Surface-mounted multi-pole permanent magnet motor rotor magnetic steel bonding quality on-line detection method

Abstract

The application provides a method for on-line detection of the bonding quality of a surface-mounted multi-magnetic-pole permanent magnet synchronous motor rotor magnetic steel, simultaneously provides a tool for pre-detection of the size of the magnetic steel and a detection device for detecting the outer circumferential quality of the magnetic steel, realizes pre-detection of the size of the magnetized magnetic steel, realizes pole inspection of the to-be-bonded magnetic steel through a magnetic pole probe, realizes detection of the size and geometric tolerance of the bonded magnetic steel through a method for detecting the outer circumferential run-out of the magnetic steel through a contact type or non-contact type sensor, realizes on-line detection of the bonding quality of the magnetic steel, and guarantees product quality.

Description

Technical Field

[0001] This invention belongs to the field of automated production of permanent magnet synchronous servo motors, and specifically relates to a method for online quality inspection of automated production equipment for bonding rotor magnets of surface-mounted multi-pole permanent magnet synchronous servo motors. Background Technology

[0002] Permanent magnet synchronous servo motors are a type of brushless motor. Their main structure consists of a wound stator, a permanent magnet rotor, and supporting end caps and housings. The stator of this type of motor is generally assembled from a stator assembly with wound coils and a supporting housing, facilitating heat dissipation. The permanent magnets are bonded to the rotor, eliminating energized windings, resulting in virtually no losses and heat generation, and high efficiency. The motor has a wide power range, capable of producing very high power outputs; it also has high inertia and a low maximum speed, which decreases rapidly with increasing power, making it suitable for low-speed, stable operation applications. Furthermore, the motor offers advantages such as maintenance-free operation, high efficiency, low operating temperature, minimal electromagnetic radiation, and long lifespan, making it suitable for various environments and widely used in aerospace, aviation, and other defense fields, as well as high-end civilian applications such as new energy vehicles.

[0003] As the primary component responsible for torque transmission in an electric motor, the rotor is a crucial part of the motor. A permanent magnet servo motor rotor typically consists of a shaft, yoke, permanent magnets, electronic commutation elements, bearings, and other components. To ensure good servo characteristics and establish a sinusoidal magnetic field, the magnets are generally designed as surface-mounted multi-pole structures, with the N and S poles sequentially mounted on the yoke, as shown in the attached diagram. Figure 1 As shown, bonding is a very convenient method for installing magnets. After bonding, a heat-shrink sleeve or composite fiber is wrapped around the outer circumference of the magnet for structural reinforcement. Foreign and domestic motor manufacturers have long since achieved automated assembly of motor rotors in various civilian fields such as automotive motors and power tool motors. Automated production lines are diverse in type and have precise functional positioning.

[0004] However, if the bonded magnets are slightly misaligned or the bonding surfaces are not tightly adhered, the outer circumferential dimensions and geometric tolerances of the bonded magnets will exceed the acceptable limits, causing significant problems for the subsequent assembly of the reinforcing sheath. Furthermore, if the poles of a multi-pole magnet are misaligned, the assembled motor will not function properly. Therefore, online inspection of the magnet poles and the assembly quality of the outer circumference of the bonded magnets on an automated production line can promptly remove substandard products, facilitating rework. This improves production efficiency while ensuring product quality and saving production costs.

[0005] Searching the domestic patent database, we found the utility model patent CN213783091U entitled "An Automatic Bonding Machine for Permanent Magnet Motor Magnets". This patent mainly uses a bayonet connection to replace the bolt connection, which improves work efficiency and solves the problems of large equipment footprint and high energy consumption. However, it does not have the function of online product quality detection.

[0006] Neodymium iron boron (NdFeB) permanent magnets are currently the highest-performing permanent magnet materials, exhibiting high remanent magnetic induction (Br), coercivity (Hc), and maximum energy product at room temperature. They are also abundant and significantly cheaper than rare-earth cobalt permanent magnets. Since their introduction, they have been rapidly adopted in industrial and civilian permanent magnet motors. However, due to their high iron and neodymium content, NdFeB permanent magnets are prone to corrosion, necessitating surface coating treatments. Commonly used coatings include epoxy resin spraying, electrophoresis, and electroplating. These surface treatments all affect the dimensional accuracy of the magnets; failure to inspect these treatments can negatively impact the quality of products produced on automated magnet bonding production lines. Furthermore, incorrect arrangement of the magnet poles can prevent the assembled motor from functioning properly.

[0007] In summary, how to complete online quality inspection of products, and how to inspect surface treatment methods and the arrangement order of magnetic poles in online quality inspection, are urgent problems that need to be solved. Summary of the Invention

[0008] The technical problem solved by this invention is to address the deficiency of existing technologies in being unable to perform online inspection of the production quality of surface-mounted multi-pole permanent magnet synchronous servo motor rotor magnet bonding automation equipment. This invention proposes a method for online inspection of the bonding quality of surface-mounted multi-pole permanent magnet synchronous motor rotor magnets. It also proposes tooling for pre-inspection of magnet dimensions and a detection device for detecting the outer circumference quality of the magnets. This achieves pre-inspection of the magnetized magnet dimensions, checks the magnetic poles of the magnets to be bonded using a magnetic pole probe, and detects the dimensions and dimensional tolerances of the bonded magnets using contact or non-contact methods to detect the outer circumferential runout. This enables online inspection of the magnet bonding quality, ensuring product quality. This type of technology has not been mentioned in relevant literature.

[0009] A tooling for pre-inspection of magnet dimensions, comprising an inner ring and an outer ring;

[0010] The inner diameter of the outer ring is equal to the outer diameter of the magnet. Several grooves are axially opened on the inner wall of the outer ring, and the grooves are evenly distributed circumferentially. The axial length of the groove is the same as the length of the magnet, and the groove width is the same as the width of the magnetic shielding sheet of the inner ring tooling.

[0011] The outer wall of the inner ring is evenly distributed with a number of magnetic shielding sheets. The number of magnetic shielding sheets is the same as the number of grooves. The opening position corresponds one-to-one with the position of the grooves. The axial length of the magnetic shielding sheets is the same as the axial length of the grooves on the inner wall of the outer ring.

[0012] The inner ring is coaxially inserted into the outer ring, and the magnetic shielding sheet is clearance-fitted with the groove on the inner wall of the outer ring; the inner wall of the outer ring, the magnetic shielding sheet, and the outer wall of the inner ring together form several cavities;

[0013] Several magnets are pushed into each cavity and separated from each other by magnetic shielding sheets, so that in the initial state before assembly, the magnets do not contact the bonding surface of the rotating shaft.

[0014] A detection device for detecting the outer circumferential quality of a magnet includes a lower ejector pin 7, a normal adjustment slide rail 8, a workpiece support slide 9, a displacement sensor, an axial adjustment slide rail 11, an upper ejector pin 12, a drive motor 14, a transmission pulley 15, a support frame 16, a first servo screw, and a second servo screw; the support frame 16 is used to support other components of the detection device.

[0015] The workpiece support platform 9 is located on the normal adjustment slide rail 8, and a through hole is provided in the middle of the slide rail; the upper part of the workpiece support platform 9 is used to place the rotor 13 to be tested, and the lower part is provided with a lower ejector pin 7, which can move up and down on the axial adjustment slide rail.

[0016] The drive motor 14 and the transmission pulley 15 work together under the drive of the second servo screw to make the rotor 13 to be tested rotate.

[0017] The displacement sensor is used to measure the dimensional data of the rotor 13 to be detected;

[0018] The upper pin 12 is located on the axial adjustment slide rail 11 and above the rotor 13 to be tested, and can slide up and down on the axial adjustment slide rail 11.

[0019] Furthermore, the axial adjustment slide rail 11 and the normal adjustment slide rail 8 enable the alignment of the axis of the rotor to be tested with the axes of the upper and lower ejector pins.

[0020] Furthermore, the first servo screw drives the upper and lower ejector pins to move and press them against the rotor to be tested. Then, the second servo screw drives the drive motor to move until it contacts the transmission pulley. The drive motor drives the pulley to rotate, and the pulley drives the rotor to be tested to rotate in a circular motion.

[0021] A method for online inspection of the bonding quality of rotor magnets in an automated production line for surface-mounted multi-pole permanent magnet synchronous servo motors, combining the aforementioned tooling and the aforementioned detection device, is characterized by comprising the following steps:

[0022] Step 1: Pre-inspection of magnet dimensions: Push the magnets into the tooling cavity in sequence with N and S intervals. If there are magnets that cannot be pushed into the cavity or whose dimensions do not match after being pushed in, then the magnets are rejected.

[0023] Step 2: After the magnets are bonded together, the order of the magnetic poles is checked;

[0024] Step 3: Quality inspection of the outer circumference assembly after magnet bonding, including the following sub-steps:

[0025] Step 3.1: The robot places the workpiece on the slide table, which slides on the normal adjustment slide rail to move the workpiece to be inspected to the inspection station;

[0026] Step 3.2: The upper ejector pin 1 and the lower ejector pin 2 are coaxially positioned above and below the workpiece, respectively. The upper and lower ejector pins move on the axial adjustment slide rail by the action of the servo screw until the upper and lower ejector pins press against the rotor workpiece to be tested, so that the workpiece is detached from the support slide and is in a suspended state.

[0027] Step 3.3: Drive the motor close to the rotor under the drive of another set of lead screws, and drive the rotor to be tested to rotate by rubbing the rotor with the transmission belt pulley;

[0028] Step 3.4: Data acquisition is achieved by using a calibration axis to calibrate the relative position, followed by sensor acquisition of relative position data;

[0029] Step 3.5: The displacement sensor moves laterally closer to the tooling to be inspected until dimensional data is obtained, then stops moving closer;

[0030] Step 3.6: The collected data is calculated by the automated production equipment control system to obtain the runout of the outer circumference of the magnet, and then the outer circumference diameter of the magnet is determined.

[0031] Step 3.7: After all inspections are completed, the robot moves the workpiece to the unloading area.

[0032] Furthermore, in step 1, the criterion for judging size mismatch is: if the linear dimension of the magnet exceeds the lower tolerance limit, then the magnet is not centered after being pushed into the cavity, and there is a significant gap between it and the inner wall of the cavity. In this case, it is judged as size mismatch.

[0033] Furthermore, in step 2, the detection is performed using a magnetic pole detection sensor.

[0034] Furthermore, the characteristic is that in step 3.6,

[0035] The formula for calculating the circumferential runout of a magnet is as follows:

[0036] Δ i =l-l0

[0037] In the formula: Δ i — The circumferential runout of the magnet at the i-th sampling point, in mm;

[0038] l i—The sensor detection value at the i-th sampling point, in mm;

[0039] l0 — Value detected by the basic 0-point position sensor, in mm;

[0040] For example |Δ i If |≤Δ(system-defined circular runout), the magnet bonding quality of the rotor is deemed acceptable; otherwise, it is deemed unacceptable.

[0041] The formula for calculating the diameter of a magnet is as follows:

[0042]

[0043] Where: D—measured outer diameter of rotor magnet, mm;

[0044] D0—Theoretical design value of the outer diameter of the rotor magnet, in mm;

[0045] Δ i —The circumferential runout of the magnet at the i-th sampling point, in mm;

[0046] N—The number of data points collected, without unit, is specified by the automated production equipment control system;

[0047] If the calculated magnet diameter meets the magnet diameter threshold set by the automated production equipment control system, the magnet bonding quality of the rotor is deemed qualified; otherwise, it is deemed unqualified.

[0048] Invention Effects

[0049] The advantages of this invention are: it does not change the main process of the rotor automatic assembly production line, but only uses special tooling and independent functional units to realize online detection of the bonding quality of rotor magnets, which greatly improves the product quality of the automated production line while ensuring the production efficiency of the automated production line.

[0050] 1. By designing a special tooling for assembling and positioning magnets, the initial screening of the processing accuracy of magnets was achieved. This effectively ensures that the gaps between magnets are uniform, the magnetic field sinusoidal characteristics are good, and the outer circumference of the bonded magnets is regular, without high points or sharp edges.

[0051] 2. The magnetic pole detection unit uses a magnetic pole polarity detection sensor to detect the polarity of the 8 pre-assembled magnets, ensuring that the N and S polarities of the magnets are arranged alternately and in the correct order after bonding, so as to ensure that the whole machine can operate normally after assembly.

[0052] 3. The assembly quality inspection unit for the outer circumference of the magnet after bonding uses a contact displacement sensor or a non-contact displacement sensor to detect the circular runout and diameter of the outer circumference of the magnet. This solves the problems of the inability to detect the external dimensions of the magnet and the difficulty in guaranteeing the form and position tolerance of the outer circumference of the magnet after bonding, thus ensuring the smooth assembly of the subsequent tightening ring.

[0053] In summary, the online detection of magnet bonding quality in automated rotor magnet bonding equipment enables the timely removal of substandard products, facilitating rework. This improves production efficiency while ensuring product quality and saving production costs. Modifying existing equipment is very simple, with flexible installation methods, easy and time-saving operation, and high safety and reliability. Attached Figure Description

[0054] Appendix Figure 1 Schematic diagram of surface-mounted 8-pole magnet structure

[0055] Appendix Figure 2 A schematic diagram of the magnet assembly and positioning fixture, where a represents the outer ring of the magnet assembly fixture, b represents the inner ring of the magnet assembly fixture, and c represents the assembly diagram of the inner and outer rings of the magnet assembly fixture.

[0056] Appendix Figure 3 Schematic diagram of rotor magnet outer circumference assembly quality inspection unit

[0057] Explanation of reference numerals in the attached drawings: 1-Rotor shaft; 2-Magnetic yoke; 3-Magnet; 4-Spare plate; 5-Magnet; 6-Magnetic sheet; 7-Lower ejector pin; 8-Normal adjustment slide rail; 9-Workpiece support slide; 10-Displacement sensor; 11-Axial adjustment slide rail; 12-Upper ejector pin; 13-Rotor to be tested; 14-Drive motor; 15-Transmission pulley; 16-Support frame. Detailed Implementation

[0058] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] See Figures 1-3 The method involved in this invention mainly includes the following three steps:

[0060] 1. Pre-inspection of magnet dimensions

[0061] Pre-inspection of the mechanical dimensions of magnets is achieved using specialized tooling for magnet assembly. Taking an 8-pole surface-mount magnet as an example, the tooling is shown in the attached figure. Figure 2 As shown, this tooling can be used for pre-inspection of the mechanical dimensions of magnets, and can also be used as a guide and positioning tooling for magnet assembly on automated production lines.

[0062] The fixture consists of an outer ring and an inner ring, which are nested together for use. The structure of the outer ring is shown in the attached diagram. Figure 2 As shown in Figure a, the external structure of the outer ring tooling, such as the positioning platform and mounting holes, is designed according to the clamping method of the rotor assembly automated production line. The inner diameter of the tooling is consistent with the outer diameter of the assembled magnets. Eight slender grooves are evenly opened on the inner wall of the tooling, and the width of the grooves is consistent with the width of the magnetic shielding sheet of the inner ring tooling. This dimension is consistent with the gap after the eight magnets are assembled in the design drawings of the specific model motor. The axial length of the groove is consistent with the length of the magnet.

[0063] The inner ring structure is shown in the attached figure. Figure 2 As shown in Figure b, it is a polygonal structure with 8 magnetic shielding sheets evenly distributed on the outer wall. The width of the magnetic shielding sheet is in close fit with the width of the narrow groove of the outer ring, and the axial length is consistent with the axial length of the narrow groove of the outer ring.

[0064] Insert the eight magnetic shielding plates of the inner ring of the special tooling for assembling magnets into the narrow groove of the outer ring tooling, and align the end faces of the two workpieces to complete the assembly of the special tooling for assembling magnets. (See attached image.) Figure 2 As shown in Figure c.

[0065] When viewed from the cross-section, the assembled fixture forms eight evenly distributed cavities. The internal dimensions of the cavities are consistent with the shape of a single magnet in the motor design drawings, and the inner circle design dimension is slightly larger than the shaft dimension of the magnet to be bonded.

[0066] Specially designed tooling is used for assembling magnets. In actual production, the operator first pushes eight magnets into the eight compartments of the tooling in an N, S interval. The magnets are separated by magnetic isolation plates on the tooling to prevent them from attracting each other. If the linear dimensions of the magnets after machining exceed the upper tolerance limit, the magnets will not be able to fit into the eight compartments; if the linear dimensions exceed the lower tolerance limit, the magnets will not be centered after being pushed into the compartments, and a noticeable gap will be visible between the magnets and the inner walls of the compartments. Through simple and intuitive observation, the linear dimensions of the magnets can be pre-checked, and magnets with out-of-tolerance dimensions can be rejected in this preparatory step. After all eight magnets are installed, the prepared magnet assembly and positioning tooling is placed in a tray to await automatic rotor assembly.

[0067] During automated equipment production, a robotic arm picks up a pre-filled magnet assembly fixture and places it at the shaft of the magnets to be assembled. Pre-mixed adhesive is applied to the magnet mounting surface on the shaft via a dispensing nozzle. A pressure head, designed in conjunction with the fixture, pushes eight magnets out of the fixture's cavity. The fixture's limiting mechanism prevents the magnets from adhering or colliding with each other during this process. A certain gap is maintained between the magnets and the shaft's bonding surface before they are completely removed from the fixture cavity, ensuring that the adhesive applied to the shaft is not squeezed out and that sufficient adhesive is retained on the bonding surface, thus guaranteeing the magnets' bonding strength.

[0068] This fixture can not only stably fix the magnet, but also play a guiding role in the automated assembly of rotating shaft magnets.

[0069] 2. Detection of the magnetic pole arrangement sequence after the magnets are bonded together

[0070] The magnets of the surface-mounted multi-pole permanent magnet synchronous servo motor rotor should be arranged with the N and S poles alternately, as shown in the attached figure. Figure 1 As shown, the arrangement order of magnets can be detected by detecting the magnetic poles of the magnets.

[0071] For magnetic pole detection, a magnetic pole detection sensor can be used. These sensors are widely available and readily procurable. They can quickly detect the N and S poles of the magnetic material being tested and output signals for the system to determine whether the required parameters are met. Figure 1 The requirement is that the N and S polarities of the medium magnets are arranged alternately.

[0072] When applied to an automated rotor assembly line, to avoid waste caused by rework, the magnetic pole arrangement sequence detection unit can be placed before the magnet bonding unit. The sensor is fixed at the front end of the production line. After the magnets are pre-assembled, the robot grasps the magnet assembly and positioning fixture assembly and rotates it. The magnetic pole detection sensor detects the polarity of each magnet, obtaining the magnetic pole distribution data of the assembly and uploading it to the system. After analyzing the data, the system can directly determine whether a magnet is missing or has the wrong pole. Components that pass the inspection are moved to the next station by the robot arm, while problematic components are moved to the defective product area to be refilled with magnets.

[0073] 3. Quality inspection of the outer circumference assembly after magnet bonding

[0074] The assembly inspection after magnet bonding includes two items: the circumferential runout of the assembled rotor magnet and the outer diameter of the magnet. The assembly quality inspection unit is attached. Figure 3 As shown, the functional structure mainly includes: 1. the upper and lower parts for fixing the rotor workpiece.

[0075] 1. Ejector pin; 2. Drive motor that drives the rotor to rotate via a transmission pulley; 3. Contact displacement sensor for detecting the assembly quality of the outer circumference of the magnets after bonding. The alignment of the rotor axis to be tested with the upper and lower ejector pin axes is achieved by adjusting the normal and axial slide rails. The assembly quality of the rotor workpiece after magnet bonding is detected by rotating the components and using the contact sensor to detect the distance between the relative contact points laterally.

[0076] It should be noted that the displacement sensor must be selected with a transmission interface. There are contact sensors, such as dial indicators and micrometers, and non-contact sensors, such as infrared rangefinders. Either type can be used to collect detection data on the circumferential runout of the rotor magnet. The difference is that the probe of the contact displacement sensor needs to contact the outer wall of the magnet, and the sensor count value at this time is used as the base zero point; the non-contact displacement sensor does not need to contact the outer wall of the magnet. The control system of the automated production equipment sets a distance value from the outer wall of the magnet as the base zero point.

[0077] On an automated rotor assembly line, during post-assembly quality inspection of rotor workpieces after magnet bonding, a robotic arm mounts the rotor to be inspected onto a workpiece support slide. The slide moves, moving the workpiece to the inspection station. Upper and lower ejector pins then lift the workpiece. The workpiece is rotated using a servo motor-driven friction wheel. A servo screw drives the upper and lower ejector pins along an axial adjustment rail until they press against the rotor workpiece, detaching it from the support slide and placing it in a suspended state. Another screw drives a drive motor to approach the rotor, contacting the transmission pulley. In this state, the transmission pulley rotates the rotor through friction. During inspection, the drive motor actuates, causing the transmission pulley to rotate the rotor. Data acquisition is achieved by calibrating the relative position using a calibration shaft, followed by sensor acquisition of relative position data. Alternatively, a non-contact displacement sensor can be used, moving laterally towards the workpiece until dimensional data is obtained. Because the workpiece is rotating, the displacement sensor can collect a set of data on the distance between the relative contact points. By calculation, the runout of the outer circumference of the magnet can be obtained, and the outer circumference diameter of the magnet can be calculated. The control system then determines whether the bonding quality of the rotor magnet is qualified. After the inspection is completed, the robot moves the workpiece to the unloading area.

Claims

1. A detection device for detecting the outer circumferential quality of a magnet, characterized in that, Includes a fixture for pre-inspection of magnet dimensions, the fixture comprising an inner ring and an outer ring; The inner diameter of the outer ring is equal to the outer diameter of the magnet. Several grooves are axially opened on the inner wall of the outer ring, and the grooves are evenly distributed circumferentially. The axial length of the groove is the same as the length of the magnet, and the groove width is the same as the width of the magnetic shielding sheet of the inner ring tooling. The outer wall of the inner ring is evenly distributed with a number of magnetic shielding sheets. The number of magnetic shielding sheets is the same as the number of grooves. The opening position corresponds one-to-one with the position of the grooves. The axial length of the magnetic shielding sheets is the same as the axial length of the grooves on the inner wall of the outer ring. The inner ring is coaxially inserted into the outer ring, and the magnetic shielding sheet is clearance-fitted with the groove on the inner wall of the outer ring; the inner wall of the outer ring, the magnetic shielding sheet, and the outer wall of the inner ring together form several cavities; Several magnets are pushed into each cavity and separated from each other by magnetic shielding sheets, so that in the initial state before assembly, the magnets do not contact the bonding surface of the rotating shaft; The detection device also includes a lower ejector pin (7), a normal adjustment slide rail (8), a workpiece support slide (9), a displacement sensor, an axial adjustment slide rail (11), an upper ejector pin (12), a drive motor (14), a transmission pulley (15), a support frame (16), a first servo screw, and a second servo screw; the support frame (16) is used to support the other components of the detection device. The workpiece support platform (9) is located on the normal adjustment slide rail (8), and a through hole is provided in the middle of the slide rail; the upper part of the workpiece support platform (9) is used to place the rotor (13) to be tested, and the lower part is provided with a lower ejector pin (7), and the lower ejector pin (7) can move up and down on the axial adjustment slide rail; The drive motor (14) and the transmission pulley (15) work together under the drive of the second servo screw to make the rotor (13) to be tested rotate. The displacement sensor is used to measure the dimensional data of the rotor (13) to be tested; The upper ejector pin (12) is located on the axial adjustment slide rail (11) and above the rotor (13) to be tested, and can slide up and down on the axial adjustment slide rail (11); the axial adjustment slide rail (11) and the normal adjustment slide rail (8) realize the alignment of the axis of the rotor to be tested with the axis of the upper and lower ejector pins.

2. The detection device for detecting the outer circumference quality of a magnet as described in claim 1, characterized in that, The first servo screw drives the upper and lower ejector pins to move and press them against the rotor to be tested. Then, the second servo screw drives the drive motor to move until it contacts the transmission pulley. The drive motor drives the pulley to rotate, and the pulley drives the rotor to be tested to rotate in a circular motion.

3. A method for online detection of bonding quality of rotor magnets in automated production equipment for surface-mounted multi-pole permanent magnet synchronous servo motors using the detection device described in claim 1 or 2, characterized in that, Includes the following steps: Step 1: Pre-inspection of magnet dimensions: Push the magnets into the tooling cavity in sequence with N and S intervals. If there are magnets that cannot be pushed into the cavity or whose dimensions do not match after being pushed in, then the magnets are rejected. Step 2: After the magnets are bonded together, the order of the magnetic poles is checked; Step 3: Quality inspection of the outer circumference assembly after magnet bonding, including the following sub-steps: Step 3.1: The robot places the workpiece on the slide table, which slides on the normal adjustment slide rail to move the workpiece to be inspected to the inspection station; Step 3.2: The upper ejector pin (1) and the lower ejector pin (2) are coaxially positioned above and below the workpiece, respectively. The upper and lower ejector pins move on the axial adjustment slide rail by the action of the servo screw until the upper and lower ejector pins press against the rotor workpiece to be tested, so that the workpiece is detached from the support slide and is in a suspended state. Step 3.3: Drive the motor close to the rotor under the drive of another set of lead screws, and drive the rotor to be tested to rotate by rubbing the rotor with the transmission belt pulley; Step 3.4: Data acquisition is achieved by using a calibration axis to calibrate the relative position, followed by sensor acquisition of relative position data; Step 3.5: The displacement sensor moves laterally closer to the tooling to be inspected until dimensional data is obtained, then stops moving closer; Step 3.6: The collected data is calculated by the automated production equipment control system to obtain the runout of the outer circumference of the magnet, and then the outer circumference diameter of the magnet is determined. Step 3.7: After all inspections are completed, the robot moves the workpiece to the unloading area.

4. The method for online detection of bonding quality of rotor magnets in automated production equipment for surface-mounted multi-pole permanent magnet synchronous servo motors as described in claim 3, characterized in that, In step 1, the criterion for judging size mismatch is: if the linear dimension of the magnet exceeds the lower limit of the tolerance, the magnet will be in a non-centered state after being pushed into the cavity, and there will be a significant gap between it and the inner wall of the cavity. In this case, it is judged as size mismatch.

5. The method for online detection of bonding quality of rotor magnets in automated production equipment for surface-mounted multi-pole permanent magnet synchronous servo motors as described in claim 3, characterized in that, In step 2, the detection is performed using a magnetic pole detection sensor.

6. The method for online detection of bonding quality of rotor magnets in automated production equipment for surface-mounted multi-pole permanent magnet synchronous servo motors as described in claim 3, characterized in that, In step 3.6, The formula for calculating the circumferential runout of a magnet is as follows: In the formula: — The circumferential runout of the magnet at the i-th sampling point, in mm; —The sensor detection value at the i-th sampling point, in mm; —Base zero-point position sensor detection value, mm; like If the magnet bonding quality of the rotor is good, it is considered qualified; otherwise, it is considered unqualified. The formula for calculating the diameter of a magnet is as follows: Where: D—measured outer diameter of rotor magnet, mm; —Theoretical design value of the outer diameter of the rotor magnet, in mm; —The circumferential runout of the magnet at the i-th sampling point, in mm; N—The number of data points collected, without unit, is specified by the automated production equipment control system; If the calculated magnet diameter meets the magnet diameter threshold set by the automated production equipment control system, the magnet bonding quality of the rotor is deemed qualified; otherwise, it is deemed unqualified.

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