly from setting by top 4012, in addition to dress
Assigned in compositions such as the above-mentioned pressure sensor in press-fitting seat 4044, the elastic mechanisms of application pretightning force for measuring pressure.
By upper, by high accuracy press-fitting and clearance control, self-centering structure such as is used, high-precision servo press is pressed
Match somebody with somebody, and after press-fitting terminates, gap can be rechecked immediately, in press-fitting and position fixing process, compressor box is solely subjected to measuring force and (is less than
15N)。
The operation principle of press mounting system 400 is as follows：
Compressor is sent to assembly station with the working plate on branch transmission line 1021, and block piece stops working plate, working plate
Jacked by the working plate lifting body 402 below the position and depart from branch transmission line 1021, rise to position to be assembled；
Workpiece is felt relieved and bent axle axial positioning mechanism 403 carries out workpiece centering compressor inside crankshaft circumference simultaneously to compressor
Positioning, automatic measurement simultaneously carry out rotor press-mounting preparation by gap width at rotor after the rotor press-mounting of setting and crankcase；
Rotor is transported to assembly station, positioned at rotor pressure by transport mechanism 404 before and after rotor in rotor feeding system 200
With the surface of seat 4044 and holding of hovering；
Accurate press-fitting mechanism 404 rapid operation of servo-electric, driving rotor press-fitting seat 4044 are moved up, and carrying is described to be turned
After son, transport mechanism 404 discharges rotor and reset of retracting before and after the rotor in rotor feeding system 200；Carry the rotor
Rotor press-fitting seat 4044 continued to move up by driving, through working plate on corresponding hole, prop up top workpiece positioning compression
The pressure heads mechanism 4011 of mechanism 401, to be pressed rotor；
During rotor is pressed, pressure assembling force, press fitting direction (i.e. vertical direction) are measured by above-mentioned accurate measurement mechanism 405
Displacement, the upward gap of rotor in press fitting.Specifically, when workpiece touches the measuring staff 4051 of accurate measurement mechanism 405,
Displacement and gap are determined in the change of sensor moment monitoring measuring staff 4051, are coordinated the pressure of pressure sensor to implement control and are surveyed
Amount, carries out accurate press-fitting.
Stop press fitting, measurement gap, rotor press-fitting seat when being pressed into the gap width or displacement that rotor reaches set
4044 are lowered back to by driving, and (reset includes each system reset：Working plate lifting body 402 is descending, the compressor assembled
Come back on branch transmission line 1021), block piece clearance working plate.
In rotor process of press in, if pressure assembling force does not meet the relation of the stroke versus force curve of setting, rotor press-fitting seat 4044
Process of press in can be stopped by driving auto-returned, terminate to be pressed and alarm on screen.
Therefore the equipment can automatically control the press-in size during rotor cold pressing dress, difference is pressed in process of press in
Enter corresponding pressing-in force of size etc. (displacement-force curve can be shown), in addition, can also be according to technological requirement arbitrarily setting press fitting in advance
Crankshaft axial gap value afterwards, according to the different press-fitting strategy of different cultivars workpiece setting, according to different compression distances and pressure
With power, the equipment can complete the overall process of press fitting according to setting value automatically, it is ensured that the parameters requirement of rotor press-mounting, be discontented with
Foot or (such as pressing-in force is too small or excessive) beyond parameter area, equipment meeting automatic alarm prompting, really reliably ensure that
Quality during rotor press-mounting.
Control system, including industrial computer and embedded industrial control system.It is combined by industrial computer and embedded industrial control system,
Good man-machine interface, abundant data processing and reliable control are realized, for above-mentioned overall transfer, assembling process
In co-ordination between above-mentioned each system, mechanism control.
The operation principle of compressor drum cold pressing system of the present invention is further illustrated below, under control of the control system,
Present system works as follows：
First, in working plate Transmission system 100, compressor to be assembled transmits through working plate in main transmission line 1011,
And reach and be blocked after ad-hoc location, jack, push to branch transmission line 1021；
Then, compressor to be assembled transmits through working plate in branch transmission line 1021, and reach and be blocked after ad-hoc location,
Jack to press-fitting station to be assembled；
On the other hand, for rotor feeding system 200, it is by six axis robot charging equipment 200 from its truck 201
Crawl rotor to be assembled in magazine 202, and it is transferred to rotor conveying equipment 300；
For rotor conveying equipment 300, rotor is adjusted to predetermined angle by the detection of its rotor angle and adjustment mechanism 302
Degree, and will by transport mechanism 304 before and after transport mechanism 301, rotor before and after its rotor auxiliary or so transport mechanism 303, rotor
Rotor, which continues to send, is handed to press-fitting station to be assembled, and it is located at the lower section of working plate to be assembled；
Then, for press mounting system 400, felt relieved by its workpiece and bent axle axial positioning mechanism 403 carries out work to compressor
Part is felt relieved and compressor inside crankshaft is circumferentially positioned, and drives its rotor to be press-fitted seat 4044 by the accurate press-fitting mechanism 404 of servo-electric
Move up, contact, carry to continue to move up after rotor to be assembled directly over it and be press-fitted into compressor, its assembling process and by essence
Close measuring mechanism 405 is monitored and controlled in real time.
Afterwards, after having assembled, press mounting system 400 resets, and the compressor assembled declines multiple in working plate lifting body 402
Position, after touching branch transmission line 1021 again, it is cleared, and up to being blocked after ad-hoc location, jack, push to main transmission line
1011。
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (11)
- A kind of 1. compressor drum assembly system, it is characterised in that including：Working plate Transmission system, rotor feeding system and pressure Dress system, wherein：The working plate Transmission system comprises at least the transmission line that parallel track is formed, and carries the working plate of compressor in this Conveyed on track by driving；An at least position for transmission line is configured to be press-fitted station；The rotor feeding system is set on the outside of the track of working plate Transmission system, and it includes：Manipulator charging equipment, the rotor of feeding is treated for capturing successively and is transferred to rotor conveying equipment；AndRotor conveying equipment, for one the 3rd straight line conveyer structure for including the rotor subsequent transmissions of reception to it, and by this 3rd straight line conveyer structure is transmitted to above the track at the press-fitting station by the clamping of its clamping part；The press mounting system is set at the press-fitting station of the transmission line, and it includes：Workpiece positioning compression mechanism, set at the top of press mounting system, there is a pressure heads mechanism downward for being used for load；The working plate lifting body that lower section is set between track, for being transported to workpiece positioning compression mechanism in working plate The working plate is lifted away from track certain altitude during lower section and reaches position to be assembled；AndThe press-fitting mechanism that lower section is set between track, there is the rotor towards the pressure heads mechanism to be press-fitted seat, the rotor for it Press-fitting seat is driven up undertaking the 3rd straight line conveyer structure clamping to transmit to the rotor of the press-fitting station, and up pass through is lifted The through hole on the working plate to leave the right or normal track makes rotor be offseted with pressure heads mechanism, carries out the dress of rotor and the compressor on working plate Match somebody with somebody.
- 2. system according to claim 1, it is characterised in that the working plate Transmission system includes：Main transmission line equipment, including：The main transmission line that parallel track is formed；Branch transmission line equipment, including：The branch transmission line that parallel track is formed；Branch transmission line is provided with the press-fitting station；Should Exsertile block piece is provided with press-fitting station；Working plate push-pull device, including：Its both ends corresponds to the lifting body between master or the guide rail lower section of branch transmission line；Corresponding top Rise at mechanism, master, the slideway between branch transmission line equipment；Rushing board mechanism above the lifting body and slideway；Corresponding to working plate push-pull device position positioned at main transmission line and branch transmission line has exsertile block piece.
- 3. system according to claim 1, it is characterised in that the rotor conveying equipment also includes：By an at least straight line conveying mechanism for subsequent transmissions described in rotor, wherein setting carrying is described to turn on a straight line conveying mechanism One supporting part of son, the supporting part can horizontally rotate；Rotor angle testing agency, set towards rotor when certain position is transported to by straight line conveyer structure；The supporting part rotates rotor thereon to providing direction according to the detection of rotor angle testing agency.
- 4. system according to claim 3, it is characterised in that the rotor conveying equipment includes：The first straight line conveying mechanism being made up of the straight line conveying mechanism, for by rotor towards apart from rotor destination locations The direction transmission certain distance of shortening；The second straight line conveying mechanism of angle is formed with the first straight line conveying mechanism, the 3rd straight line conveyer structure, With the clamping part that the rotor is clamped to transmission, the rotor clamping for first straight line conveying mechanism to be sent to is transferred to described 3rd straight line conveyer structure.
- 5. system according to claim 3, it is characterised in thatThe rotor angle measuring mechanism includes a sensor, is sent in the transmission stroke of the straight line conveyer structure at position Top is set；The clamping part of the 3rd linear transmission mechanism is external clamping structure, and it is open towards on the track at the press-fitting station Side is set；The first straight line conveying mechanism supporting part and the 3rd straight line conveyer structure retaining part are on a horizontal plane；The clamping part of the second straight line conveying mechanism is built-in structure, is set downward, supports the rail of the clamping part Road is set higher than the supporting part, and track of the clamping part along the second straight line conveying mechanism can be run to the straight line conveyer The transmission stroke of structure is sent to top position at position；The sensor is set to slide, and can be slided away from a top position that is sent to for the transmission stroke of the straight line conveyer structure It is dynamic.
- 6. system according to claim 5, it is characterised in thatThe sensor sidepiece coordinates a corresponding track to carry out the cunning by the sliding block of vertical connecting rod connection below Dynamic to set, the parallel track of the track that the sliding block coordinates and the second straight line conveying mechanism is set.
- 7. system according to claim 5, it is characterised in that have at the 3rd straight line conveyer structure clamping part face One supporting table of same level, it is the handing-over that second straight line conveying mechanism is sent to position and the 3rd straight line conveyer received bit Position.
- 8. system according to claim 1, it is characterised in that the press mounting system also includes workpiece centering and bent axle axial direction Detent mechanism, including：The normotopia mechanism and position-limit mechanism being oppositely arranged positioned at the working plate both sides in position to be assembled, having respectively can be towards work The locating piece that loading board is stretched out；The locating piece of the normotopia mechanism includes a vertical recess matched with the bent axle connector of compressor on working plate.
- 9. system according to claim 1, it is characterised in that the press-fitting mechanism includes successively from bottom to top：Servo electricity Cylinder, be assemblied in the extended end of servo electric cylinders end sliding block, be assemblied in sliding block top the rotor press-fitting seat；The line slideway of the sidepiece of sliding block one and a vertical direction is slidably connected, and has between the servo electric cylinders and sliding block floating Dynamic connector.
- 10. system according to claim 1, it is characterised in that the press mounting system also includes measuring mechanism, including：In The measuring staff of the measurement amount of movement straight down set by the pressure heads mechanism, in the pressure sensing built in rotor press-fitting seat Device；The press-fitting mechanism carries out the assembling according to the measurement of measuring mechanism and controlled.
- A kind of 11. compressor drum assembly method based on any described system of claim 1 to 10, it is characterised in that bag Include：A, positioned by the transmission line transportation tooling plate that parallel track is formed to the workpiece of the press mounting system positioned at press-fitting station Below hold-down mechanism；B, by the working plate lifting body of press mounting system, the track certain altitude arrival that the working plate is lifted away to the transmission line is to be installed With position；C, captured successively by manipulator charging equipment and treat the rotor of feeding and be transferred to rotor conveying equipment；D, one the 3rd straight line conveyer structure for being included the rotor subsequent transmissions of reception to it by rotor conveying equipment, and by this Three straight line conveyer structures are transmitted to above the track at the press-fitting station by the clamping of its clamping part；E, the up rotor accepted above the track of rotor press-fitting seat of driving press-fitting mechanism, and up pass through is lifted away from track The working plate on through hole make rotor and be press-fitted the pressure heads mechanism of mechanism to offset, carry out the compressor on rotor and working plate Assembling.
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| CN201710726581.0A CN107363509B (en) | 2017-08-22 | 2017-08-22 | Compressor rotor assembly system and assembly method |
Applications Claiming Priority (1)
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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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| CN107363509A true CN107363509A (en) | 2017-11-21 |
| CN107363509B CN107363509B (en) | 2023-11-03 |
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| CN201710726581.0A Active CN107363509B (en) | 2017-08-22 | 2017-08-22 | Compressor rotor assembly system and assembly method |
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| CN107838651A (en) * | 2017-12-07 | 2018-03-27 | 机科发展科技股份有限公司 | A kind of compressor drum cold press |
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| CN108971942A (en) * | 2018-08-16 | 2018-12-11 | 昆山捷云智能装备有限公司 | Jacking type fast assembling machine and its assemble method |
| CN108971942B (en) * | 2018-08-16 | 2023-12-26 | 捷云智能装备(苏州)有限公司 | Jacking type rapid assembling machine and assembling method thereof |
| CN109128821A (en) * | 2018-11-06 | 2019-01-04 | 济南易恒技术有限公司 | The automatic setup system of automotive air intake rocker arm and exhaust rocker arm on rocker arm shaft |
| CN110539148A (en) * | 2019-08-12 | 2019-12-06 | 玖玖智能（深圳）有限公司 | Rubber plug assembly and rubber plug assembly machine |
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| CN111673427A (en) * | 2020-06-08 | 2020-09-18 | 日立电梯电机（广州）有限公司 | Molding press-fitting device and molding press-fitting method |
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| CN111725119B (en) * | 2020-07-01 | 2023-01-31 | 湖南艾科威智能装备有限公司 | Universal transmission device suitable for silicon wafer battery piece magazine |
| CN113611554A (en) * | 2021-06-22 | 2021-11-05 | 江苏省如高高压电器有限公司 | Double-column type isolating switch assembling system |
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