Blade angle positioning calculation and test method for vane pump rotor

Abstract

The invention relates to a blade angle positioning calculation and test method for a vane pump rotor, which is characterized in that the peripheral surface of the rotor is set to be provided with seven blade mounting grooves, a phase angle is formed between every two blade mounting grooves and comprises three pairs of same phase angles selected from 54 degrees, 49 degrees and 51 degrees, and the phase angles with different angles are arranged at intervals; a rotor characteristic angle is formed between the first blade mounting groove and the last blade mounting groove and used for determining the position of the first blade mounting groove. The characteristic angle of the rotor refers to the angle between the first blade mounting groove and the last blade mounting groove when the rotor is overlooked from the axial upper part of the rotor, and the first blade mounting groove refers to the mounting groove of the initial mounting blade. And the characteristic angle A10 of the rotor obtained through calculation is 52 degrees. When the blades are assembled, a rotor initial phase angle formed by random feeding of the rotor is firstly determined, and on the basis of the rotor initial phase angle, a characteristic angle used for assembling the blades by the rotor and a blade mounting groove angle used for mounting the blades for the first time are found and tested, so that the positioning of the rotor is smoothly tested and assembled.

Description

Technical Field

[0001] The present invention relates to an assembly method of a vane pump, specifically, the present invention relates to an angle positioning calculation and testing method for installing vanes on a single-acting vane pump rotor of an engine (and or transmission), more specifically, the present invention relates to a positioning calculation and testing method for the vane installation angle of a vane pump rotor when installing vanes on a single-acting vane pump rotor, more specifically, the present invention relates to a positioning calculation and testing method for characteristic angles for vane installation and vane installation groove angles of a vane pump rotor when installing vanes on a single-acting vane pump rotor. Background Art

[0002] The engine vane pump is mainly composed of a rotor, a stator, vanes and a vane positioning ring. The inner surface of the vane pump stator is a cylindrical surface. There is an eccentric distance e between the vane pump rotor and the stator center. The vanes can slide flexibly in the rotor slots. Under the centrifugal force of the rotor rotation and the vane positioning ring, the top of the vane is pressed against the inner surface of the stator and rotates, so the two adjacent vanes, the oil distribution plate, the stator and the rotor form a sealed working chamber. Figure 1 Working principle diagram of a single-acting vane pump.

[0003] The rotor vane pump is usually an oil pump. When the rotor rotates to any angle, the tooth profile of each tooth of the rotor blade can always make point contact with the inner surface of the stator. When a working chamber passes through the oil inlet, its volume increases, a vacuum is generated, and the oil is sucked in through the oil inlet. The rotor continues to rotate, and when the working chamber is connected to the oil outlet, the volume of the chamber decreases, the oil pressure increases, and the oil is pressed out through the oil pressure port.

[0004] Since the pump sucks oil and presses oil once during one rotation of the rotor, it is called a single-acting vane pump.

[0005] In the blade assembly process of the vane pump, the automatic assembly of the blades requires the blade feeding mechanism to automatically insert the blades into the blade mounting grooves of the rotor. However, the processing angles of the rotor blade mounting grooves are often not arranged at uniform angles. Figure 2 A schematic diagram of the angle arrangement of rotor blade mounting slots is shown.

[0006] Usually, during the blade assembly and testing process of a vane pump, since the blade feeding mechanism is fixed, the blades need to be assembled while the rotor is rotating, and a blade is inserted into a blade mounting slot every time the rotor rotates an angle. The angle between each two blade mounting slots is the phase angle. By rotating at multiple angles, multiple blades can be installed in multiple blade mounting slots on the rotor.

[0007] When installing blades on a single-acting vane pump rotor, it is necessary to pre-calculate the number of blade mounting slots and their angles for the vane pump rotor used for blade insertion. After the single-acting vane pump rotor is set with the number of blade mounting slots and their angles calculated, a vane pump rotor with the required number of blade mounting slots and their angles arranged according to the pre-positioning calculation is finally formed for the blade assembly of the final rotor product.

[0008] To this end, it is necessary to develop a method for calculating the characteristic angle of the rotor. On the basis of locating and calculating the characteristic angle of the rotor, the phase angle of the rotor used to assemble other blades can be located and calculated, so as to smoothly pre-position the number and angle of the rotor blade mounting slots and assemble the rotor blades.

[0009] The number and angle of blade mounting slots of the rotor are pre-positioned and calculated, and finally a vane pump rotor is formed with the required number and angle of blade mounting slots arranged according to the pre-positioning calculation. Positioning test is also required during specific assembly.

[0010] First, during the test, the rotor and its angle during loading are randomly placed. At this time, it is necessary to first complete the positioning of the rotor angle when the rotor enters the blade assembly area.

[0011] In particular, when the rotor enters the blade assembly area, the initial phase angle of the rotor formed by the random loading and placement of the rotor during the loading of the rotor must first be determined. Then, based on the randomly formed initial phase angle of the rotor, the characteristic angle for the rotor assembly blade and the angle of the blade installation slot for the first installation of the blade are found and located and calculated.

[0012] To this end, it is necessary to conduct a test according to a method for calculating a characteristic angle of a rotor as described in the present invention. On the basis of locating and calculating the characteristic angle of the rotor, the phase angle of the rotor for assembling other blades can be located and inferred, the characteristic angle for assembling blades on the rotor and the angle of the blade mounting slot for first installing the blade can be found and located and calculated, the number of blade mounting slots and their angles of the rotor are pre-positioned and calculated, and finally a vane pump rotor is formed which is arranged and arranged according to the pre-positioning calculation with the required number of blade mounting slots and their angles. A positioning test must also be performed during the specific assembly.

[0013] First, during the test, the rotor and its angle during loading are randomly placed. At this time, it is necessary to first complete the positioning of the rotor angle when the rotor enters the blade assembly area.

[0014] In particular, when the rotor enters the blade assembly area, the initial phase angle of the rotor formed by the random placement of the rotor during loading must first be determined. Then, based on the randomly formed initial phase angle of the rotor, the characteristic angle for assembling the blades of the rotor and the angle of the blade mounting slot for the first installation of the blades are found and tested, so as to smoothly test the pre-positioning of the number of blade mounting slots of the rotor and their angles.

[0015] However, to date, the traditional angle positioning method is to calculate the characteristic angle by taking pictures with a camera, and the hardware cost is expensive. The success rate of angle recognition will be reduced due to factors such as camera pixels, ambient light environment, and picture quality. For this reason, this field requires the positioning and calculation method of the rotor characteristic angle to reduce hardware costs, not be affected by external interference factors, and improve the accuracy and success rate of angle recognition, and ultimately improve the efficiency of positioning, calculating, and testing the number of blade mounting slots and their angles set by the pre-positioning calculation of the vane pump rotor before the blade is inserted, and improve the blade assembly efficiency of the final rotor product. Summary of the invention

[0016] In order to solve the above problems, the object of the present invention is to provide an assembly method of a rotor vane pump, the assembly method including an angle positioning calculation and testing method of a vane pump rotor.

[0017] According to the angle positioning calculation method of the vane pump rotor of the present invention, the number of blade mounting grooves and their angles are pre-positioned and calculated for the rotor, thereby forming a vane pump rotor with blade mounting grooves at a certain angle. According to the present invention, the angle positioning calculation method of the vane pump rotor can automatically identify and calculate the characteristic angle, so that in the case of random loading at any angle, other angles can be deduced based on the calculated characteristic angle of the rotor, so as to smoothly pre-position the number of blade mounting grooves and their angles and assemble the blades of the rotor, thereby improving the accuracy and efficiency of the rotor blade assembly.

[0018] The purpose of the present invention is also to provide a method for calculating and testing the angle positioning of a vane pump rotor during installation. The method for testing the angle positioning of a vane pump rotor during installation is included in the method for assembling the vane pump rotor, and the method for calculating the angle positioning of the vane pump rotor is used to test the angle positioning of the vane pump rotor during installation.

[0019] The testing method comprises: applying the angle positioning calculation method of the vane pump rotor to test the rotor that has been calculated and positioned to form a blade mounting groove with a certain angle. According to the present invention, the angle positioning calculation method of the vane pump rotor can automatically identify and calculate the characteristic angle, so that the characteristic angle of the rotor can be calculated and tested under the condition of random loading at any angle. On this basis, other angles can be deduced, thereby improving the accuracy and efficiency of the testing and installation of the number and angles of the blade mounting grooves of the rotor, so as to smoothly perform the pre-positioning of the number and angles of the blade mounting grooves and the blade assembly of the rotor.

[0020] The technical scheme of the angle positioning calculation and testing method of the vane pump rotor of the present invention is as follows:

[0021] A method for calculating and testing the blade angle positioning of a vane pump rotor, characterized in that:

[0022] The blade angle positioning calculation method of the vane pump rotor includes:

[0023] The outer peripheral surface of the rotor is assumed to have 7 blade mounting slots, and a phase angle is formed between every two blade mounting slots, wherein: 6 slots include 3 pairs of the same phase angle settings: the 3 pairs of the same phase angles include: phase angles of 54°, 49° and 51°, respectively.

[0024] Phase angles of different angles are set at intervals, and a rotor characteristic angle is formed between the first and last blade mounting slots, which is used to determine the position of the first blade mounting slot.

[0025] The rotor characteristic angle refers to the angle formed by rotating from the first blade installation slot to the last blade installation slot when looking down from the rotor axis. The first blade installation slot refers to the installation slot where the blade is initially installed.

[0026] The calculated rotor characteristic angle A10 is 52°, thereby obtaining a vane pump rotor having 7 blade mounting grooves on the outer circumference, so as to smoothly perform blade positioning test and assembly on the rotor.

[0027] The robot's encoder angle is reset to zero for ease of calculation.

[0028] According to a method for calculating and testing the blade angle positioning of a vane pump rotor of the present invention, it is characterized in that a blade angle positioning test is performed on a rotor obtained according to the blade angle positioning calculation method of the vane pump rotor, and the testing method comprises the following steps:

[0029] 1) Using a robot for automatic loading, randomly grab a rotor with blades to be installed and place it on a test platform. The rotor with blades to be installed has 7 blade installation grooves formed on it, and a laser sensor is set on the outer peripheral side of the rotor;

[0030] 2) Move the robot to the rotor angle detection position corresponding to the laser sensor, the robot's encoder angle automatically returns to zero, and at the same time, rotate the rotor;

[0031] 3) When the laser sensor does not detect the notch of the blade mounting slot on the rotor and the robot encoder is OFF, the returned detection signal S is 0;

[0032] 4) When the laser sensor detects a notch in the blade mounting slot on the rotor and the robot's encoder is on, the returned detection signal S is 1; therefore, each time a detection signal S is 1, a phase angle formed by a blade mounting slot of the rotor is detected;

[0033] 5) Continue to rotate the rotor until it is detected that the sixth blade mounting slot on the rotor forms the first blade mounting slot phase angle;

[0034] 6) Calculate the rotor characteristic angle A10 through the laser sensor,

[0035] The rotor characteristic angle A10 is: the angle formed between the first blade mounting slot and the last blade mounting slot located in front of the first blade mounting slot on the rotor located next to the first blade mounting slot in the rotation direction,

[0036] The rotor can rotate counterclockwise or clockwise.

[0037] Typically, only three phase angles of varying degrees need to be identified to determine the rotor characteristic angle.

[0038] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized in that:

[0039] The three pairs of identical phase angles can be selected from: a phase angle of 54°, a phase angle of 49°, and a phase angle of 51°, respectively.

[0040] The three pairs of identical phase angles are respectively called the first phase angle A1, the second phase angle A2 and the third phase angle A3 according to the order of formation.

[0041] The rotor continues to rotate to form the fourth to sixth phase angles, and the fourth to sixth phase angles are also selected from: a phase angle of 54°, a phase angle of 49°, and a phase angle of 51°, respectively.

[0042] Calculation confirmed that the rotor characteristic angle A10 is 52°.

[0043] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized by:

[0044] Through the laser sensor, the robot is set to load automatically. When the rotor with blades to be installed is randomly grabbed and placed on the test platform, the initial phase angle of the rotor is A0.

[0045] Because the robot automatically loads and randomly grabs the rotor with blades to be installed and places it on the test platform, the initial phase angle of the rotor is A0.

[0046] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized by:

[0047] The robot rotates. When the robot detects that the signal S1 is ON for the first time, that is, when the groove of the blade mounting slot is detected, it is recorded as angle B1. At this time, the initial phase angle A0 = B1;

[0048] The robot continues to rotate and stops when it detects that signal S2 is OFF. When the robot detects that signal S2 is ON, it is recorded as angle B2. At this time, the first phase angle is:

[0049] A1=B2-B1;

[0050] The robot continues to rotate, and stops when it detects that signal S3 is OFF. The robot continues to rotate, and when it detects that signal S3 is ON, it is recorded as angle B3. At this time, the second phase angle is:

[0051] A2=B3-B2;

[0052] The robot continues to rotate, and stops when it detects that signal S4 is OFF. The robot continues to rotate, and when it detects that signal S4 is ON, it is recorded as angle B4. At this time, the third phase angle is:

[0053] A3=B4-B3,

[0054] B: Intermediate transition angle, which means the cumulative rotation angle of the rotor itself in each test;

[0055] n: Indicates the number of times S is detected to be ON.

[0056] The first to third phase angles will be reproduced in subsequent detections. Usually, detection of the third phase angle confirms that the detection is complete.

[0057] The final phase angle is obtained by subtracting the angle when the laser sensor was turned on last time from the angle when the laser sensor was turned on last time.

[0058] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized by:

[0059] As described above, the robot can continue to rotate until the fourth to sixth phase angles are obtained, and the fourth to sixth phase angles are also selected from: a phase angle of 54°, a phase angle of 49°, and a phase angle of 51°, respectively, and

[0060] A4=B5-B4,

[0061] A5=B6-B5,

[0062] A6=B7-B6.

[0063] For vane pumps with different structures or different characteristic angles, in order to obtain the rotor characteristic angle A10, it is necessary to identify products with 7 angles, and the formula A6=B7-B6 will be used.

[0064] The last final phase angle, such as the seventh phase angle, is obtained by subtracting the angle when the last laser sensor is turned on from the angle when the last laser sensor is turned on.

[0065] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized by:

[0066] If A10'>360, take A10=A10'-360,

[0067] A10': calculated feature angle, A10: actual feature angle.

[0068] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized in that: in order to obtain the characteristic angle of the rotor, the rotor structure has the following 7 groups of angle arrangement combinations:

[0069] one two three Four five six seven 54 49 51 49 54 52 51 49 51 49 54 52 51 54 51 49 54 52 51 54 49 49 54 52 51 54 49 51 54 52 51 54 49 51 49 52 51 54 49 51 49 54 51 54 49 51 49 54 52

[0070] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized in that: in order to obtain the characteristic angle of the rotor,

[0071] If the measured phase angle range is: 53.5 54.5, then take the value of 54°;

[0072] If the measured phase angle range is: 48.5 49.5, then take the value of 49°.

[0073] If the measured phase angle range is: 50.5 51.5, then take the value 51°,

[0074] If the phase angles are not within the above range, the rotor can be judged as unqualified, or the rotor angle recognition fails and needs to be re-captured and recognized.

[0075] Since the rotor characteristic angle is 52°, if the rotor characteristic angle range is measured, it is: 51.5 If it is between 52.5 and 52.5, then the value is 52°, which is considered qualified.

[0076] The angle range of the measured phase angle is ±0.5° of the theoretical angle. This is because due to factors such as laser sensor installation and PLC scanning time calculation, the recognized angle will deviate from the theoretical angle, so there is a judgment range.

[0077] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized by:

[0078] If 53.5 <a1> 54.5，48.5 <a2> 49.5，50.5 <a3> 51.5，48.5 <a4> 49.5，

[0079] 53.5 <a5>54.5,

[0080] According to one of the seven angle combinations of the rotor structure, the characteristic angle of the rotor can be confirmed to be 52°

[0081] Located, that is, starting from the 5th phase angle (the angle is equal to A1), the total phase angle from A0

[0082] Rotation Degrees:

[0083] A10 (total degree starting from A0, equivalent to B6) = A0+54+49+51+49+54;

[0084] Similarly, if 48.5 <a1> 49.5，50.5 <a2> 51.5，48.5 <a3> 49.5，53.5 <a4>54.5, then according to the second of the seven angle combinations of the rotor structure, it can be confirmed that the rotor characteristic angle is 52°

[0085] After the 4th phase angle, the total rotation from A0 is:

[0086] A10 (total degree starting from A0, equivalent to B5) = A0 + 49 + 51 + 49 + 54;

[0087] Similarly, if 50.5 <a1> 51.5，48.5 <a2> 49.5，53.5 <a3>54.5,

[0088] According to the third of the seven angle combinations of the rotor structure, it can be confirmed that the rotor characteristic angle is 52°

[0089] At the third phase angle (53.5 <a3>54.5), the total rotation from A0 is:

[0090] A10 (total degree starting from A0, equivalent to B4) = A0 + 51 + 49 + 54;

[0091] By analogy, if 48.5 <a1> 49.5，53.5 <a2> 54.5，51.5 <a3>52.5,

[0092] According to the fourth of the seven angle combinations of the rotor structure, the characteristic angle of the rotor can be confirmed to be 52°

[0093] At the second phase angle (53.5 <a3>54.5), the total rotation from A0 is:

[0094] A10 (total degree starting from A0, equivalent to B3) = A0 + 49 + 54;

[0095] If 53.5 <a1> 54.5，51.5 <a2> 52.5，50.5 <a3>51.5,

[0096] According to the fifth of the seven angle combinations of the rotor structure, the characteristic angle of the rotor can be confirmed to be 52°

[0097] At the first phase angle (53.5 <a1>54.5), the total rotation from A0 is:

[0098] A10 (total degree starting from A0, equivalent to B2) = A0 + 54;

[0099] Similarly, according to the sixth of the seven angle arrangements of the rotor structure,

[0100] It can be confirmed that the rotor characteristic angle of 52° is located after A0, and its total rotation degree from A0 is:

[0101] A10 (total degree starting from A0) = A0;

[0102] Similarly, according to the seventh of the seven angle arrangements of the rotor structure, the rotor characteristic angle of 52° is

[0103] Total rotation from A0 (equivalent to B7):

[0104] A10 (total degree starting from A0, equivalent to B7) = A0+51+54+49+51+49+54,

[0105] The judgment angle is ±0.5° of the theoretical angle. If it is not within this range, it is considered that the rotor angle recognition has failed and needs to be re-grasped and recognized.

[0106] As can be seen from the above, usually, by measuring the three phase angles A1-A-3, A10 (the total degree starting from A0) can be roughly determined.

[0107] Because of factors such as laser sensor installation and PLC scanning time calculation, the recognized angle will deviate from the theoretical angle, so there is a judgment range.

[0108] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized by:

[0109] The robot controls the sixth joint axis to rotate the rotor counterclockwise to the first blade installation slot, preparing for the subsequent workstation to automatically install the rotor blades.

[0110] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized by:

[0111] The response time of the detection signal of the laser sensor is 500-800μs, the detection distance is 25.0 to 100.0mm, and the output is PNP open collector.

[0112] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized by:

[0113] It uses a 6-axis robot with a load of 6-10kg.

[0114] According to the present invention, a method for calculating and testing the blade angle positioning of a vane pump rotor is characterized by:

[0115] The vane pump rotor is a vane pump rotor of an automobile engine or a gearbox, and the vane pump is a single-acting vane oil pump.

[0116] According to the present invention:

[0117] The present invention uses a high-precision, high-dynamic response laser sensor, uses a robot to automatically load, automatically grabs the rotor and places it at the front end of the laser sensor, the encoder angle of the robot grabbing joint automatically returns to zero, starts to rotate the rotor, and the laser sensor detects the gap of the rotor blade installation slot. The sensor will return 0 and 1 signals, and the characteristic angle of the rotor is calculated using the encoder signal of the robot grabbing joint and the signal of the laser sensor. Provide the precise angle of the rotor for blade assembly.

[0118] According to the present invention, a manipulator is used to grasp the rotor, and the encoder of the robot grasping joint is used in combination with the signal of the laser sensor to automatically identify and calculate the characteristic angle of the rotor through a program, thereby improving the reliability and automation rate of the rotor angle positioning; and realizing the automation of blade assembly without human intervention.

[0119] According to the present invention, by automatically identifying and calculating the characteristic angle of the rotor, the rotor can be rotated and positioned to a fixed angle, thereby realizing automatic blade assembly, improving the assembly automation rate of the production line, and reducing labor costs. Description of the drawings:

[0120] < / a2> < / a1> < / a2> < / a1> < / a2> < / a1> < / a3> < / a2> < / a1> < / a4> < / a3> < / a2> < / a1> Figure 1 This is the working principle diagram of the vane pump.

[0121] Figure 2 This is a schematic diagram of the rotor angle arrangement.

[0122] Figure 3 This is a schematic diagram of the completed blade assembly.

[0123] Figure 4 This is a schematic diagram of the rotor angle detection structure.

[0124] Figure 5 Schematic diagram of the rotor angle measurement principle.

[0125] In the figure, 1. Oil pressure chamber 2. Oil pressure port 3. Blade 4. Blade positioning ring 5. Stator 6. Rotor 7. Oil suction port 8. Oil suction chamber, 9 - characteristic angle 10 - first blade mounting groove, 11 - laser sensor, 12 - robot. DETAILED DESCRIPTION

[0126] Example:

[0127] When installing blades on a single-acting vane pump rotor, it is necessary to pre-calculate the number of blade mounting slots and their angles for the vane pump rotor used for blade insertion. After the single-acting vane pump rotor is set with the number of blade mounting slots and their angles calculated, a vane pump rotor with the required number of blade mounting slots and their angles arranged according to the pre-positioning calculation is finally formed for the blade assembly of the final rotor product.

[0128] According to a method for calculating a characteristic angle of a rotor of the present invention, based on the positioning calculation of the number and angle of blade mounting grooves set by positioning calculation on the rotor of a single-acting vane pump, the phase angle of the rotor for assembling other blades can be located and calculated, so as to smoothly pre-position the number and angle of blade mounting grooves of the rotor and assemble the rotor blades.

[0129] In this embodiment, it is assumed that the outer peripheral surface of the rotor has 7 blade mounting grooves, and a phase angle is formed between every two blade mounting grooves, wherein: 6 grooves include 3 pairs of the same phase angles, and the phase angles of different angles are arranged at intervals, and a rotor characteristic angle is formed between the first and last two blade mounting grooves, which is used to determine the position of installing the first blade mounting groove.

[0130] The characteristic angle of the rotor refers to the angle formed by rotating from the first blade mounting slot to the last blade mounting slot when looking down from the rotor axis. The first blade mounting slot refers to the mounting slot for the starting blade.

[0131] Setting: 3 pairs of identical phase angles include: phase angles of 54°, 49° and 51°, and the rotor characteristic angle A10 is calculated to be 52°, thereby obtaining a vane pump rotor with 7 blade mounting grooves on the outer circumference.

[0132] Hardware configuration of the present invention:

[0133]

[0134]

[0135] Set calculation and test method:

[0136] According to the rotor structure of the present invention, the following 7 groups of angle arrangements are set:

[0137] one two three Four five six seven 54 49 51 49 54 52 51 49 51 49 54 52 51 54 51 49 54 52 51 54 49 49 54 52 51 54 49 51 54 52 51 54 49 51 49 52 51 54 49 51 49 54 51 54 49 51 49 54 52

[0138] The rotor angle grasped by the robot is random. Below, the initial phase angle A0 and the first three angles A1, A2 and A3 of the rotor are identified by the laser sensor.

[0139] Set the signal of the laser sensor to S1, set the initial phase angle to A0, the first angle to A1, the second angle to A2, the third angle to A3, the characteristic angle to A10, and the intermediate transition angle to B to represent the cumulative angle of rotation of the rotor itself in each detection.

[0140] 1. First, the robot moves to the rotor angle detection position. At this time, the angle of the robot's sixth axis is fixed at 0°. The robot starts to rotate clockwise. When the robot detects that S1 is OFF, it stops. The robot continues to rotate clockwise. When the robot detects that S1 is ON, it is recorded as angle B1. At this time, the initial phase angle A0 = B1;

[0141] 2. The robot continues to rotate. When the robot detects that S1 is OFF, it stops. The robot continues to rotate until it detects that S1 is ON, which is recorded as angle B2. At this time, the initial phase angle A1 = B2-B1;

[0142] 3. The robot continues to rotate. When the robot detects that S1 is OFF, it stops. The robot continues to rotate until it detects that S1 is ON, which is recorded as angle B3. At this time, the initial phase angle A2 = B3-B2;

[0143] 4. The robot continues to rotate and stops when it detects that S1 is OFF. The robot continues to rotate and when it detects that S1 is ON, it is recorded as angle B4. At this time, the initial phase angle A3 = B4-B3.

[0144] And so on, the robot continues to rotate clockwise.

[0145] Until the initial phase angle A6 = B7-B6.

[0146] Then, according to the above calculation results, in order to obtain the rotor characteristic angle,

[0147] If the measured phase angle range is: 53.5 54.5, then take the value of 54°;

[0148] If the measured phase angle range is: 48.5 49.5, then take the value of 49°.

[0149] If the measured phase angle range is: 50.5 51.5, then take the value 51°,

[0150] If the phase angles are not within the above range, the rotor can be judged as unqualified, or the rotor angle recognition fails and needs to be re-captured and recognized.

[0151] Since the rotor characteristic angle is 52°, if the rotor characteristic angle range is measured, it is: 51.5 If it is between 52.5 and 52.5, then the value is 52°, which is considered qualified.

[0152] The angle range of the measured phase angle is ±0.5° of the theoretical angle. This is because due to factors such as laser sensor installation and PLC scanning time calculation, the recognized angle will deviate from the theoretical angle, so there is a judgment range.

[0153] Specifically, to obtain the rotor characteristic angle,

[0154] If 53.5 <a1> 54.5，48.5 <a2> 49.5，50.5 <a3> 51.5，48.5 <a4> 49.5，

[0155] 53.5 <a5>54.5,

[0156] According to one of the seven angle combinations of the rotor structure, the characteristic angle of the rotor can be confirmed to be 52°

[0157] Located, that is, starting from the 5th phase angle (the angle is equal to A1), the total phase angle from A0

[0158] Rotation Degrees:

[0159] A10 (total degree starting from A0, equivalent to B6) = A0+54+49+51+49+54;

[0160] Similarly, if 48.5 <a1> 49.5，50.5 <a2> 51.5，48.5 <a3> 49.5，53.5 <a4>54.5, then according to the second of the seven angle combinations of the rotor structure, it can be confirmed that the rotor characteristic angle is 52°

[0161] After the 4th phase angle, the total rotation from A0 is:

[0162] A10 (total degree starting from A0, equivalent to B5) = A0 + 49 + 51 + 49 + 54;

[0163] Similarly, if 50.5 <a1> 51.5，48.5 <a2> 49.5，53.5 <a3>54.5,

[0164] According to the third of the seven angle combinations of the rotor structure, it can be confirmed that the rotor characteristic angle is 52°

[0165] At the third phase angle (53.5 <a3>54.5), the total rotation from A0 is:

[0166] A10 (total degree starting from A0, equivalent to B4) = A0 + 51 + 49 + 54;

[0167] By analogy, if 48.5 <a1> 49.5，53.5 <a2> 54.5，51.5 <a3>52.5,

[0168] According to the fourth of the seven angle combinations of the rotor structure, the characteristic angle of the rotor can be confirmed to be 52°

[0169] At the second phase angle (53.5 <a3>54.5), the total rotation from A0 is:

[0170] A10 (total degree starting from A0, equivalent to B3) = A0 + 49 + 54;

[0171] If 53.5 <a1> 54.5，51.5 <a2> 52.5，50.5 <a3>51.5,

[0172] According to the fifth of the seven angle combinations of the rotor structure, the characteristic angle of the rotor can be confirmed to be 52°

[0173] At the first phase angle (53.5 <a1>54.5), the total rotation from A0 is:

[0174] A10 (total degree starting from A0, equivalent to B2) = A0 + 54;

[0175] Similarly, according to the sixth of the seven angle arrangements of the rotor structure,

[0176] It can be confirmed that the rotor characteristic angle of 52° is located after A0, and its total rotation degree from A0 is:

[0177] A10 (total degree starting from A0) = A0;

[0178] Similarly, according to the seventh of the seven angle arrangements of the rotor structure, the rotor characteristic angle of 52° is

[0179] Total rotation from A0 (equivalent to B7):

[0180] A10 (total degree starting from A0, equivalent to B7) = A0+51+54+49+51+49+54,

[0181] The judgment angle is ±0.5° of the theoretical angle. If it is not within this range, it is considered that the rotor angle recognition has failed and needs to be re-grasped and recognized.

[0182] As can be seen from the above, usually, by measuring the three phase angles A1-A-3, A10 (the total degree starting from A0) can be roughly determined.

[0183] Because of factors such as laser sensor installation and PLC scanning time calculation, the recognized angle will deviate from the theoretical angle, so there is a judgment range.

[0184] If the measured characteristic angle A10'>360 obtained by calculation, then:

[0185] A10=A10'-360.

[0186] The calculated A10 is the angle at which the robot's sixth axis needs to rotate the rotor clockwise to 52°, which is the rotor characteristic angle. The starting blade installation slot angle clockwise of the rotor characteristic angle is used to determine the position of the first blade installation slot. The last blade installation slot angle clockwise of the rotor characteristic angle is used to determine the position of the last blade installation slot.

[0187] The robot controls the sixth joint axis to rotate the rotor, preparing for the subsequent workstation to automatically install the rotor blades.

[0188] According to the present invention:

[0189] The present invention uses a high-precision, high-dynamic response laser sensor, uses a robot to automatically load, automatically grabs the rotor and places it at the front end of the laser sensor, the encoder angle of the robot grabbing joint automatically returns to zero, starts to rotate the rotor, and the laser sensor detects the gap of the rotor blade installation slot. The sensor will return 0 and 1 signals, and the characteristic angle of the rotor is calculated using the encoder signal of the robot grabbing joint and the signal of the laser sensor. Provide the precise angle of the rotor for blade assembly.

[0190] According to the present invention, a manipulator is used to grasp the rotor, and the encoder of the robot grasping joint is used in combination with the signal of the laser sensor to automatically identify and calculate the characteristic angle of the rotor through a program, thereby improving the reliability and automation rate of the rotor angle positioning; and realizing the automation of blade assembly without human intervention.

[0191] According to the present invention, by automatically identifying and calculating the characteristic angle of the rotor, the rotor can be rotated and positioned to a fixed angle, thereby realizing automatic blade assembly, improving the assembly automation rate of the production line, and reducing labor costs. < / a2> < / a1> < / a2> < / a1> < / a2> < / a1> < / a3> < / a2> < / a1> < / a4> < / a3> < / a2> < / a1>

Claims

1. A method for calculating and testing the blade angle positioning of a vane pump rotor, characterized in that: The blade angle positioning calculation method of the vane pump rotor includes: The outer peripheral surface of the rotor is assumed to have 7 blade mounting slots, and a phase angle is formed between every two blade mounting slots, wherein: 6 slots include 3 pairs of the same phase angle settings: the 3 pairs of the same phase angles include: phase angles of 54°, 49° and 51°, respectively. Phase angles of different angles are set at intervals, and a rotor characteristic angle is formed between the first and last blade mounting slots, which is used to determine the position of the first blade mounting slot. The rotor characteristic angle refers to the angle formed by rotating from the first blade installation slot to the last blade installation slot when looking down from the rotor axis. The first blade installation slot refers to the installation slot where the blade is initially installed. The calculated rotor characteristic angle A10 is 52°, thereby obtaining a vane pump rotor having 7 blade mounting grooves on the outer circumference, so as to smoothly perform blade positioning test and assembly on the rotor.

2. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 1, characterized in that: The blade angle of the rotor obtained by the blade angle positioning calculation method of the vane pump rotor is determined. Bit test, the testing method comprises the following steps: 1) Using a robot to automatically load materials, randomly grab the rotor to be installed with blades and place it on the test platform. Seven blade mounting slots have been formed on the rotor for mounting blades, and a laser sensor is provided on the outer peripheral side of the rotor; 2) Move the robot to the rotor angle detection position corresponding to the laser sensor, and the robot's encoder angle will automatically Return to zero and, at the same time, rotate the rotor; 3) When the laser sensor does not detect the blade mounting slot gap on the rotor and the robot encoder is OFF, The return detection signal S is 0; 4) When the laser sensor detects the blade mounting slot gap on the rotor and the robot encoder is ON, the robot returns to The returned detection signal S is 1; therefore, each time a detection signal S is 1, a phase angle formed by a blade mounting slot of the rotor is detected; 5) Continue to rotate the rotor until the sixth blade mounting slot on the rotor is detected to form a phase with the first blade mounting slot. Position angle; 6) Calculate the rotor characteristic angle A10 through the laser sensor, The rotor characteristic angle A10 is: located on the rotor next to the first blade mounting slot in the direction of rotation. The angle formed between the first blade mounting slot and the last blade mounting slot in front of it, The rotor can rotate counterclockwise or clockwise.

3. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 2, characterized in that: The three pairs of identical phase angles can be selected from: a phase angle of 54°, a phase angle of 49°, and a phase angle of 51°, respectively. The three pairs of identical phase angles are respectively called the first phase angle A1, the second phase angle A2 and the third phase angle A3 according to the order of formation. The rotor is continuously rotated to form fourth to sixth phase angles, and the fourth to sixth phase angles are also selected from: a phase angle of 54°, a phase angle of 49°, and a phase angle of 51°, respectively. Calculation confirmed that the rotor characteristic angle A10 is 52°.

4. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 2, characterized in that: Through the laser sensor, the robot is set to load automatically. When the rotor with blades to be installed is randomly grabbed and placed on the test platform, the initial phase angle of the rotor is A0.

5. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 2, characterized in that: The robot rotates. When the robot detects that the signal S1 is ON for the first time, that is, when the groove of the blade mounting slot is detected, it is recorded as angle B1. At this time, the initial phase angle A0 = B1; The robot continues to rotate and stops when it detects that signal S2 is OFF. When the robot detects that signal S2 is ON, it is recorded as angle B2. At this time, the first phase angle is: A1=B2-B1; The robot continues to rotate, and stops when it detects that signal S3 is OFF. The robot continues to rotate, and when it detects that signal S3 is ON, it is recorded as angle B3. At this time, the second phase angle is: A2=B3-B2; The robot continues to rotate, and stops when it detects that signal S4 is OFF. The robot continues to rotate, and when it detects that signal S4 is ON, it is recorded as angle B4. At this time, the third phase angle is: A3=B4-B3, B: Intermediate transition angle, which means the cumulative rotation angle of the rotor itself in each test; n: Indicates the number of times S is detected to be ON.

6. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 5, characterized in that: As described above, the robot can continue to rotate until the fourth to sixth phase angles are obtained, and the fourth to sixth phase angles are also selected from: a phase angle of 54°, a phase angle of 49°, and a phase angle of 51°, respectively, and A4=B5-B4, A5=B6-B5, A6=B7-B6. For vane pumps with different structures or different characteristic angles, if products with 7 angles need to be identified, the formula A6=B7-B6 will be used. The last final phase angle, such as the seventh phase angle, is obtained by subtracting the angle when the last laser sensor is turned on from the angle when the last laser sensor is turned on.

7. A method for calculating and testing the blade angle positioning of a vane pump rotor according to any one of claims 2 to 5, characterized in that: If A10'>360, take A10=A10'-360, A10': calculated feature angle, A10: actual feature angle.

8. A method for calculating and testing the blade angle positioning of a vane pump rotor according to any one of claims 2 to 5, characterized in that: In order to obtain the characteristic angle of the rotor, the rotor structure has the following 7 groups of angle arrangements:

9. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 8, characterized in that: To obtain the rotor characteristic angle A10, If the measured phase angle range is: 53.5 54.5, then take the value of 54°; If the measured phase angle range is: 48.5 49.5, then take the value of 49°. If the measured phase angle range is: 50.5 51.5, then take the value 51°, If the phase angles are not within the above range, the rotor can be judged as unqualified, or the rotor angle recognition fails and needs to be re-captured and recognized. Since the rotor characteristic angle is 52°, if the rotor characteristic angle range is measured, it is: 51.5 If it is between 52.5 and 52.5, then the value is 52°, which is considered qualified.

10. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 8, characterized in that: To obtain the rotor characteristic angle A10, If 53.5 <a1> 54.5，48.5 <a2> 49.5，50.5 <a3> 51.5，48.5 <a4> 49.5，53.5 <a5> 54.5, then according to one of the 7 angle combinations of the rotor structure, it can be confirmed that the rotor characteristic angle of 52° is located after the 5th phase angle, and its total rotation degree starting from A0 is: < / a4> < / a3> < / a2> < / a1> A10 (total degree starting from A0) = A0 + 54 + 49 + 51 + 49 + 54; Similarly, if 48.5 <a1> 49.5，50.5 <a2> 51.5，48.5 <a3> 49.5，53.5 <a4> 54.5，< / a4> < / a3> < / a2> < / a1> According to the second of the seven angle combinations of the rotor structure, it can be confirmed that the rotor characteristic angle of 52° is located after the fourth phase angle, and its total rotation degree starting from A0 is: A10 (total degree starting from A0) = A0 + 49 + 51 + 49 + 54; Similarly, if 50.5 <a1> 51.5，48.5 <a2> 49.5，53.5 <a3> 54.5，< / a3> < / a2> < / a1> According to the third of the seven angle combinations of the rotor structure, it can be confirmed that the rotor characteristic angle of 52° is located after the third phase angle, and its total rotation degree starting from A0 is: A10 (total degree starting from A0) = A0 + 51 + 49 + 54; By analogy, if 48.5 <a1> 49.5，53.5 <a2> 54.5，51.5 <a3> 52.5，< / a3> < / a2> < / a1> According to the fourth of the seven angle combinations of the rotor structure, it can be confirmed that the rotor characteristic angle of 52° is located after the second phase angle, and the total rotation degree starting from A0 is: A10 (total degree starting from A0) = A0 + 49 + 54; If 53.5 <a1> 54.5，51.5 <a2> 52.5，50.5 <a3> 51.5，< / a3> < / a2> < / a1> According to the fifth of the seven angle combinations of the rotor structure, it can be confirmed that the rotor characteristic angle of 52° is located after the first phase angle, and its total rotation degree starting from A0 is: A10 (total degree starting from A0) = A0 + 54; Similarly, according to the sixth of the seven angle arrangements of the rotor structure, It can be confirmed that the rotor characteristic angle of 52° is located after A0, and its total rotation degree from A0 is: A10 (total degree starting from A0) = A0; Similarly, according to the seventh of the seven angle arrangements of the rotor structure, the total rotation degree of the rotor characteristic angle of 52° starting from A0 is: A10 (total degree starting from A0) = A0+51+54+49+51+49+54, The judgment angle is ±0.5° of the theoretical angle. If it is not within this range, it is considered that the rotor angle recognition has failed and needs to be re-grasped and recognized. As can be seen from the above, usually, by measuring the three phase angles A1-A-3, A10 (the total degree starting from A0) can be roughly determined.

11. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 2, characterized in that: The robot controls the sixth joint axis to rotate the rotor counterclockwise to the first blade installation slot, preparing for the subsequent workstation to automatically install the rotor blades.

12. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 2, characterized in that: The response time of the detection signal of the laser sensor is 500-800μs, the detection distance is 25.0 to 100.0mm, and the output is PNP open collector.

13. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 2, characterized in that: It uses a 6-axis robot with a load of 6-10kg.

14. A method for calculating and testing the blade angle positioning of a vane pump rotor as claimed in claim 2, characterized in that: The vane pump rotor is a vane pump rotor of an automobile engine or a transmission, and the vane pump is a single-acting vane oil pump.

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