CN107486701B - Rotor press-fitting system and press-fitting method - Google Patents
Rotor press-fitting system and press-fitting method Download PDFInfo
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- CN107486701B CN107486701B CN201710726604.8A CN201710726604A CN107486701B CN 107486701 B CN107486701 B CN 107486701B CN 201710726604 A CN201710726604 A CN 201710726604A CN 107486701 B CN107486701 B CN 107486701B
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 163
- 230000005540 biological transmission Effects 0.000 claims abstract description 83
- 238000003825 pressing Methods 0.000 claims abstract description 40
- 230000008569 process Effects 0.000 claims abstract description 29
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 9
- 230000008093 supporting effect Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000000903 blocking effect Effects 0.000 description 15
- 238000012546 transfer Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000000418 atomic force spectrum Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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- 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
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Abstract
The invention provides a rotor press-fitting system, comprising: the workpiece positioning and pressing mechanism is arranged at the top of the press-fitting system and is provided with a downward pressure head mechanism for bearing force; the tool plate jacking mechanism is positioned below the transmission line and is used for lifting the tool plate comprising the compressor to a position to be assembled from the transmission line by a certain height when the tool plate is conveyed to the position below the workpiece positioning and pressing mechanism by the transmission line; the rotor press-fit seat is driven to upwards support the rotor to be assembled, and upwards passes through the through hole on the tooling plate to enable the rotor to prop against the press-head mechanism, so that the rotor and the compressor are assembled; and the measuring mechanism is used for measuring the pressing force, the vertical displacement and/or the vertical clearance in the assembling process of the rotor in real time, and the press-fit mechanism is used for controlling the assembling according to the measuring force, the vertical displacement and/or the vertical clearance. The invention also provides a press-fitting method correspondingly, and compared with the background technology, the invention has simpler structure and better stability.
Description
Technical Field
The invention relates to the technical field of cold press assembly of a compressor rotor, in particular to a rotor press-fitting system and a rotor press-fitting method.
Background
The rotor assembly of the compressor is a key link of the assembly of the compressor, the rotor of the traditional compressor is assembled in a hot jacket mode, but when the rotor assembly is determined by the structure and the rotor material characteristics of the variable frequency compressor, only a cold pressing mode can be adopted, and rotor cracks can be caused in the hot jacket mode. The strict requirements of the eccentric characteristic, the non-bearing cylinder body structure and the rotor clearance after combination of the compressor crankshaft determine that the technical difficulty of realizing the precise press fit of the rotor is very large, and related foreign enterprises also have no mature equipment capable of meeting the requirements of the product structure and the manufacturing process in China.
In order to solve the problem that most compressor enterprises in China use a manual assembly detection method at present, in order to enable assembly with high detection precision and higher efficiency, the applicant previously proposes an online high-efficiency automatic precision press-fit equipment scheme, for example, patent documents with Chinese patent application numbers of CN201310122068.2 and CN 201310122155.8.
In the above patent, during the press-fitting process, when the rotor and the compressor are in place to be press-fitted, the assembly of the rotor and the compressor is performed by downward movement of the pressing device located at the upper portion. In this structure, i.e. the jacking device comprising the bottom, there is a pressing device which needs to be moved downwards, the structure of the device for relative movement is complex, and the relative reference is a movable device during adjustment, and the leveling or the adjustment of the vertical state is complex, so that the stability and the precision in the assembly process are influenced. Therefore, a cold pressing apparatus having a simpler structure is urgently needed to improve the stability and accuracy of assembly.
Disclosure of Invention
Therefore, the main objective of the present invention is to provide a rotor press-fitting system and a press-fitting method, which are more simple and convenient in structure, so as to improve the stability and precision of assembly.
The invention provides a rotor press-fitting system, which comprises:
the workpiece positioning and pressing mechanism is arranged at the top of the press-fitting system and is provided with a downward pressure head mechanism for bearing force;
the tool plate jacking mechanism is positioned below the transmission line and is used for lifting the tool plate comprising the compressor to a position to be assembled from the transmission line by a certain height when the tool plate is conveyed to the position below the workpiece positioning and pressing mechanism by the transmission line;
the rotor press-fit seat is driven to upwards support the rotor to be assembled, and upwards passes through the through hole on the tooling plate to enable the rotor to prop against the press-head mechanism, so that the rotor and the compressor are assembled;
and the measuring mechanism is used for measuring the pressing force, the vertical displacement and/or the vertical clearance in the assembling process of the rotor in real time, and the press-fit mechanism is used for controlling the assembling according to the measuring force, the vertical displacement and/or the vertical clearance.
In the press-fitting process, the press-fitting seat of the press-fitting mechanism is driven to ascend to support the rotor to be assembled, and the rotor passes through the through hole on the tooling plate to be abutted against the press-head mechanism, so that the assembly of the rotor and the compressor is carried out.
Optionally, the workpiece centering and crankshaft axial positioning mechanism further comprises:
the positioning mechanism and the limiting mechanism are arranged at two sides of the tooling plate of the to-be-assembled device in an opposite manner and are respectively provided with a positioning block which can extend towards the tooling plate;
the positioning block of the righting mechanism comprises a vertical concave part matched with a crankshaft connecting piece of the compressor on the tooling plate.
By the above, can carry out the righting adjustment to the bent axle through the concave part of this locating piece, can support the frock board after stretching out towards the frock board of waiting the assembly position through stop gear's locating piece level, prevent that the frock board from producing the removal when righting mechanism acts, realize the locate function.
Optionally, the tooling plate jacking mechanism includes: a retractable barrier disposed alongside the transmission line; and a jacking mechanism arranged below the track of the transmission line.
By the above, the blocking piece arranged at the press-fit station of the transmission line enables the tooling plate on the transmission line to stay at the press-fit station, and the tooling plate is lifted away from the transmission line to a position to be assembled by a certain height by matching with the lifting mechanism, so that the system can be conveniently applied to the production line.
Optionally, the press-fit mechanism includes from bottom to top in proper order:
a servo electric cylinder; the rotor press-fit seat is assembled on the upper part of the sliding block;
one side part of the sliding block is in sliding connection with a linear guide rail in the vertical direction.
By the upper part, the guide of the linear guide rail is coupled through the sliding block, so that the press-fit action in the vertical direction in the press-fit process is smooth and reliable.
Optionally, a floating connector is arranged between the servo electric cylinder and the sliding block.
By last, can be used for absorbing transverse force through the flexonics of floating connector, prevent servo electric jar output when stretching out that the direction of force and atress point are not in a line for its stretching out end warp or fracture, prolonged servo electric jar's life.
Optionally, the measuring mechanism includes: and a measuring rod which is arranged beside the pressure head mechanism and is used for measuring the moving quantity vertically downwards.
From the top, set up the measuring staff of measuring the amount of movement aside pressure head mechanism, accessible work piece on the hole stretch into the cavity of installation rotor downwards when the frock board is by the jacking and realize the measurement of displacement, the accurate control of being convenient for in the pressure fit process.
Optionally, the measuring mechanism includes: and a pressure sensor arranged in the rotor press-fit seat.
By the method, the accurate control in the press-fit process is facilitated through the pressure detection of the rotor in the press-fit process.
The invention also provides a press-fitting method, which comprises the following steps:
A. lifting the tooling plate which is conveyed to the lower part of the workpiece positioning and pressing mechanism and comprises the compressor by the tooling plate lifting mechanism to reach the position to be assembled by lifting the tooling plate away from the conveying line by a certain height;
B. the rotor to be assembled is conveyed to the position below the tooling plate at the position to be assembled, and hovers at the position right above the rotor press-fit seat;
C. the rotor press-fit seat is driven by the press-fit mechanism to up-load the rotor to be assembled, and the rotor up-runs through the corresponding hole on the tooling plate to be propped against the pressure head mechanism;
D. the measuring mechanism measures the pressing force, the vertical displacement and/or the vertical clearance in the rotor assembly process, and the press-fit mechanism controls the assembly according to the pressing force and the vertical displacement and/or the vertical clearance.
In the press-fitting process, the press-fitting seat of the press-fitting mechanism is driven to ascend to support the rotor to be assembled, and the rotor passes through the through hole in the tooling plate to be abutted against the press-head mechanism, so that the assembly of the rotor and the compressor is carried out.
Optionally, the step a further includes: and (3) centering the workpiece and circumferentially positioning the crankshaft in the compressor by the compressor on the tooling plate at the position to be assembled.
By the above, can carry out the righting adjustment to the bent axle through the concave part of this locating piece, can support the frock board after stretching out towards the frock board of waiting the assembly position through stop gear's locating piece level, prevent that the frock board from producing the removal when righting mechanism acts, realize the location.
Drawings
FIG. 1 is a schematic diagram of an overall top view of an automatic compressor rotor cold pressing apparatus;
FIG. 2 is a schematic diagram of an automated tooling plate transfer system;
FIG. 3 is a schematic diagram of a front view of a six-axis mechanical feeding mechanism;
FIG. 4 is a schematic diagram of a rotor transport mechanism;
FIG. 5 is a schematic diagram of a press-fit system; wherein fig. 5A is a front view and fig. 5B is a left side view.
Detailed Description
For convenience of description, the following left-right direction refers to a direction parallel to the production line, and the front-rear direction refers to a direction perpendicular to the production line in a horizontal plane. The method comprises the steps of,
the driving parts of the driving parts for performing the actions, such as the driving parts moving along the rail, or the driving parts for generating the actions such as clamping and supporting, are all conventional parts for realizing the automation, and the conventional driving parts can be used unless otherwise specified hereinafter, so the description of these driving parts is omitted hereinafter. For example, for driving the short stroke displacement of the slider on the rail (such as moving along the rail, clamping/supporting action), a cylinder driving method, a screw driving method, a gear driving method, etc. may be adopted, and for driving the long stroke displacement, a belt type synchronous driving mechanism method assembled in the rail may be adopted for driving. In the invention, the linear displacement mechanism formed by the sliding rails of the sliding blocks is provided with a buffer ejector rod and an in-place sensor at the outer sides (the outer sides of relative transmission) of the receiving position and the delivering position. The method comprises the steps of,
when the components of the systems described below are assembled, the components are also assembled to the integral frames of the systems, the frames play a role in supporting and positioning the components, and when the components are assembled to the integral frames, the components can be assembled in a conventional manner, such as directly assembled to the frames, or assembled to brackets, panels (horizontal or vertical), support columns, support tables and the like which are already installed on the frames, so that the frames are not described. The method comprises the steps of,
according to the requirement of automatic control, corresponding sensors can be arranged at the required positions, and if no special description exists, certain automatic control function can be realized, and the implementation of the automatic control function can be realized by arranging the sensors and controllable devices. The method comprises the steps of,
in order to block and release the tooling plate on the transmission line, the blocking piece can be arranged on any side of the transmission line, and is driven to move towards or away from the tooling plate on the transmission line, so that the functions of blocking and releasing the tooling plate are realized, and the specific position of the blocking piece is not repeated.
The present invention will be described in detail below with reference to the accompanying drawings. An automatic compressor rotor cold pressing system is shown in fig. 1, and mainly comprises the following subsystems:
the tooling plate transmission system 100 is used for sequentially transmitting the compressors to each station of the production line, including transmitting the compressors to the press-fit stations; the rotor feeding system is used for moving the rotor to be assembled from the material box to the press-fit station; the press-fitting system 400 (according to the main line transmission flow direction, the press-fitting system 400 with double stations is arranged in the embodiment) is used for press-fitting the compressor and the rotor to be assembled; the control system (not shown) is composed of an industrial personal computer and an embedded industrial personal system and is used for controlling the coordination work among the systems in the whole transmission and assembly process. The following describes each system in detail:
as shown in fig. 2, the tooling plate transmission system 100 comprises a main transmission line device 101, a branch transmission line device 102, and tooling plate push-pull devices 103 which are arranged in pairs and move tooling plates between the main transmission line device and the branch transmission line device, wherein the press-fit station is positioned on the transmission line of the branch transmission device and between the paired tooling plate push-pull devices 103. The tooling plate transmission system 100 may further include a plurality of sensors for determining positions, such as RFID sensors. Specific:
a main transmission line device 101 for main transmission of the tooling plate. Comprising the following steps: a main transmission line formed by parallel tracks, wherein each track is respectively provided with a roller driven to rotate and can bear two ends of a tooling plate thereon; the blocking piece is located at the position of the main transmission line corresponding to the tooling plate pushing and pulling device 103, and is divided according to the transmission procedure, when the blocked tooling plate is conveyed to the branch transmission line by the tooling plate pushing and pulling device 103, the position of the blocking piece blocking the tooling plate forms an output station on the main transmission line, and when the tooling plate conveyed from the branch transmission line by the tooling plate pushing and pulling device 103 is stopped, so that the tooling plate is completely conveyed to the main transmission line, the position of the blocking piece blocking the tooling plate forms a receiving station on the main transmission line.
A branch transmission line device 102 for the transmission of branch lines of the tooling plate. Comprising a branch transmission line consisting of parallel tracks. The branch transmission line can be sequentially provided with a receiving station, a press-fit station and an output station according to the assembly procedure. The receiving station and the outputting station correspond to the outputting station and the receiving station of the main transmission line, and also correspond to the position of the tooling plate push-pull equipment 103, and blocking pieces are arranged at the corresponding positions of the receiving station and the outputting station, so that the tooling plate is blocked at the stations. Which is also provided with a blocking member corresponding to a press-fit station where a press-fit system 400 (to be described later) is provided for assembling the rotor into the compressor by the rotor transferred from the rotor transfer apparatus 300 of the compressor and rotor loading system on the tooling plate transferred to the press-fit station.
The tooling plate pushing and pulling device 103 is used for moving the tooling plate from the main transmission line to the branch transmission line for press fitting and moving the tooling plate after press fitting back to the main transmission line. It comprises the following steps: the jacking mechanism (not shown) corresponds to the corresponding receiving station and the output station (namely corresponds to the position of the corresponding blocking piece) of the main transmission line and the branch transmission line and is positioned between the guide rails of the main transmission line or the branch transmission line, the initial position of the jacking plate of the jacking mechanism is positioned below the position between the two guide rails of the transmission line, and when in operation, the jacking plate is driven to move upwards to lift the tooling plate away from the original transmission line; a slideway 1032 corresponding to the lifting mechanism and between the main and branch transmission line systems; a pushing plate mechanism 1033 located above the lifting mechanism and the slide 1032, for pushing the tooling plate from the original transmission line (main/branch transmission line) to the slide 1032 and onto another transmission line (branch/main transmission line). The push plate mechanism 1033 is composed of a guide rail 10331 in the front-rear direction above, a push plate 10332 located below the guide rail and slidably connected to the guide rail, and a driving mechanism, such as a cylinder, for driving the push plate to move.
In the embodiment shown in fig. 2, two sets of tooling plate push-pull devices 103 and a press-fit system 400 are included. The branch transmission lines are arranged beside the main transmission line in parallel, and the slide ways 1032 are perpendicular to the main transmission line and the branch transmission line, so that the tooling plate push-pull equipment 103 and the branch transmission line equipment 102 can be conveniently integrated into the main transmission line equipment 101, and the old main transmission line can be conveniently upgraded and reformed.
The rotor feeding system is shown in fig. 3 and 4, and comprises the manipulator feeding device 200 shown in fig. 3 and the rotor conveying device 300 shown in fig. 4.
Manipulator charging equipment 200 includes: a skip 201 for rotor turnover, on which a magazine 202 is placed, in which a rotor to be assembled is placed in the magazine 202; a six-axis manipulator 203 is located in the middle of the skip 201, and is used for sequentially grabbing the rotors from the material box 202 of the skip 201 and transferring the rotors to the rotor conveying device 300. Specific:
the skip 201 can be placed in place by a forklift, and a skip limiting mechanism 204 arranged beside the skip 201 is provided with a sensor for detecting whether the skip 201 is in place or not. The six-axis manipulator 203 can sequentially grasp the rotors and put them on the bearing base 3011 of the rotor conveying apparatus 300. When the empty box 202 appears, the six-axis manipulator 203 grabs the empty box and places the empty box on the uppermost empty tray of the empty skip 201 beside, and when the empty tray is full of the empty box 202, the empty skip is automatically warned to prompt the empty skip after the corresponding sensor for detecting whether the empty box 202 exists or not of the skip 201.
The rotor conveying apparatus 300 is used for adjusting the transferred rotor to a specific angle and conveying the rotor to be assembled right above a rotor press-fit seat of the press-fit system 400, and includes: the rotor auxiliary front-rear conveying mechanism 301 is a first linear conveying mechanism and is used for conveying the rotor on the first linear conveying mechanism to a certain distance towards the direction of the tooling plate conveying system 100 through a bearing seat 3011 moving in the front-rear direction; a rotor angle detection mechanism 302 and a turntable 305, for adjusting the rotor angle according to the situation of the positioning piece of the rotor; a rotor right-left conveying mechanism 303 which is a second linear conveying mechanism for moving the rotor to the rotor front-rear conveying mechanism 304; the rotor front-rear transfer mechanism 304 is a third linear conveying mechanism for transferring the rotor to a position right above the rotor press-fit seat of the press-fit station. Specific:
the rotor-assisted front-rear transfer mechanism 301 includes: a guide 3012 disposed in the front-rear direction, and a carrier 3011 provided on the guide 3012 and slidably connected to the guide 3012, and having a turntable 305 described later thereon. The positions of the carrying seats 3011 at both ends of the guide rail 3012 (i.e., both ends of the movement stroke) may be referred to as a receiving position and a delivering position of the workpiece (i.e., the rotor), and the carrying seats 3011 carry the rotor placed by the six-axis robot 203 at the receiving position and are then driven to move along the guide rail 3012 to the delivering position.
The rotor angle detection mechanism 302 and the turntable 305 include: a sensor 3021 located in the space above the carrying base 3011 and capable of detecting the position of the positioning piece of the lower rotor, wherein the sensor 3021 is fixed on a sliding block 3023 below by a bracket 3022, and the sliding block 3023 is slidably connected with a left-right direction rail 3024, so that the sensor 3021 can slide to avoid the corresponding position when the below-described rotor left-right conveying mechanism 303 moves to the position above the rotor; the turntable 305 mounted on the carrying base 3011 may be driven to rotate by a rodless cylinder, which rotates to adjust the angle of the rotor placed thereon according to the detection result of the sensor 3021.
The sensor 3021 of the rotor angle detection mechanism 302 may be fixedly disposed at a position above the carrier 3011 in a space obliquely above the carrier, and may not interfere with the operation of the rotor left-right conveying mechanism 303, but the sensor 3021 is obliquely directed to the rotor, and is not directly directed to the rotor.
A rotor left-right transfer mechanism 303 for transferring the rotor on the carrying base 3011 at the delivery position to the receiving position of the rotor front-rear transfer mechanism 304, comprising: a main body 3031; a rail 3032 extending in the left-right direction above the main body 3031, one side of the main body 3031 being slidably connected to the rail; an inner support type clamp 3033 is positioned at the lower end of the main body portion 3031 and is vertically and slidably connected with the other side portion of the main body portion 3031, and can extend downwards into the inner rotor cylinder and be expanded outwards to pick up the rotor, or can be moved upwards to be above the rotor to release the rotor after the rotor is loosened. It can be seen that the rotor left-right transfer mechanism 303 is a two-axis manipulator in a vertical plane.
And the rotor front-back conveying mechanism 304 is used for conveying the rotor left-right conveying mechanism 303 to the rotor clamping of the rotor front-back conveying mechanism 304 moving stroke receiving position, and suspending and waiting for press fit at a position right above a rotor press fit seat of a press fit station in front of the rotor clamping conveyed to the inner support type clamp 3033 after being released. It comprises the following steps: a main body 3041; a rail 3042 extending in the front-rear direction below the main body 3041, the main body 3041 being slidably connected thereto; the main body 3041 is provided with an outer clip type gripper 3043 toward the front (i.e., toward the tooling plate conveying system 100). When the main body 3041 is retracted, the outer clamp type gripper 3043 is opposite to the receiving position, a supporting table is arranged below the receiving position, the rotor conveyed by the rotor left-right conveying mechanism 303 is received, the outer clamp type gripper 3043 clamps the rotor and extends out, and the position right above the rotor press-fit seat of the press-fit station is reached to hover. It can be seen that the rotor front-to-back transfer mechanism 304 is primarily a linear robot.
As an alternative embodiment, the turntable 305 may also be arranged on the support table, and the sensor 3021 of the corresponding rotor angle detection means 302 is arranged towards the rotor on the support table.
As shown in fig. 5, the press-fit system 400 is located at a press-fit station of a branch transmission line, and includes: the workpiece positioning and pressing mechanism 401 is arranged at the upper part of the press-fitting system 400 and is used for bearing force so that the rotor to be assembled is pressed upwards during assembly; a tooling plate jacking mechanism 402, configured to lift the tooling plate away from the branch transmission line rail by a certain height to reach a position to be assembled; the workpiece centering and crankshaft axial positioning mechanism 403 is used for adjusting and positioning the positive position of the compressor crankshaft on the tooling plate; the press-fit mechanism 404 is used for assembling the rotor and the compressor by driving the rotor press-fit seat to contact and support the rotor upwards and enabling the rotor to contact the workpiece positioning and pressing mechanism 401; the real-time measurement device of the pressing force and the vertical displacement and the real-time measurement device of the clearance form a precise measurement mechanism 405 for real-time measurement of the pressing force and the vertical displacement in the assembly process and real-time measurement of the clearance in the vertical direction so as to perform precise press fit control of the assembly process. Specific:
the workpiece positioning and pressing mechanism 401 is located at the top of the press-fit station and comprises a top plate 4012, and a pressing head mechanism 4011 is assembled on the lower surface of the top plate 4012 and is used for bearing upward pressing force of a rotor to be assembled during assembly.
Tooling plate jacking mechanism 402 includes: the blocking piece is arranged at the press-fit station of the branch transmission line, so that the tooling plate on the branch transmission line can stay at the press-fit station; and the jacking mechanism is arranged below the press-fit station and the branch transmission line track and lifts the tooling plate away from the branch transmission line by a certain height to a position to be assembled. In the position to be assembled, the workpiece on the tooling plate is contacted with the pressing head mechanism 4011 of the workpiece positioning and pressing mechanism 401, and a measuring rod 4051 for measuring the movement quantity beside the pressing head mechanism 4011 extends downwards into a cavity for installing the rotor through a hole on the workpiece.
The workpiece centering and crankshaft axial positioning mechanism 403 comprises a positioning mechanism 4031 and a limiting mechanism 4032 which are positioned on two sides of the to-be-assembled position and are opposite to each other, and the positioning mechanism is composed of a cylinder and a positioning block. The positioning block of the righting mechanism 4031 comprises a vertically arranged concave part which can be matched with a crankshaft connecting piece of the compressor on the tooling plate, and after the cylinder drives the positioning block to horizontally extend towards the tooling plate at the position to be assembled, the crankshaft can be righted through the concave part of the positioning block. The cylinder of the limiting mechanism 4032 drives the positioning block to horizontally extend towards the tooling plate at the position to be assembled and then can prop against the tooling plate, so that the tooling plate is prevented from moving when the righting mechanism 4031 acts, and the positioning function is realized.
Servo electronic accurate press-fit mechanism 404 is located press-fit station below, includes from bottom to top in proper order: a servo cylinder 4041; a floating connector 4042 fitted to the end of the extendable end of the servo cylinder 4041; the slide block 4043 assembled on the upper part of the floating connector 4042, and the press-fit seat 4044 assembled on the upper part of the slide block 4043, wherein the press-fit seat 4044 is opposite to the press head mechanism 4011 of the upper workpiece positioning and pressing mechanism 401. One side part of the sliding block 4043 is in sliding connection with a linear guide rail 4045 in the vertical direction, and the sliding block is guided by the linear guide rail 4045, so that the press-fit action in the vertical direction in the press-fit process is smooth and reliable. Before press-fitting, the upper part of the press-fit seat 4044 is also right opposite to a rotor which is transferred by a rotor feeding system to hover and hold, and a pressure sensor is arranged in the press-fit seat 4044 and can monitor the change condition of press-fit force in the press-fit process.
Because the servo electric cylinder 4041 has large force, the invention adopts the floating connector 4042 to connect the servo electric cylinder 4041 and the sliding block 4043, and the flexible connection of the floating connector 4042 can be used for absorbing transverse force (the sliding block 4043 and the linear guide rail 4045 are in dovetail groove sliding connection, but the small transverse movement of the sliding block 4043 can not be avoided), so that the direction and the stress point of the output end of the servo electric cylinder 4041 are not in the same line when the output end extends, the extending end of the servo electric cylinder 4041 is deformed or broken, and the service life of the servo electric cylinder 4041 is prolonged.
The precision measuring mechanism 405 may include a displacement sensor mounted on the top plate 4012 of the workpiece positioning and pressing mechanism 401, a measuring rod 4051 for measuring the movement (or the clearance) is extended downward from the top plate 4012, and the precision measuring mechanism may further include the pressure sensor mounted in the press-fit seat 4044, an elastic mechanism for applying a pre-tightening force for measuring the pressure, and the like.
By the above, through high accuracy press-fit and clearance control, if adopt automatic centering structure, high accuracy servo press carries out press-fit, but the clearance is reinspected immediately after the press-fit is accomplished moreover, in press-fit and the location process, the compressor box only bears measuring force (less than 15N).
The press-fit system 400 operates as follows:
the compressor is conveyed to an assembly station along with the tooling plate on the branch transmission line 1021, the blocking piece blocks the tooling plate, and the tooling plate is lifted off the branch transmission line 1021 by the tooling plate lifting mechanism 402 below the position and is lifted to the position to be assembled;
the workpiece centering and crankshaft axial positioning mechanism 403 performs workpiece centering on the compressor, simultaneously positions the crankshaft in the compressor in the circumferential direction, automatically measures and prepares for rotor press-fitting according to a set clearance value between the rotor and the crankcase after the rotor is press-fitted;
a rotor front-rear conveying mechanism 304 in the rotor feeding system conveys the rotor to an assembly station, is positioned right above a rotor press-fit seat 4044 and hovers and holds the rotor;
the servo electric precise press-fit mechanism 404 works quickly, drives the rotor press-fit seat 4044 to move upwards, and after bearing the rotor, the rotor front-rear conveying mechanism 304 in the rotor feeding system releases the rotor and retracts to reset; the rotor press-fit seat 4044 carrying the rotor is driven to move upwards continuously, passes through the corresponding hole on the tooling plate and abuts against the pressing head mechanism 4011 of the upper workpiece positioning and pressing mechanism 401 so as to press-fit the rotor;
in the process of press-fitting the rotor, the above-described precision measuring mechanism 405 measures the press-fitting force, the displacement amount in the press-fitting direction (i.e., the vertical direction), and the gap in the press-fitting direction in the rotor. Specifically, when the workpiece contacts the measuring rod 4051 of the precision measuring mechanism 405, the sensor monitors the change of the measuring rod 4051 at any time to determine the displacement and the gap, and performs control measurement in cooperation with the pressure of the pressure sensor to perform precision press fit.
When the press-fitting is completed to the rotor, the press-fitting is stopped, the gap is measured, the rotor press-fitting seat 4044 is driven to descend and return, each system is reset (the reset comprises that the tooling plate jacking mechanism 402 descends, the assembled compressor returns to the branch transmission line 1021 again), and the blocking piece releases the tooling plate.
In the rotor pressing process, if the pressing force does not conform to the set stroke-force curve relationship, the rotor press-fit seat 4044 is driven to automatically return, the pressing process is stopped, the pressing is finished, and an alarm is given on a screen.
From the above, the device can automatically control the pressing-in size in the rotor cold press-in process, corresponding pressing-in forces of different pressing-in sizes in the pressing-in process and the like (displacement-force curves can be displayed), in addition, the axial clearance value of a crankshaft after press-in can be preset arbitrarily according to the process requirements, different press-in strategies can be set according to different varieties of workpieces, the whole press-in process can be automatically completed according to the set values by the device according to different pressing-in depths and the press-in forces, various parameter requirements of rotor press-in are ensured, the parameter range (such as too small or too large pressing-in force) is not met or exceeded, the device can automatically give an alarm to prompt, and the quality in the rotor press-in process is truly and reliably ensured.
The control system comprises an industrial personal computer and an embedded industrial personal system. The industrial personal computer and the embedded industrial control system are combined, so that a good human-computer interface, rich data processing and reliable control are realized, and the system and the mechanism are used for controlling the coordination work among the systems and mechanisms in the whole transmission and assembly process.
The working principle of the cold pressing system of the rotor of the compressor of the invention is further described below, and the system of the invention works as follows under the control of the control system:
firstly, on a tooling plate transmission system 100, a compressor to be assembled is transmitted on a main transmission line 1011 through a tooling plate, and is blocked, lifted and pushed to a branch transmission line 1021 after reaching a specific position;
then, the compressor to be assembled is transmitted on a branch transmission line 1021 through the tooling plate, and is blocked and lifted to a press-fit station to be assembled after reaching a specific position;
on the other hand, for the rotor feeding system, the six-axis manipulator feeding device 200 grabs the rotor to be assembled from the material box 202 of the skip 201 and transfers the rotor to the rotor conveying device 300;
for the rotor conveying device 300, the rotor is adjusted to a preset angle by a rotor angle detection and adjustment mechanism 302, and sequentially conveyed to a press-fit station to be assembled through a rotor auxiliary front-rear conveying mechanism 301, a rotor left-right conveying mechanism 303 and a rotor front-rear conveying mechanism 304, which are positioned below a tooling plate to be assembled;
then, for the press-fitting system 400, the workpiece centering and crankshaft axial positioning mechanism 403 is used for centering the workpiece of the compressor and positioning the crankshaft in the compressor in the circumferential direction, the servo electric precision press-fitting mechanism 404 is used for driving the rotor press-fitting seat 4044 to move upwards, and the rotor to be assembled right above the rotor is contacted and carried and then is continuously moved upwards to be press-fitted into the compressor, and the assembly process is monitored and controlled in real time by the precision measuring mechanism 405.
After the assembly, the press-fitting system 400 is reset, and the assembled compressor is released after the tool board jacking mechanism 402 descends to reset and touches the branch transmission line 1021 again, and is blocked, jacked and pushed to the main transmission line 1011 after reaching a specific position.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (9)
1. A rotor press-fitting system, comprising:
a rotor conveying apparatus, comprising: the device comprises a rotor auxiliary front-back conveying mechanism, a rotor angle detecting mechanism, a turntable, a rotor left-right conveying mechanism and a rotor front-back conveying mechanism;
the rotor auxiliary front-rear conveying mechanism is used for conveying the rotor on the rotor auxiliary front-rear conveying mechanism for a certain distance towards the direction of the tooling plate conveying system through the bearing seat moving in the front-rear direction;
the rotor angle detection mechanism and the rotary table positioned on the bearing seat are used for adjusting the rotor angle according to the situation of the positioning piece of the rotor;
the rotor angle detection mechanism comprises a sensor, a support, a sliding block, a left-right track and a rotor angle detection mechanism, wherein the sensor is positioned in a space above a delivery position of the bearing seat and used for detecting the position of a locating piece of a rotor below the sensor;
the rotor left-right conveying mechanism is used for conveying the rotor positioned on the carrying seat at the delivery position to the receiving position of the rotor front-rear conveying mechanism through the inner supporting type clamp holder;
the rotor front-back conveying mechanism is used for conveying a rotor at a rotor front-back conveying mechanism moving stroke receiving position to a position right above a rotor press-fit seat of the press-fit station to hover through an outer clamp type clamp;
the workpiece positioning and pressing mechanism is arranged at the top of the press-fitting system and is provided with a downward pressure head mechanism for bearing force;
the tool plate jacking mechanism is positioned below the transmission line and is used for lifting the tool plate comprising the compressor to a position to be assembled from the transmission line by a certain height when the tool plate is conveyed to the position below the workpiece positioning and pressing mechanism by the transmission line;
the rotor press-fit seat is driven to ascend to support the hovering rotor to be assembled, and the rotor passes through the through hole on the tooling plate to prop against the press-head mechanism, so that the rotor and the compressor are assembled;
and the measuring mechanism is used for measuring the pressing force, the vertical displacement and/or the vertical clearance in the assembling process of the rotor in real time, and the press-fit mechanism is used for controlling the assembling according to the measuring force, the vertical displacement and/or the vertical clearance.
2. The system of claim 1, further comprising a workpiece centering and crankshaft axial positioning mechanism comprising:
the positioning mechanism and the limiting mechanism are arranged at two sides of the tooling plate of the to-be-assembled device in an opposite manner and are respectively provided with a positioning block which can extend towards the tooling plate;
the positioning block of the righting mechanism comprises a vertical concave part matched with a crankshaft connecting piece of the compressor on the tooling plate.
3. The system of claim 1, wherein the tooling plate jacking mechanism comprises:
a retractable barrier disposed alongside the transmission line; and a jacking mechanism arranged below the track of the transmission line.
4. The system of claim 1, wherein the press-fit mechanism comprises, in order from bottom to top:
a servo electric cylinder; the rotor press-fit seat is assembled on the upper part of the sliding block;
one side part of the sliding block is in sliding connection with a linear guide rail in the vertical direction.
5. The system of claim 4, wherein the system further comprises a controller configured to control the controller,
a floating connector is arranged between the servo electric cylinder and the sliding block.
6. The system of claim 1, wherein the measurement mechanism comprises:
and a measuring rod which is arranged beside the pressure head mechanism and is used for measuring the moving quantity vertically downwards.
7. The system of claim 6, wherein the measurement mechanism comprises: and a pressure sensor arranged in the rotor press-fit seat.
8. Press-fitting method based on the rotor press-fitting system according to any one of claims 1 to 7, characterized by comprising the steps of:
A. lifting the tooling plate which is conveyed to the lower part of the workpiece positioning and pressing mechanism and comprises the compressor by the tooling plate lifting mechanism to reach the position to be assembled by lifting the tooling plate away from the conveying line by a certain height;
B. the rotor to be assembled is conveyed to the position below the tooling plate at the position to be assembled, and hovers at the position right above the rotor press-fit seat; the method specifically comprises the following steps: the rotor auxiliary front-rear conveying mechanism conveys the rotor on the rotor auxiliary front-rear conveying mechanism for a certain distance towards the direction of the tooling plate conveying system through a bearing seat moving in the front-rear direction; the rotor angle is adjusted according to the situation of the positioning piece of the rotor through the rotor angle detection mechanism and the turntable positioned on the bearing seat; the rotor on the bearing seat at the delivery position is transferred to the receiving position of the front-back rotor conveying mechanism through the inner supporting type clamp holder by the left-right rotor conveying mechanism; transferring a rotor at a rotor front-rear conveying mechanism moving stroke receiving position to a position right above a rotor press-fit seat of a press-fit station through an outer clamp type clamp holder by a rotor front-rear conveying mechanism to hover; when the left and right rotor conveying mechanisms move to the upper position of the rotor, the sensor of the rotor angle detection mechanism slides to avoid the corresponding position;
C. the rotor press-fit seat is driven by the press-fit mechanism to up-load the rotor to be assembled, and the rotor up-runs through the corresponding hole on the tooling plate to be propped against the pressure head mechanism;
D. the measuring mechanism measures the pressing force, the vertical displacement and/or the vertical clearance in the rotor assembly process, and the press-fit mechanism controls the assembly according to the pressing force and the vertical displacement and/or the vertical clearance.
9. The method of claim 8, wherein after step a, further comprising:
and (3) centering the workpiece and circumferentially positioning the crankshaft in the compressor by the compressor on the tooling plate at the position to be assembled.
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| CN108869240A (en) * | 2018-07-02 | 2018-11-23 | 上海汽车制动系统有限公司 | Electric vacuum pump and its method of press-fitting with annular knurl mandrel |
| CN108890259A (en) * | 2018-08-27 | 2018-11-27 | 上海鑫国动力科技有限公司 | A kind of electromotor rotor pressing machine for new-energy automobile |
| CN110815125A (en) * | 2019-12-18 | 2020-02-21 | 长沙智能制造研究总院有限公司 | Connector assembly and shell press-fitting equipment and method for air-conditioning compressor assembly line |
| CN115055938B (en) * | 2022-06-17 | 2023-03-24 | 机科发展科技股份有限公司 | Press-fit device and valve assembly system |
| CN115709374B (en) * | 2022-11-24 | 2024-09-24 | 中国科学院沈阳自动化研究所 | Annular curve path press-fitting device facing outer ring of aero-engine casing rotor |
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