Research On Design Of Valve Assembly Robot For 2D90 Combination Compressor

With the orderly advancement of the "Made in China 2025" program,automated assembly technology is increasingly important in the field of intelligent manufacturing.Therefore,for compressor manufacturers,the need for automated assembly of compressors has become increasingly prominent.In order to complete complex assembly tasks,it is more reasonable to apply a six-degree-of-freedom series robot to automatically assemble parts.This paper developed a robot system for automatic assembly of 2D90 combined compressor air valve.This system is an automatic assembly for realizing the components of the 2D90 combined compressor valve.This paper carries out secondary development and design of the Estun ER30 robot arm,and solves the problem of automation of large compressor assembly line.The main contents of the design research work are as follows:1.This paper starts from the structural structure and technical parameters of the valve part,combined with the manual assembly process of the valve part component,based on the six-degree-of-freedom series robot.Determine the assembly process of the compressor valve assembly robot system and complete the design of the overall assembly robot system.The design of the solution includes: multi-station working platform,end effector and Modbus bus control system.2.The design of the multi-station work platform is done.First,the overall and functional design of the multi-station work platform is designed to define the overall form and control logic of the work platform.Secondly,complete the mechanical structure design and electrical control design of the work platform.Again,design and stipulate the human machine interface and control interface.Finally,the test of the work platform is carried out,and the test results are ideal.3.The design of the end effector is done.First,the principle analysis of two commonly used adsorption end effectors is carried out to determine their advantages and disadvantages.Secondly,the design is carried out by the working mode of electromagnetic adsorption.Thirdly,according to the relevant design requirements,the design scheme of the end effector is formulated,and the mechanical structure design,the electrical control design and the control interface design are respectively completed.Finally,the end effector is actually verified by experiments,and the experimental results meet the original design requirements.4.The design of the Modbus bus system is done.First,based on the Modbus protocol,protocol conversion is performed on the six-axis controller.Secondly,complete the construction of the fieldbus.Again,standard bus interfaces and address protocols are provided.Then,the multi-station working platform,the end effector and the robot arm are connected to the Modbus field bus.Finally,the experimental results are good and the signal transmission is stable.