Research On Automatic Assembly System For Rotating Scroll Of Automotive Aircon Scroll Compressor

In recent years,the manufacturing industry for the production of equipment automation demand is increasing.Due to the special shape and assembly process,the automation degree for automatic assembly system of automotive aircon scroll compressor is restricted to further improve.In this paper,the research on the automatic assembly system of rotating scroll for automotive aircon scroll compressor is carried out,and a set of automatic assembly system suitable for rotating scroll for automotive aircon scroll compressor is built by using flexible fixture and robot vision system.The problem of uncertain offset between the parts and the fixture,which occur in the process of the flexible fixture clamping special-shaped parts,is solved.The main research contents of this paper are as follows:Firstly,the automatic assembly system of the rotating scroll for automotive aircon scroll compressor is designed.According to the structure and assembly process of the rotating scroll for automotive aircon scroll compressor,the function and performance indexes of the assembly system are put forward.The hardware system and software system of the auxiliary automatic assembly system,which include the robot vision system,ring assembly positioning plate blanking mechanism,auxiliary tilting mechanism and other auxiliary automatic assembly machine,are developed.Secondly,the visual positioning technology of rotating scroll assembly is studied.According to the specific requirements for automatic assembly system of rotating scroll,the design and calibration of robot vision system are completed;According to the characteristic information of characteristic plane for rotating scroll,the original characteristic information of rotating scroll pose is extracted,and the mathematical model of rotating scroll pose is established.Through the comparison experiment,the scheme of feature image processing and information extraction for rotating scroll is determined.Then,the pose error compensation technology of rotating scroll assembly system is studied.According to the specific structure characteristics of the automatic assembly system for rotating scroll of automotive aircon scroll compressor,the assembly pose errors of rotating scroll are divided into the original pose difference,the rotation pose difference and the residual pose difference.The system modeling,regression analysis and other methods were used to analyze and calculate the three kinds of pose errors,and a scheme of pose error compensation and correction was developed.Finally,the experimental research on the automatic assembly system of rotating scroll for automotive aircon scroll compressor is completed.The experiment system for automatic assembly of rotating scroll for automotive aircon scroll compressor was built,and the experimental verification of the system was completed.The experimental results show that the angle and pose accuracy of the auto-assembly system for rotating scroll of automotive aircon scroll compressor developed in this paper are 0.6° and 0.6mm respectively,and the assembly success rate is up to99.67%.