Motor assembling device and assembling method of rotor module

Abstract

The invention provides a motor assembling device and an assembling method of a rotor module, the motor assembling device comprises a clamping module, an ejector pin module and a rotor supporting device, the clamping module comprises a first assembling table and a second assembling table which horizontally slide along the X-axis direction, the first assembling table is provided with a chuck, the second assembling table is provided with a yoke part mounting part, and the ejector pin module is provided with an ejector pin. An assembling area is formed between the chuck and the yoke part mounting part; the ejector pin module comprises a first ejector pin and a second ejector pin which horizontally slide in the X-axis direction. The rotor supporting device is arranged below the assembling area and can horizontally move in the X-axis direction, and the rotor supporting device can move up and down to achieve adjustment and avoidance. According to the motor assembling device and the assembling method of the rotor module, automatic assembling of the rotor module can be achieved, the assembling efficiency is improved, the labor cost is reduced, meanwhile, the assembling precision and stability are guaranteed through precise mechanical positioning and automatic control, and the motor assembling device and the assembling method of the rotor module are suitable for the flexible production requirements of rotor modules of different specifications.

Description

Technical Field

[0001] This invention relates to an assembly device, and more particularly to a motor assembly apparatus and a method for assembling a rotor module. Background Technology

[0002] The motor consists of a stator and a rotor module; see [link / reference] Figure 12 The rotor module includes a P-end magnetic bearing 911, a rotor 912, and a yoke assembly 913. An annular protrusion is provided at one end of the rotor 912, which serves as a mounting position. The P-end magnetic bearing 911 and the yoke assembly 913 are respectively fitted into the mounting position from both ends of the rotor 912. The yoke assembly 913 is fixed to the P-end magnetic bearing 911 by bolts to form the rotor module.

[0003] Currently, rotor module assembly, especially in medium and large motors, primarily relies on manual methods for hoisting and assembling. Manual rotor hoisting is not only time-consuming and labor-intensive, but also prone to improper handling due to the large weight and size of the rotor, increasing the difficulty and risk of assembly. Therefore, the existing manual assembly method is not only inefficient but also cannot adequately guarantee safety, limiting further improvements in production efficiency.

[0004] Furthermore, the manual assembly process relies on the operator's experience and skill level, making it difficult to achieve standardization and consistency in the context of multi-batch, large-scale production. Therefore, to ensure the quality and performance of the motor, frequent manual adjustments and calibrations are required, increasing the assembly cycle and consequently impacting the product's market competitiveness. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a motor assembly device and a rotor module assembly method, which can realize efficient and high-precision automatic assembly of rotor modules, thereby overcoming the problems of low efficiency, poor safety and unstable assembly quality of manual assembly in the prior art.

[0006] This invention provides a motor assembly device, comprising: The clamping module includes a second base and a first assembly platform and a second assembly platform that are horizontally slidable on the second base along the X-axis and can move closer or further away from each other. The first assembly platform is provided with a chuck facing the second assembly platform and used for clamping the P-end magnetic bearing. The second assembly platform is provided with a yoke mounting part facing the chuck and used for clamping the yoke assembly. An assembly area is formed between the chuck and the yoke mounting part. The ejector module, used for clamping the rotor, includes a first ejector slide seat horizontally slidable along the X-axis on the first assembly platform and a second ejector slide seat horizontally slidable along the X-axis on the second base. The first ejector slide seat is provided with a first ejector pin coaxial with the chuck and facing the yoke mounting portion. The chuck is provided with a hole for the first ejector pin to pass through. The second ejector slide seat is provided with a second ejector pin facing the first ejector pin and coaxial with it. The second assembly platform and the yoke mounting portion are respectively provided with holes for the second ejector slide seat and the second ejector pin to pass through horizontally. A rotor support device, used to support the rotor, is located below the assembly area and can move horizontally along the X-axis. The rotor support device can move up and down to achieve adjustment and avoidance.

[0007] The chuck and two ejector pins of the motor assembly device are coaxially designed, and axial movement is uninterrupted, enabling the assembly of rotor modules and the entire machine. The ejector pins provide precise positioning and clamping of the rotor, ensuring its stability and coaxiality during assembly. They also provide a precise positioning reference for the assembly of the P-end magnetic bearing and yoke assembly, effectively guaranteeing assembly accuracy. The relative movement of the first and second assembly tables enables rapid alignment and pressing of the P-end magnetic bearing and yoke assembly, improving assembly efficiency.

[0008] As a support carrier for the rotor, the rotor support device can achieve precise support and positioning. Before assembly begins, the rotor support device is located below the assembly area and can be raised to a precise height to support the rotor, ensuring that the center height of the rotor is consistent with the center height of the ejector pin and chuck, providing an initial guarantee for perfect alignment. At the same time, it has a clearance function, which can allow the stator to enter in the early stage of the whole machine assembly. During the whole machine assembly process, it provides clearance space for the rotor module to be completely inserted into the stator. The liftable design solves the contradiction of supporting the initial position without interfering with subsequent movement. It has high flexibility of use and occupies little space.

[0009] This application employs the coordinated operation of various devices, which has the following advantages: Extremely high assembly precision and quality; the three major devices work together to ensure alignment accuracy, reduce or eliminate damage to components during assembly, and guarantee the electromagnetic performance and noise level of the motor.

[0010] With high production efficiency and automation, the entire process, from stator conveying, clamping, rotor support, and centering insertion, is completed automatically without human intervention. It is fast-paced and highly consistent, making it very suitable for mass production.

[0011] The process is highly reliable. The combination of double-pin push-in and rotor support avoidance solves the problem of rotors with large length-to-diameter ratios being prone to bending and tilting during assembly, making the process stable and reliable.

[0012] The equipment's flexibility and adjustability, along with its multi-axis movable design, allow it to adapt to the production of different motor models within a certain size range through program adjustments, reducing the difficulty and cost of model changeover and providing high flexibility in use.

[0013] By reducing reliance on operator skills, high-precision assembly work that heavily depends on experienced workers' expertise and feel is transformed into a standardized process guaranteed by equipment, thus reducing dependence on manual labor and training costs.

[0014] Furthermore, the first assembly platform is provided with a rotor support device in a avoidance state or a hole through which a rotor support device in a avoidance state passes horizontally along the X-axis.

[0015] Furthermore, the second base is provided with a first slide rail group, a second slide rail group and a third slide rail group that are parallel to each other. The second slide rail group and the third slide rail group are located inside the first slide rail group. The first assembly platform and the second assembly platform are slidably fitted on the first slide rail group. The rotor support device is slidably fitted on the second slide rail group. The second ejector pin slide is slidably fitted on the third slide rail group.

[0016] Furthermore, it also includes a detection device located at the inlet end of the assembly area for detecting the positional accuracy of the stator. The detection device includes a detection head that can move along the X-axis and extend into the stator. Multiple detection sensors for detecting distance are evenly distributed around a reference axis on the detection head. The reference axis is parallel to the axis of the first or second ejector pin and is located on the same horizontal plane.

[0017] Furthermore, the detection sensor is a laser displacement sensor.

[0018] Furthermore, the detection device also includes a detection bracket and at least two horizontal guide rods parallel to the ejector pin and horizontally slidable on the upper end of the detection bracket. The ends of the horizontal guide rods are provided with mounting seats, the detection head is mounted on the end of the mounting seat, and the detection bracket is provided with a detection cylinder connected to the mounting seat and used to drive its horizontal movement.

[0019] Furthermore, the detection sensors are multiple sets located on different radial surfaces.

[0020] Furthermore, there are four detection sensors located on the same radial plane.

[0021] Furthermore, adjacent sets of detection sensors are staggered.

[0022] Furthermore, it also includes a force detection device for detecting the clamping force between the first ejector pin and the second ejector pin.

[0023] Furthermore, the second base is provided with a fourth drive mechanism for driving the first assembly platform to slide and a fifth drive mechanism for driving the second assembly platform to slide. The fourth drive mechanism is a lead screw and nut assembly and a torque sensor is provided on the lead screw and nut assembly.

[0024] Furthermore, the first assembly table is equipped with a gripper motor for driving the grippers on the chuck to clamp and a chuck rotation motor for driving the chuck to rotate to achieve hole position adjustment.

[0025] Furthermore, the first slide drive mechanism is a lead screw and nut assembly.

[0026] Furthermore, the rotor support device is provided with a support block for supporting the rotor, enabling lifting and lowering, and ensuring that the rotor is coaxial with the ejector pin during assembly.

[0027] Furthermore, the rotor support device also includes a second slide block disposed in the assembly area and capable of horizontal movement along the X-axis direction. A first support seat and a second support seat are vertically mounted on the second slide block. A first support block is provided on the top of the first support seat, and a second support block is provided on the top of the second support seat. The first support block and the second support block are provided with slots with open upper ends. The axis of the slots is parallel to the sliding direction of the second slide block, and the axes of the two slots are located in the same vertical plane.

[0028] Furthermore, the first support block and / or the second support block can move horizontally along the X-axis and adjust the distance between the two brackets.

[0029] Furthermore, the groove is a V-shaped groove.

[0030] Furthermore, a support plate for mounting a second support block is slidably fitted onto the upper end of the second support base. The sliding direction of the support plate is parallel to the sliding direction of the second slide block. A limiting block is provided on the support plate, and a fixing hole is formed on the limiting block. One or more bolts pass through the fixing hole and connect to the positioning hole on the second support base for fixation. There are multiple positioning holes, which are equidistantly arranged along the sliding direction of the support plate. Furthermore, the yoke mounting part is provided with a mounting groove for positioning and mounting the yoke assembly and a fixing mechanism for fixing the yoke assembly. Both ends of the mounting groove have mounting windows that allow bolts to pass through as a whole.

[0031] Furthermore, the fixing mechanism is a quick-locking or quick-clamping mechanism.

[0032] Furthermore, the yoke mounting part includes a plate, on which a positioning seat is detachably mounted, the mounting groove is disposed on the positioning seat, and the plate and the positioning seat are provided with holes for the pin to pass through.

[0033] Meanwhile, the present invention also provides a method for assembling a rotor module, comprising the following steps: S201. Clamp the P-end magnetic bearing onto the chuck, install the yoke assembly onto the yoke mounting part, place the rotor in the slot of the rotor support device and adjust the height to make the rotor coaxial with the P-end magnetic bearing and the yoke assembly. S202, The two ejector pins move toward each other and press against the rotor; S203, the rotor support device moves down and makes way, while the chuck and yoke mounting part move towards each other until the P-end magnetic bearing and yoke assembly move to the rotor mounting position. S204. Rotate the chuck and align it with the hole. S205. The bolt passes through the yoke mounting part and fixes the yoke assembly to the magnetic bearing at the P end. S206. Disconnect the yoke assembly from the yoke mounting part; S207, The yoke mounting part is reset outwards; S208, the ejector pin and chuck move toward the end away from the yoke mounting part, driving the rotor module to move toward the end away from the yoke mounting part, so as to avoid the rotor support device moving upward and the stator feeding. S209. The rotor support device rises and supports the assembled rotor module. S210, the second ejector pin moves outward and resets, providing space for the stator to feed.

[0034] The motor assembly device of the present invention has the following advantages: Extremely high assembly precision and quality; the three major devices work together to ensure alignment accuracy, reduce or eliminate damage to components during assembly, and guarantee the electromagnetic performance and noise level of the motor.

[0035] With high production efficiency and automation, the entire process, from stator conveying, clamping, rotor support, and centering insertion, is completed automatically without human intervention. It is fast-paced and highly consistent, making it very suitable for mass production.

[0036] The process is highly reliable. The combination of double-pin push-in and rotor support avoidance solves the problem of rotors with large length-to-diameter ratios being prone to bending and tilting during assembly, making the process stable and reliable.

[0037] The equipment's flexibility and adjustability, along with its multi-axis movable design, allow it to adapt to the production of different motor models within a certain size range through program adjustments, reducing the difficulty and cost of model changeover and providing high flexibility in use.

[0038] By reducing reliance on operator skills, high-precision assembly work that heavily depends on experienced workers' expertise and feel is transformed into a standardized process guaranteed by equipment, thus reducing dependence on manual labor and training costs. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the motor assembly device of the present invention; Figure 2 This is a schematic diagram of the installation of the rotor support device of the present invention; Figure 3 This is a schematic diagram of the structure of the first assembly table of the motor assembly device of the present invention; Figure 4 This is a schematic diagram of the first assembly platform of the motor assembly device of the present invention from another angle. Figure 5 This is a schematic diagram of the structure of the yoke mounting part of the motor assembly device of the present invention; Figure 6 This is a schematic diagram of the rotor support device of the motor assembly apparatus of the present invention; Figure 7 This is a schematic diagram of the rotor support device of the motor assembly apparatus of the present invention from another angle; Figure 8 This is a cross-sectional view of the rotor support device of the motor assembly apparatus of the present invention; Figure 9 This is a schematic diagram of the installation of the limiting block of the rotor support device in the motor assembly apparatus of the present invention. Figure 10 for Figure 8 Enlarged view of section A in the middle; Figure 11 This is a schematic diagram of the structure of the testing device of the motor assembly apparatus of the present invention; Figure 12 This is a schematic diagram of the rotor module assembly. Figure 13 Simulation of deformation when a 50kg workpiece is clamped; Figure 14 Simulation of deformation when a 100kg workpiece is clamped; Figure 15 Simulation of deformation when a 150kg workpiece is clamped.

[0040] In the diagram: 2. Motor assembly device; 2a. Assembly area; 21. Second base; 22. First assembly table; 222. Chuck; 2221. Gripper motor; 2222. Chuck rotation motor; 223. Fourth drive mechanism; 23. Second assembly table; 232. Yoke mounting part; 2321. Mounting window; 2322. Positioning seat; 233. Fifth drive mechanism; 2231. Torque sensor; 241. First ejector slide; 242. First ejector; 243. First slide drive mechanism; 251. Second ejector slide; 252. Second ejector; 253. Second slide drive mechanism; 26. Rotor support. Support device, 261, third base, 2611, rack, 262, second slide, 2621, sixth drive mechanism, 263, first support seat, 2631, seventh drive mechanism, 264, first support block, 265, second support seat, 2650, positioning hole, 2651, eighth drive mechanism, 266, second support block, 267, limit block, 2670, fixing hole, 268, tray, 27, detection device, 271, mounting base, 2711, detection head, 272, detection cylinder, 273, detection sensor, 911, P-end magnetic bearing, 912, rotor, 913, yoke assembly. Detailed Implementation

[0041] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0042] See Figures 1-11 This application provides a motor assembly machine for assembling rotor modules.

[0043] It mainly includes a flipping and repositioning device (subject to separate application), a motor assembly device 2, and a rotor support device 26.

[0044] The motor assembly device 2 is located at the second station, which is mainly used for the assembly process. The motor assembly device 2 includes a clamping module and an ejector module. The clamping module includes a chuck 222 and a yoke mounting part 232 that are arranged facing each other and can move horizontally along the X-axis to move closer or further away from each other. The ejector module includes two ejector pins that are arranged facing each other and can move horizontally along the X-axis to move closer or further away from each other. The two ejector pins are coaxially arranged with the chuck 222, forming an assembly area 2a between the chuck 222 and the yoke mounting part 232. The entire assembly process is carried out in the assembly area 2a. Holes for the ejector pins to pass through are provided on the chuck 222 and the yoke mounting part 232, so that the movement of the chuck 222, the yoke mounting part 232 and the ejector pins will not interfere with each other during the entire assembly process.

[0045] The rotor support device 26 is used to support the rotor 912 and the rotor module 91. The rotor support device 26 is located below the assembly area 2a. It can move horizontally along the X-axis and can move up and down, thereby realizing the height adjustment of the rotor 912 or the rotor module 91 to meet the assembly requirements. At the same time, it can avoid interference or collision with its components during the assembly process.

[0046] The chuck and two ejector pins of the motor assembly device are coaxially designed, and axial movement is unimpeded, enabling the assembly of rotor modules and the assembly of the entire machine. The ejector pins push the centerline of the rotor, the centerline of the chuck, and the centerline of the fixed stator to coincide. During rotor module assembly, this avoids collisions and friction between the yoke components, the P-end magnetic bearing, and the rotor. Simultaneously, during the overall machine assembly, it ensures the alignment of the rotor module when inserted into the stator cavity, fundamentally preventing scratching (stator rubbing) between the rotor module and the stator inner wall, greatly improving product quality and yield. It serves as the rotor's supporting carrier. The rotor support device enables precise support and positioning. Before assembly begins, the rotor support device is located below the assembly area and can be raised to a precise height to support the rotor, ensuring that the center height of the rotor is consistent with the center height of the ejector pin and chuck, providing an initial guarantee for perfect alignment. At the same time, it has a clearance function, which can allow the stator to enter in the early stage of the whole machine assembly. During the whole machine assembly process, it provides clearance space for the rotor module to be completely inserted into the stator. The liftable design solves the contradiction of supporting the initial position without interfering with subsequent movement. It has high flexibility of use and occupies little space.

[0047] This application employs the coordinated operation of various devices, which has the following advantages: Extremely high assembly precision and quality, with each device working together to ensure alignment accuracy, reduce or eliminate damage to components during assembly, and guarantee the electromagnetic performance and noise level of the motor.

[0048] With high production efficiency and automation, the entire process, from stator conveying, clamping, rotor support, and centering insertion, is completed automatically without human intervention. It is fast-paced and highly consistent, making it very suitable for mass production.

[0049] The process is highly reliable. The combination of double-pin push-in and rotor support avoidance solves the problem of rotors with large length-to-diameter ratios being prone to bending and tilting during assembly, making the process stable and reliable.

[0050] The equipment's flexibility and adjustability, along with its multi-axis movable design, allow it to adapt to the production of different motor models within a certain size range through program adjustments, reducing the difficulty and cost of model changeover and providing high flexibility in use.

[0051] By reducing reliance on operator skills, high-precision assembly work that heavily depends on experienced workers' expertise and feel is transformed into a standardized process guaranteed by equipment, thus reducing dependence on manual labor and training costs.

[0052] To further improve assembly accuracy, this application also includes a detection device 27 located on the movement path of the flipping and positioning device. This detection device 27 is used to detect the positional accuracy of the stator. The detection device 27 includes a detection head 2711, which can move along the X-axis and extend into the shaft hole of the stator 92. Multiple detection sensors 273 are evenly distributed around the detection head 2711 around a reference axis. These sensors 273 are used to detect distance, and thus to detect the coaxiality between the stator and the reference axis. The reference axis is a predefined virtual axis parallel to the axis of the ejector pin and located on the same horizontal plane as the axis of the ejector pin. If the stator... Even slight positional deviations or tilts during stator clamping can significantly reduce final assembly accuracy. These deviations may originate from errors in the stator blank itself, positioning errors in the flipping and repositioning device, or clamping errors in the clamping module. In this application, the detection device is located on the flipping and repositioning path, performing in-situ measurements on the stator before it enters the final assembly station. It directly detects the coaxiality of the stator's inner hole with the ideal reference axis, rather than assuming the clamping position is absolutely correct. This allows for timely detection and quantification of stator clamping errors, providing a data basis for subsequent compensation and ensuring that only stators with correct positioning proceed to the next stage of assembly, thus eliminating batch defects caused by errors in previous processes.

[0053] Meanwhile, this application employs a detection sensor, i.e., a non-contact measurement method, which will not cause any scratches or damage to the inner wall of the stator, thus ensuring product quality. Multiple sensors are evenly distributed circumferentially on the detection head, which can simultaneously collect data from multiple points on the circumference of the inner hole. This not only calculates the coaxiality but also assesses whether the roundness and diameter of the hole meet the requirements. This is a multi-dimensional and comprehensive quality inspection. The reference axis is defined as parallel and coplanar with the ejector pin axis, which means that the detection benchmark and the assembly benchmark are a unified, virtual, ideal axis. The measurement results directly reflect the fit between the inner hole of the stator and the future rotor motion trajectory, and the data is of great guiding significance.

[0054] Preferably, the detection device is set at the feeding end of the assembly area 2a. Its layout is compact and saves space. There is no need to set up a separate workstation with additional mechanisms for the detection process. The detection device 27 directly uses the moving path of the flipping and positioning device 1 as the conveyor line. Only the detection head and its driving mechanism need to be installed on the side of the path. This makes the layout of the whole equipment very compact and highly integrated, reducing the equipment footprint and overall complexity.

[0055] In this embodiment, the detection sensor 273 is a laser displacement sensor. The laser displacement sensor has measurement accuracy and resolution at the micron or even submicron level, which is crucial for the precision assembly of the stator 92 and the rotor. The laser sensor can accurately capture minute deviations and provide extremely accurate feedback data for the system, which is the basis for achieving ultra-high precision assembly. At the same time, the laser measurement is performed at the speed of light, and the sensor has a very high response frequency, capable of performing tens of thousands or even millions of measurements per second. This allows the detection head to collect a massive amount of data points in a very short time during the process of extending into the inner hole of the stator and moving to scan, thus achieving a balance between detection efficiency and production efficiency.

[0056] Specifically, the detection device 27 also includes a detection bracket and horizontal guide rods parallel to the ejector pin and horizontally slidable on the upper end of the detection bracket. There are at least two horizontal guide rods, and the ends of the horizontal guide rods are provided with mounting seats 271. The detection head 2711 is installed at the end of the mounting seat 271. The detection bracket is provided with a detection cylinder 272 connected to the mounting seat 271 and used to drive its horizontal movement. At least two horizontal guide rods parallel to the ejector pin axis form a high-rigidity kinematic pair. The multi-guide rod design can effectively resist the bending moment and torque generated by the self-weight or inertia of the detection head and its mounting seat during the extension process, preventing its front end from drooping or swinging. The constraint of the guide rods ensures that the mounting seat can only move horizontally along a strict X-axis, eliminating slight deflection and pitch, which is crucial for the detection head. It can ensure that the relative position and angle of multiple laser sensors remain unchanged during the process of extending into the stator inner hole, ensuring measurement accuracy.

[0057] In this application, multiple sets of detection sensors are located on different radial planes (with the movement direction of the detection head 2711 as the axis). These sensors can detect geometric parameters such as coaxiality and roundness at multiple positions along the axial direction (X-axis) of the inner hole of the stator 92. The arrangement of multiple sets of sensors along different radial planes is equivalent to establishing multiple measuring stations in the inner hole of the stator 92. When the detection head extends into the hole, it can simultaneously acquire data from multiple continuous cross-sections within the hole. This allows for a comprehensive evaluation of the spatial geometry of the entire inner hole cavity, ensuring that it is a perfect straight line from the entrance to the depth, and not just that the entrance is aligned. Furthermore, it can improve detection efficiency; in this embodiment, there are four detection sensors 273 located on the same radial plane, and the detection sensors 273 on adjacent groups are staggered; to determine the position of a circle's center, theoretically at least three points are needed. Using four sensors (evenly distributed at 90°) is the best balance between accuracy and reliability. With the data from four points, algorithms such as the least squares method can be used to very accurately fit the actual center coordinates of the cross-section. The calculation results are far more stable and accurate than those from three points. At the same time, four points can efficiently evaluate the roundness and diameter of the hole. If only two or three sensors are used... The sensor cannot effectively determine whether the hole is perfectly round or elliptical (or other irregular shapes); at the same time, if one sensor causes abnormal data due to contamination or a brief malfunction, the system can still calculate a valid result using data from the other three sensors, ensuring the robustness and continuity of the detection process and preventing downtime due to a single point of failure; furthermore, the staggered arrangement design enables full-circumferential scanning of the stator inner hole without blind spots, capturing all defects; if all sensors on the radial surfaces are aligned (co-located), then all measuring points will be concentrated on the four generatrices of the inner wall, meaning that the generatrices... The area between the points was completely unmeasured, resulting in a huge detection blind zone. Dents, scratches, and protrusions on the inner wall would be missed if they were not on these generatrices. By using staggered settings (e.g., if the installation angles of one group of sensors are 0°, 90°, 180°, and 270°, then the installation angles of adjacent groups of sensors would become 45°, 135°, 225°, and 315°), it is equivalent to scanning in the circumferential direction while moving axially. This allows the detection points to cover the entire inner hole surface, forming a dense measurement point cloud, achieving full surface scanning and eliminating blind zones.

[0058] The structure of each device is described in detail below: The motor assembly device 2 also includes a second base 21, on which a first assembly platform 22 and a second assembly platform 23 are horizontally slidably mounted along the X-axis (i.e., perpendicular to the Y-axis). The first assembly platform 22 and the second assembly platform 23 can move closer to or further away from each other. A chuck 222 and a yoke mounting part 232 are respectively mounted on the first assembly platform 22 and the second assembly platform 23, and are arranged facing each other. Specifically, the chuck 222 is a three-jaw chuck, which is mounted on the first assembly platform 22, and the yoke mounting part 232 is mounted on the second assembly platform. On 23, the axis of the chuck 222 is parallel to the X-axis and is used to clamp the P-end magnetic bearing 911. The yoke mounting part 232 is used to mount the yoke assembly 913. The first assembly platform 22 and the second assembly platform 23 serve as mounting carriers for mounting the chuck 222 and the yoke mounting part 232, providing horizontal power to achieve horizontal movement in opposite or opposite directions, while also being able to withstand the gravity of the rotor 912 or rotor module 91. In this embodiment, the first assembly platform 22 also serves as a mounting carrier for one of the ejector pins, improving the structural compactness.

[0059] This application also includes a force detection device for detecting the clamping force between the two ejector pins. Specifically, a fourth drive mechanism 223 and a fifth drive mechanism 233 are provided on the second base 21. The fourth drive mechanism 223 is used to drive the first assembly platform 22 to move horizontally in the X-axis direction, and the fifth drive mechanism 233 is used to drive the second assembly platform 23 to move horizontally in the X-axis direction, thereby controlling the different positions and distances of the first assembly platform 22 and the second assembly platform 23 in the X-axis direction. In this application, the fourth drive mechanism 223 and / or the fifth drive mechanism 233 are screw and nut assemblies, and at least one screw and nut assembly is provided with a torque sensor 2231 for detecting the force between the first assembly platform 22 and the second assembly platform 23 when clamping. In this application, one ejector pin is set on the first assembly platform 22, so it is mainly used to detect and control the force of the two ejector pins when clamping the rotor, so as to avoid the clamping force between the ejector pins being too large or too small.

[0060] The first assembly table 22 is equipped with a gripper motor 2221 and a chuck rotation motor 2222. The gripper motor 2221 is used to drive the gripper on the chuck 222 to open or close, and the chuck rotation motor 2222 is used to drive the chuck 222 to rotate. This allows for the alignment of the holes (P-end magnetic bearing 911 and stator 92 end) during assembly, facilitating the fixing with bolts.

[0061] In this embodiment, a first ejector pin slide 241 and a first slide drive mechanism 243 for driving the first ejector pin slide 241 to move horizontally along the X-axis direction are provided on the first assembly platform 22. The first ejector pin slide 241 is provided with a first ejector pin 242 coaxial with the chuck 222. At the same time, a hole for the first ejector pin 242 to pass through is opened on the chuck 222. The first slide drive mechanism 243 is a lead screw and nut assembly. A second ejector pin slide 251 and a second slide drive mechanism 253 for driving the second ejector pin slide 251 to move horizontally along the X-axis direction are also slidably mounted on the second base 21. A second ejector pin 252 is provided on the second ejector pin slide 251, and the second ejector pin 252 faces the chuck. The disc 222 is coaxial with the chuck 222 (or the first ejector pin 242). Holes for the second ejector pin slide 251 and the second ejector pin 252 to pass through are respectively provided on the second assembly platform 23 and the yoke mounting part 232, so that the yoke mounting part 232 (or the second assembly platform 23) and the second ejector pin 252 (or the second ejector pin slide 251) can move independently and avoid interference. In this embodiment, the first slide drive mechanism 243 is a lead screw and nut assembly. The first assembly platform 22 is provided with a hole for accommodating the rotor support device 26 in the avoidance state or for accommodating the rotor support device 26 in the avoidance state to pass horizontally along the X-axis. The avoidance state refers to the rotor support device 26 being in a lowered position.

[0062] In this application, a first slide rail group, a second slide rail group, and a third slide rail group are provided on the second base 21. Each slide rail group includes two slide rails or guide rails that are parallel to each other. The second slide rail group and the third slide rail group are located inside the first slide rail group. The first assembly platform 22 and the second assembly platform 23 are slidably fitted on the first slide rail group. The second slide rail group is located at one end near the first assembly platform 22. The rotor support device 26 is slidably fitted on the second slide rail group. The third slide rail group is located at one end near the second assembly platform 23. The second ejector pin slide 251 is slidably fitted on the third slide rail group.

[0063] The first assembly platform 22 includes two first side plates. In this embodiment, the two first side plates are parallel to each other and perpendicular to the horizontal plane. An upper base plate and a lower base plate are respectively provided at the upper and lower ends of the two first side plates. A plurality of first sliders are provided at the lower end of the lower base plate and slide on the first slide rail assembly through the first sliders. The upper base plate serves as the mounting carrier, and the chuck 222 and the first ejector pin slide 241 are mounted on the upper base plate. A hole structure is formed between the upper base plate, the lower base plate, and the two first side plates. The opening direction of the hole structure is parallel to the sliding direction of the first assembly platform 22, which is used to accommodate the rotor support device 26 in the avoidance state or to allow the rotor support device 26 in the avoidance state to pass horizontally along the X-axis. This can ensure that there is no interference in the assembly process. Specifically, it can increase the distance that the first assembly platform 22 can move inward and the distance that the rotor support device 26 can move outward, avoiding the interference of the rotor support device 26 with the chuck 222 and the first ejector pin 242. This ensures smooth assembly while improving the compactness and complexity of the structure.

[0064] The second assembly platform 23 includes two second side plates. In this embodiment, the two second side plates are parallel to each other and perpendicular to the horizontal plane. The lower ends of the two side plates are provided with a plurality of second sliders, which slide onto the first slide rail assembly. A plate body is fixedly connected to the upper ends of the two second side plates. The yoke mounting part 232 (positioning seat 2322) is set on the plate body. The plate body is perpendicular to the sliding direction of the second assembly platform 23. A hole is opened on the plate body to allow the second ejector slide 251 (including the second ejector 252 at its upper end) to pass horizontally through. This can ensure that there is no interference in the assembly process. Specifically, it can increase the distance that the second assembly platform 23 can move inward and the distance that the second ejector slide 251 can move outward, thus avoiding interference between the second ejector slide 251 and the second assembly platform 23. This ensures smooth assembly while improving the compactness and complexity of the structure. The second assembly platform 23 in this application is mainly used for the assembly of the yoke assembly and bears relatively small forces.

[0065] The second ejector slide 251 is slidably mounted on the third slide rail assembly. The width of the second ejector slide 251 is smaller than the width of the second assembly platform 23. It can pass through the second assembly platform 23 as a whole in the horizontal direction of the X-axis. The second ejector 252 is fixed at the upper end of the second ejector slide 251. The second ejector 252 can pass through the yoke mounting part on the second assembly platform 23. When moving horizontally in the X-axis direction, the second ejector slide 251 and the second assembly platform 23 do not interfere with each other.

[0066] The first ejector pin 242 and the second ejector pin 252 in this application are made of 60Si2Mn (spring steel).

[0067] The rotor support device 26 includes a third base 261, a second slide 262, a first support base 263, a second support base 265, a sixth drive mechanism 2621, a seventh drive mechanism 2631, and an eighth drive mechanism 2651.

[0068] The third base 261 serves as a mounting carrier for mounting the second slide 262. The third base 261 is installed within the assembly area 2a, providing a mounting carrier for the second slide 262 and space for lifting. The third base 261 is positioned above the lower base plate of the first assembly platform 22 and fixed to the second base 21, without affecting the horizontal movement of the first assembly platform 22. The second slide 262 slides horizontally along the X-axis onto the third base 261. A support assembly is installed on the second slide 262, comprising a first support base 263 and a second support base 265. The line connecting the first support base 263 and the second support base 265 is parallel to the second slide 262. The sliding direction of 2 is set along the X-axis. Specifically, the first support 263 and the second support 265 are vertically slidably mounted on the second slide block 262 via guide rods, thereby enabling them to lift independently. A first support block 264 is provided on the top of the first support 263, and a second support block 266 is provided on the top of the second support 265. The first support block 264 and the second support block 266 are provided with slots with open upper ends for lifting the rotor. In this application, the axis of the slot is parallel to the X-axis, and the axes of the two slots are located in the same vertical plane to ensure the axial direction of the rotor. A lifting space is formed between the two slots for lifting the rotor.

[0069] The sixth drive mechanism 2621 is connected to the second slide 262 and is used to drive the second slide 262 to move horizontally; the seventh drive mechanism 2631 is connected to the first support 263 and is used to drive the first support 263 to rise and fall; the eighth drive mechanism 2651 is connected to the second support 265 and is used to drive the second support 265 to rise and fall.

[0070] This application features a first support 263 and a second support 265 capable of independent lifting and lowering, allowing for individual height adjustment of the two support blocks to adapt to the assembly requirements of rotors of different specifications and types, offering high flexibility. Simultaneously, the entire block can be lowered, creating clearance space above and preventing interference during rotor module and overall machine assembly, thus improving assembly efficiency and safety, and reducing the overall space occupied by the equipment. The groove design on the support blocks effectively wraps around and confines the rotor journal, preventing it from rolling or slipping, providing stable radial support. The two groove axes being located in the same vertical plane ensures the coaxiality of the support, avoiding additional stress caused by support misalignment. The second slide adopts a horizontal sliding structure, enabling horizontal sliding and axial movement of the rotor, facilitating collaborative operation with other workstations on the assembly line and achieving continuous and automated assembly.

[0071] The rotor support device in this application achieves precise, flexible, and automated adjustment of the rotor position through horizontal movement and independent lifting in two vertical directions. It perfectly solves the problems of supporting, centering, leveling, and axial movement of different rotor models, and provides a reliable guarantee for the efficient and coordinated operation of the rotor in the overall assembly process.

[0072] In this application, guide rod assemblies are provided on the side walls or lower ends of the first support base 263 and the second support base 265. The guide rod assemblies are vertically slidably mounted on the second slide block 262, thereby enabling the lifting and lowering of the first support base 263 and the second support base 265. The guide rod assemblies consist of multiple guide rods, which are symmetrically arranged on both sides of the first support base 263 or the second support base 265 to achieve stable support and lifting and lowering of the first support base 263 and the second support base 265. A certain height space is provided at the lower end of the second slide block 262 to provide space for the guide rods to move downward. When the first support base 263 and the second support base 265 are lowered to a low position, they are in a avoidance state. At this time, when the rotor support device 26 and the first assembly platform 22 move closer to each other (such as the rotor support device 26 moving inward and / or the first assembly platform 22 moving outward), the rotor support device 26 can move or pass through the hole of the first assembly platform 22 without affecting the movement path of the first assembly platform 22.

[0073] The slot in this application is a V-groove. When the cylindrical rotor journal is placed into the V-groove, under the action of gravity, the journal will naturally slide towards the bottom of the included angle of the V-groove and eventually stabilize on the center line. This greatly simplifies the operation process, quickly achieves the initial alignment of the rotor, lays a good foundation for subsequent precision leveling, and improves work efficiency. It can greatly improve the versatility of the device. Different models of motors may have different rotor journal diameters, and the V-groove, through its inclined sidewalls, can well adapt to shaft diameters that are too large or too small within a certain range, reducing equipment costs and tooling change time, and has strong dimensional adaptability. At the same time, the two inclined sides of the V-groove form a natural confining space, which can effectively prevent the rotor from axially rolling or laterally sliding under the support state, providing a stable and safe foundation for subsequent assembly operations and preventing accidents.

[0074] To reduce friction between the rotor and the mounting bracket, two sets of support rollers are provided on both sides of the mounting bracket. The rotation axis of the support rollers is parallel to the axis of the mounting bracket, and a support space is formed between the support rollers. When the rotor needs to be moved radially, the traditional V-groove and rotor journal experience sliding friction, which results in high resistance and may cause crawling. However, in this application, the design of the support rollers changes the contact between the rotor journal and the support point to rolling friction. In the final step of assembly, when it is necessary to align the mounting holes at the end of the rotor module with the mounting holes at the end of the motor housing, the rolling action of the support rollers can easily achieve a small rotation of the rotor module. This is convenient and labor-saving, and can effectively avoid damage to the rotor surface caused by sliding friction, thus improving assembly quality and efficiency. The support rollers not only reduce the labor intensity of operators, but also reduce equipment wear caused by excessive friction, ensure assembly accuracy, and extend the service life of the device.

[0075] In order to adapt to the assembly of motors of different specifications, in this application, the first support block 264 or the second support block 266 can be horizontally slidable, thereby adjusting the distance between the two brackets. The rotor lengths of motors of different specifications are different, and the span (distance between support points) of the bearing positions at both ends of the rotor varies greatly. By adopting an adjustable support structure, the distance between the two support points can be adjusted by sliding the support block. There is no need to replace the entire support structure or prepare multiple sets of special equipment, which realizes multi-purpose use, good versatility and high flexibility.

[0076] In this embodiment, the second support block 266 adopts a sliding structure. Specifically, a support plate 268 is slidably mounted on the upper end of the second support base 265. The second support block 266 is fixedly installed on the support plate 268. The sliding direction of the support plate 268 is parallel to the sliding direction of the second slide block 262. A limiting block 267 is provided on the support plate 268, and a fixing hole 2670 is provided on the limiting block 267. One or more bolts pass through the fixing hole 2670 and connect with the positioning hole 2650 on the second support base 265, thereby fixing the support plate 268. Multiple positioning holes 2650 are provided, equidistantly arranged along the sliding direction of the support plate 268. When adjustment is required, the bolts on the limiting block 267 are loosened, the position of the support plate is adjusted along the sliding direction, and then the bolts are tightened to fix it when the desired position is reached. By setting multiple fixing holes, the support plate can be accurately positioned at different positions, thereby adapting to the assembly requirements of rotors of different lengths. It can achieve fast, reliable, and wide-range position adjustment. Although it is not fully automated, it perfectly solves the need to adjust the support distance through an extremely ingenious and simple mechanical structure.

[0077] Specifically, the limiting block 267 is set on the top surface of the second support 265, and the upper end of the limiting block 267 is provided with a limiting groove, which can accommodate the partial embedding of the tray 268, thereby achieving precise positioning of the tray 268; its structure is compact, its manufacturing cost is low, and its assembly is convenient.

[0078] In this application, the sixth drive mechanism 2621 includes a rack 2611 mounted on the third base 261 and a first drive motor mounted on the second slide 262. The length direction of the rack 2611 is parallel to the sliding direction of the second slide 262. A drive gear is provided at the output end of the first drive motor. The drive gear meshes with the rack 2611. The first drive motor drives the drive gear to rotate, and the drive gear meshes with the rack 2611, thereby driving the second slide 262 to move along the length direction of the rack 2611. For the assembly of the rotor yoke assembly 913, high precision is not required in the axial direction. The gear and rack transmission method can meet the needs of rapid adjustment, thereby reducing the overall manufacturing cost.

[0079] In this application, both the seventh drive mechanism 2631 and the eighth drive mechanism 2651 adopt a screw and nut structure. Specifically, it includes a second drive motor, a synchronous pulley, and a screw. The synchronous pulley is rotatably mounted on the second slide 262, and its rotation axis is perpendicular to the horizontal plane. A nut is provided inside the synchronous pulley. The screw is vertically fixed to the lower end of the first support 263 or the second support 265. The screw is sleeved in the nut and meshes with the nut (or is threadedly connected). By rotating the nut, the relative movement of the two on the axis can be realized. The second drive motor is connected to the synchronous pulley through a synchronous belt. Specifically, a synchronous pulley is provided at the output end of the second drive motor, and it is connected to another synchronous pulley through a synchronous belt. Finally, the vertical movement of the first support 263 or the second support 265 is realized, that is, lifting is achieved. In this embodiment, the second drive motor is a servo motor, which is used to precisely adjust the height of the first support 263 and the second support 265.

[0080] The yoke mounting portion 232 is provided with a mounting groove for positioning and mounting the yoke assembly 913 and a fixing mechanism for fixing the yoke assembly 913. Simultaneously, mounting windows 2321 corresponding to the mounting holes on the yoke assembly 913 penetrate both ends of the mounting groove. These mounting windows 2321 allow bolts to pass through completely, enabling manual insertion of the bolts. One end of the bolt passes through the yoke assembly 913 and is threadedly connected to the P-end magnetic bearing, thus achieving a fixed connection between the yoke assembly 913 and the P-end magnetic bearing 911. To achieve rapid assembly and disassembly of the yoke assembly 913, in this embodiment, the fixing mechanism is a quick-locking or quick-clamping mechanism, enabling rapid clamping or loosening of the yoke assembly 913 and improving assembly efficiency.

[0081] The yoke mounting part 232 in this application includes a plate facing the chuck 222, i.e., perpendicular to the X-axis. A positioning seat 2322 is detachably mounted on the plate, facing the chuck. A mounting groove is provided on the positioning seat 2322, and a positioning pin is provided on the positioning seat 2322 for quick positioning of the yoke assembly 913, improving the assembly efficiency and accuracy of the yoke assembly 913. The detachable structure allows for the replacement of different positioning seats 2322 according to different specifications of the yoke assembly 913, offering wide applicability and high flexibility. Holes for a pin to pass through are provided on the plate and the positioning seat 2322. Due to the relative movement of the second pin 252 and the yoke mounting part 232... To prevent the second ejector pin 252 from being too long and deforming during tightening due to the large distance, this application provides a hole on the yoke mounting part 232 to allow the upper end of the second ejector pin slide 251 to pass through. That is, an inverted U-shaped hole is provided on the plate and the positioning seat 2322 to form a horseshoe structure, which allows the upper end of the second ejector pin slide 251 and the second ejector pin 252 at the upper end of the second ejector pin slide 251 to pass through. The second ejector pin slide 251 can pass through the second assembly table 23 as a whole. Therefore, relative movement between the second ejector pin slide 251 and the yoke mounting part 232 can be realized without interference. It can also reduce the axial length of the second ejector pin 252, avoid the problem of excessive deformation during tightening, and ensure the rigidity and accuracy during tightening.

[0082] This rotor support device achieves precise, flexible, and automated adjustment of the rotor position through horizontal movement and independent lifting in two vertical directions. It perfectly solves the problems of supporting, centering, leveling, and axial movement of different rotor models, providing a reliable guarantee for the efficient and coordinated operation of the rotor in the overall assembly process.

[0083] To improve operational safety, a light grating is installed along the edge of assembly area 2a to detect whether personnel are approaching during the assembly process, thereby improving safety and preventing accidents. When personnel are detected approaching, an emergency stop or audible and visual alarm is triggered.

[0084] Meanwhile, the present invention also provides a method for assembling a rotor module, comprising the following steps: S201. Clamp the P-end magnetic bearing 911 onto the chuck 222, install the yoke assembly 913 onto the yoke mounting part 232, place the rotor 912 into the slot of the rotor support device 26 and adjust the height so that the rotor 912 is coaxial with the P-end magnetic bearing 911 and the yoke assembly 913. Since absolute coaxiality cannot be guaranteed in actual processes, a threshold can be set so that the deviation between the axis of the rotor and the axis of the P-end magnetic bearing is within the threshold. S202, The two ejector pins move toward each other and press against the rotor 912; S203, the rotor support device 26 moves down and makes way, while the chuck 222 and the yoke mounting part 232 move towards each other until the P-end magnetic bearing 911 and the yoke assembly 913 move to the mounting position of the rotor 912. S204. Rotate chuck 222 and align it with the hole; S205. The bolt passes through the yoke mounting part 232 and fixes the yoke assembly 913 to the P-end magnetic bearing 911. S206. Disconnect the yoke assembly 913 from the yoke mounting part 232; S207, the yoke mounting part 232 is reset outward; S208, ejector pin and chuck 222 move toward the end away from yoke mounting part 232 to avoid the upward movement of rotor support device 26 and the feeding of stator 92; S209, Rotor support device 26 rises and supports the assembled rotor module; S210, the second ejector pin 252 moves outward and resets, providing space for the stator to be fed; The detection device is used to detect the position of the stator to be entered. During operation, the flipping and positioning device moves horizontally and moves the stator to the detection station at the feeding end of assembly area 2a. The testing process includes the following steps: S4. The detection device 27 is activated, causing the detection head 2711 to extend into the stator to detect the positional accuracy of the stator. The flipping and positioning device adjusts the position of the stator according to the detection results, so that the axis of the stator is coaxial with the reference axis, that is, the axis of the stator is parallel to the axis of the ejector pin and is located on the same horizontal plane. In the actual assembly process, due to the influence of the process, it is impossible to ensure that the axis of the stator is absolutely coaxial with the reference axis. Therefore, a threshold can be set, which is the deviation between the actual axis of the stator and the reference axis. When the deviation is less than the threshold, the two are considered to be coaxial. In order to improve the detection efficiency and accuracy, the detection device 27 detects at least two different radial surfaces inside the stator. S5, Detection device 27 is reset; The following describes the assembly steps for the entire machine: The assembly of the complete machine includes the following steps: S61, The flipping and repositioning device moves the stator into the assembly area 2a and makes the stator 92 coaxial with the ejector pin; S62, chuck 222 and rotor support device 26 move synchronously toward the second ejector pin 252, so that the end of the rotor module enters the stator and meets the clamping condition; S63, the second ejector pin 252 moves toward the first ejector pin 242 and presses against the end of the rotor module; S64, Rotor support device 26 moves downward to avoid obstruction; S65, chuck 222 and ejector pin move synchronously, moving rotor module 91 into stator 92 until it is in place; S66, chuck 222 and two ejector pins are reset outwards respectively; S67. Secure the P-end magnetic bearing 911 to the stator 92 with bolts; S68, The flipping and repositioning device 1 is reset to its rearward position; S69, Motor unloading: The motor that is about to be assembled is unloaded from the flipping and repositioning device 1.

[0085] Since the ejector pin and the workpiece (rotor or rotor module) have a certain length and weight, a certain elastic deformation will occur when clamped. If the deformation is large, the side wall of the rotor will come into contact or rub against the inner wall of the stator, which will affect the assembly of the rotor module and the stator. In this application, the deformation of workpieces (including rotors or rotor modules) of different weights when clamped (by ejector pin) is simulated and analyzed. Taking the minimum diameter of the first ejector pin as 300mm and the minimum diameter of the second ejector pin as 550mm, and the weights of the clamped workpieces as 50kg, 100kg and 150kg respectively as examples.

[0086] See Figure 13 When clamping a 50kg workpiece, the sinking at both ends of the workpiece is about 0.048mm, and the sinking at the middle of the workpiece is about 0.06mm.

[0087] See Figure 14 When clamping a 100kg workpiece, the sinking at both ends of the workpiece is about 0.095mm, and the sinking at the middle of the workpiece is about 0.12mm.

[0088] See Figure 15 When clamping a 150kg workpiece, the sinking amount at both ends of the workpiece is about 0.14mm, and the sinking amount at the middle of the workpiece is about 0.18mm.

[0089] Its deformation meets the design requirements of the assembly.

[0090] The aforementioned flipping and repositioning device is used for loading, clamping, and repositioning the stator, and for adjusting the height and orientation of the stator; the flipping and repositioning device can move horizontally along the Y-axis direction, and is used to move the stator from the first station to the assembly area 2a of the second station.

[0091] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A motor assembly device, characterized in that, include: The clamping module includes a second base and a first assembly platform and a second assembly platform that are horizontally slidable on the second base along the X-axis and can move closer or further away from each other. The first assembly platform is provided with a chuck facing the second assembly platform and used for clamping the P-end magnetic bearing. The second assembly platform is provided with a yoke mounting part facing the chuck and used for clamping the yoke assembly. An assembly area is formed between the chuck and the yoke mounting part. The ejector module, used for clamping the rotor, includes a first ejector slide seat horizontally slidable along the X-axis on the first assembly platform and a second ejector slide seat horizontally slidable along the X-axis on the second base. The first ejector slide seat is provided with a first ejector pin coaxial with the chuck and facing the yoke mounting portion. The chuck is provided with a hole for the first ejector pin to pass through. The second ejector slide seat is provided with a second ejector pin facing the first ejector pin and coaxial with it. The second assembly platform and the yoke mounting portion are respectively provided with holes for the second ejector slide seat and the second ejector pin to pass through horizontally. A rotor support device, used to support the rotor, is located below the assembly area and can move horizontally along the X-axis. The rotor support device can move up and down to achieve adjustment and avoidance.

2. The motor assembly device as described in claim 1, characterized in that: It also includes a force detection device for detecting the clamping force between the first ejector pin and the second ejector pin.

3. The motor assembly device as described in claim 1, characterized in that: The first assembly platform is provided with a rotor support device for accommodating a rotor in a avoidance state or a hole through which the rotor support device in a avoidance state passes horizontally along the X-axis.

4. The motor assembly device as described in claim 1, characterized in that: The second base is provided with a fourth drive mechanism for driving the first assembly platform to slide and a fifth drive mechanism for driving the second assembly platform to slide. The fourth drive mechanism is a lead screw and nut assembly and a torque sensor is provided on the lead screw and nut assembly.

5. The motor assembly device as described in claim 1, characterized in that: The first assembly table is equipped with a gripper motor for driving the grippers on the chuck to clamp and a chuck rotation motor for driving the chuck to rotate to achieve hole position adjustment.

6. The motor assembly device as described in claim 1, characterized in that: The second base is provided with a first slide rail group, a second slide rail group and a third slide rail group that are parallel to each other. The second slide rail group and the third slide rail group are located inside the first slide rail group. The first assembly platform and the second assembly platform are slidably fitted on the first slide rail group. The rotor support device is slidably fitted on the second slide rail group. The second ejector pin slide is slidably fitted on the third slide rail group.

7. The motor assembly device as described in claim 1, characterized in that: The yoke mounting part is provided with a mounting groove for positioning and installing the yoke assembly and a fixing mechanism for fixing the yoke assembly. Both ends of the mounting groove have mounting windows that allow bolts to pass through as a whole.

8. The motor assembly device as described in claim 1, characterized in that: It also includes a detection device located at the inlet end of the assembly area for detecting the positional accuracy of the stator. The detection device includes a detection head that can move along the X-axis and extend into the stator. Multiple detection sensors for detecting distance are evenly distributed around a reference axis on the detection head. The reference axis is parallel to the axis of the first or second ejector pin and is located on the same horizontal plane.

9. The motor assembly device as described in claim 1, characterized in that: The rotor support device includes a second slide block disposed in the assembly area and capable of horizontal movement along the X-axis. A first support seat and a second support seat are vertically mounted on the second slide block. A first support block is provided on the top of the first support seat, and a second support block is provided on the top of the second support seat. The first support block and the second support block are provided with slots with open upper ends. The axis of the slots is parallel to the sliding direction of the second slide block, and the axes of the two slots are located in the same vertical plane.

10. A method for assembling a rotor module, characterized in that: Using the motor assembly apparatus as described in any one of claims 1-9, and comprising the following steps: S201. Clamp the P-end magnetic bearing onto the chuck, install the yoke assembly onto the yoke mounting part, place the rotor in the slot of the rotor support device and adjust the height to make the rotor coaxial with the P-end magnetic bearing and the yoke assembly. S202, the first ejector pin and the second ejector pin move toward each other and press against the rotor; S203, the rotor support device moves down and makes way, while the chuck and yoke mounting part move towards each other until the P-end magnetic bearing and yoke assembly move to the rotor mounting position. S204. Rotate the chuck and align it with the hole. S205. The bolt passes through the mounting window on the yoke mounting section and fixes the yoke assembly to the magnetic bearing at the P end. S206. Disconnect the yoke assembly from the yoke mounting part; S207, The yoke mounting part is reset outwards; S208, the first ejector pin, the second ejector pin and the chuck move toward the end away from the yoke mounting part to avoid the rotor support device moving upward and the stator feeding; S209. The rotor support device rises and supports the assembled rotor module. S210, the second ejector pin moves outward and resets.

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