Structure Design And Analysis Of Compressor Valve Assembly Robot

In recent years,with the rapidly development of the new industrial revolution,industrial technology has been rapidly upgraded.At the same time,the rising labor costs have prompted a large number of industrial robots to be used in the production process of stacking,welding,spraying and assembly.However,it is difficult for the assembly robots to deal with the uncertainties in the environment by some factors,such as high requirements on robot precision and assembly environment.The assembly robot only occupy a small share in the field of robot applications by the lower assemble efficiency.Therefore,it is of great significance for the research on assembly robot technologies to promote industrial upgrading and reduce production costs.In this paper,the process of 2D-90 reciprocating compressor valve assembly is taken as the background,the components of design include: the research of the manual assembly process of valve components,structure design of valve assembly robot,robot kinematics analysis and robot assembly test.A robot is developed and finished for all valve component assembly.The problems were solved,such as narrow assembly space,difficult operation.The main research work of this paper as follows:1.Detailed study is developed for reciprocating compressor valve components,the dimensions of the valve components and assembly relationship.According to the requirements of the assembly process,several kinds of robotic configurations and common end-effector for assembly operations are compared and analyzed to determine the overall structural scheme of the assembly robot.2.The structure design,statics analysis and optimization of the robot end effector are carried out.3.According to the selection principle of serial industrial robot,the key technical parameters of robot are determined.The robot kinematics analysis method is studied,and the robot kinematics model is established.Finally,the robot mobile platform is designed.4.Based on the previous structural design,the manufacture and assembly of valve assembly robots are completed.Some tests are carried out to verify the feasibility and reliability of the assembly scheme and the structural design.They are the valve assembly robot adsorption test,stability test,access to the valve hole test and valve assembly test.