Automatic assembling equipment and method for commutator and rotor frame of coreless motor rotor

Abstract

The invention discloses automatic assembling equipment and method for a commutator and a rotor frame of a coreless motor rotor, the automatic assembling equipment comprises a mounting seat, a motor, an air cylinder, a switching block, a first bearing, a sliding sleeve, a clamping jaw and a clamping jaw mounting frame, the switching block is mounted on an output shaft of the air cylinder, and the output shaft of the motor is connected with a vertically arranged rotating shaft; the sliding sleeve is mounted on the adapter block through a first bearing, and the sliding sleeve is movably connected to the rotating shaft in a sleeving manner; the clamping jaw mounting frame is fixedly mounted on the rotating shaft in a penetrating manner; the clamping jaw comprises a pair of clamping fingers, and each clamping finger is hinged to the clamping jaw installation frame through a horizontal hinged shaft. Notch grooves are formed in the positions, corresponding to the clamping fingers, of the sliding sleeve, and the upper end of each clamping finger is clamped into the corresponding notch groove. The commutator can be clamped by the clamping jaw, and then the rotating shaft drives the clamping jaw to rotate to align the commutator with the rotor frame, so that the commutator can be conveniently pressed into the rotor frame by a subsequent press-fitting tool on a production line, and automatic assembly is realized.

Description

Technical Field

[0001] The invention belongs to the field of hollow cup motor rotor manufacturing equipment, and more specifically, relates to automatic assembly equipment and method for a commutator and a rotor frame of a hollow cup motor rotor. Background Art

[0002] With the development of science and technology and the increase in labor costs, production automation has become more and more in line with the current situation. Replacing manual production with fully automatic production lines has become the choice of more and more manufacturing companies.

[0003] Hollow cup motors are widely used in military, aerospace, civil appliances, industrial products and other fields because of their outstanding features such as high energy conversion efficiency, rapid starting and braking, stable and reliable operation, and small speed fluctuation.

[0004] The conventional structure of the coreless rotor includes a wire cup, a rotor frame, a rotor shaft and a commutator. The rotor frame is fixedly mounted on the rotor shaft, the commutator is mounted on the rotor frame, the wire cup covers the rotor frame, and a circle of wire ends distributed circumferentially on the wire cup is welded to the commutator.

[0005] Before welding the commutator to the wire cup, the commutator needs to be installed on the rotor frame first. There are multiple grooves on the rotor frame in a circle, and there are multiple side bosses on the commutator in a circle. Each side boss extends into a groove, and the commutator and the rotor frame can be assembled. Currently, manual alignment is used, and then the commutator boss is pressed into the groove of the rotor frame by a pressing tool. This is time-consuming and labor-intensive, and has low production efficiency. Moreover, if the worker is careless and does not align the two, the plastic rotor frame will easily be damaged during subsequent pressing. Summary of the invention

[0006] In view of the above defects or improvement needs of the prior art, the present invention provides an automatic assembly device and method for the commutator and rotor frame of a hollow cup motor rotor, which can clamp the commutator by means of a clamp, and then the rotating shaft drives the clamp to rotate to align the commutator with the rotor frame, thereby facilitating the subsequent pressing tools on the production line to press the commutator into the rotor frame to achieve automatic assembly.

[0007] To achieve the above object, according to the present invention, an automatic assembly device for a commutator and a rotor frame of a coreless motor rotor is provided, characterized in that it includes a mounting seat, a motor, a cylinder, a transfer block, a first bearing, a sliding sleeve, a clamp and a clamp mounting frame, wherein:

[0008] The cylinder and the motor are respectively mounted on the mounting seat, the adapter block is mounted on the output shaft of the cylinder to drive the adapter block to move up and down, and the output shaft of the motor is connected to the vertically arranged rotating shaft to drive the rotating shaft to rotate;

[0009] The sliding sleeve is mounted on the adapter block through the first bearing, and the center line of the sliding sleeve is vertical. The sliding sleeve is movably sleeved on the rotating shaft so as to move up and down relative to the rotating shaft.

[0010] The clamping jaw mounting frame is fixedly mounted on the rotating shaft;

[0011] The clamping jaw comprises a pair of clamping fingers, each of which is hinged to the clamping jaw mounting frame via a horizontal hinge shaft;

[0012] The sliding sleeve is provided with notch grooves at positions corresponding to each of the clamping fingers, and the upper end of each of the clamping fingers is respectively inserted into one of the notch grooves, so that when the sliding sleeve moves downward along the axial direction of the rotating shaft, the sliding sleeve also moves on the clamping fingers, thereby facilitating the lower ends of the two clamping fingers to approach each other to clamp the commutator of the hollow cup motor, and facilitating the rotating shaft to drive the commutator clamped on the clamping claw to rotate so as to align the position with the rotor frame for assembly.

[0013] Preferably, it also includes a mold fixedly mounted on the lower end of the rotating shaft, the mold is located below the clamping jaw mounting frame, and the bottom of the mold is provided with a channel for accommodating the rotor shaft of the hollow cup motor rotor.

[0014] Preferably, the mounting seat comprises a bracket and a mounting plate fixedly connected to the bracket, the motor is mounted on the bracket, and the bracket and the cylinder are fixedly mounted on the mounting plate via a first connecting block and a second connecting block, respectively.

[0015] Preferably, a vertical slide rail is provided on the mounting seat, and the adapter block is mounted on the slide rail via a slider.

[0016] Preferably, an encoder is connected to the output shaft of the motor; a sensing sheet is provided on the rotating shaft, and a photoelectric sensor for detecting the position of the sensing sheet is fixedly mounted on the mounting seat.

[0017] Preferably, a mounting block is fixed on the mounting seat, a plurality of second bearings are sequentially mounted in the mounting block from top to bottom, and the rotating shaft passes through all the second bearings.

[0018] Preferably, a rotating shaft locking nut is further included. The rotating shaft is provided with an external thread. The rotating shaft locking nut is threadedly connected to the rotating shaft and locks the rotating shaft on the inner ring of the second bearing.

[0019] Preferably, it also includes a two-dimensional motion platform, to which the mounting seat is connected so as to drive the mounting seat to move up and down and in the horizontal direction.

[0020] Preferably, it also includes a tooling for placing the rotor frame, the tooling is provided with a channel for accommodating the rotor shaft, wherein a plurality of positioning holes are circumferentially arranged at the bottom of the rotor frame, and the tooling is provided with a plurality of positioning pins at positions corresponding to the plurality of first positioning holes at the bottom of the rotor frame, so that the positioning pins can be inserted into the positioning holes to realize the positioning of the rotor frame.

[0021] According to another aspect of the present invention, there is also provided a method for automatically assembling a commutator and a rotor frame of a coreless motor rotor using the automatic assembly equipment, which is characterized by comprising the following steps:

[0022] 1) placing a rotor frame of a coreless motor rotor on a tool, wherein a plurality of positioning holes are arranged circumferentially at the bottom of the rotor frame, and the tool is provided with a plurality of positioning pins at positions corresponding to the plurality of first positioning holes at the bottom of the rotor frame, so that the positioning pins are inserted into the positioning holes to realize positioning of the rotor frame;

[0023] 2) The two-dimensional motion platform drives the mounting seat and the clamping jaw to move, so that the clamping jaw moves to the commutator, and the cylinder drives the sliding sleeve to move downward, and the sliding sleeve drives the two clamping fingers of the clamping jaw to close to clamp the commutator, wherein the clamping force of the two clamping fingers on the commutator allows the two clamping fingers to rotate relative to the commutator and move up and down relative to the steering gear;

[0024] 3) The two-dimensional motion platform drives the mounting seat, the clamping claw and the commutator to move, so that the commutator moves to the top of the rotor frame, and then the two-dimensional motion platform drives the commutator to move downward, so that the commutator is inserted into the rotor shaft and moves downward along the axial direction of the rotor shaft; wherein the top surface of the rotor seat is evenly arranged with a plurality of grooves in the circumferential direction, and the commutator has a plurality of side bosses, each of which is used to enter one of the grooves;

[0025] 4) When the commutator moves axially along the rotor shaft to a set distance from the rotor frame, the motor drives the clamp to rotate, so that the clamp moves downward with the commutator and also rotates with the commutator. In the process of the commutator rotating and moving downward, the side boss of the commutator enters the groove of the rotor frame;

[0026] 5) The motor continues to rotate, causing the clamp to clamp the commutator and rotate, and the commutator rotates the rotor frame, so that the positioning hole at the bottom of the rotor frame is aligned with the positioning pin on the tooling, and the positioning pin falls into the positioning hole to achieve the positioning of the rotor frame on the tooling.

[0027] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0028] 1) The automatic assembly equipment of the present invention can drive the sliding sleeve to move downward through the cylinder to close the lower end of the clamp to clamp the commutator. Since the notch groove on the sliding sleeve cooperates with the clamp and the sliding sleeve does not affect the normal rotation of the clamp, the commutator on the clamp can also rotate by a set angle during the process of the rotating shaft driving the clamp to rotate, so as to align with the rotor frame below the commutator. Then the sliding sleeve moves upward, and the lower end of the clamp releases the clamping force on the commutator, releasing the commutator and allowing the commutator to be placed on the rotor frame, which is convenient for the subsequent pressing tool on the production line to continue to press the commutator into the rotor frame, thereby helping to realize production automation and improve production efficiency.

[0029] 2) The automatic assembly method of the present invention allows the side boss of the commutator to be aligned with the groove of the rotor frame by allowing the commutator to move downward and rotate at the same time. The assembly method is efficient and reliable, and the alignment is achieved in a fully mechanized manner. There is no need to rely on visual recognition technology, which can effectively reduce production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 , Figure 2 , Figure 3 They are schematic diagrams of the present invention at different viewing angles;

[0031] Figure 4 It is a schematic diagram of the clamping jaws clamping the commutator in the present invention;

[0032] Figure 5 is a bottom view of the present invention;

[0033] Figure 6 yes Figure 5 Sectional view along line AA;

[0034] Figure 7 It is a schematic diagram of the commutator of the hollow cup motor rotor;

[0035] Figure 8 This is a schematic diagram of the rotor frame of the hollow cup motor rotor being installed on the rotor shaft;

[0036] Fig. 9 It is a schematic diagram of the commutator, rotor shaft and rotor frame of the hollow cup motor rotor being assembled together;

[0037] Fig.10 It is a schematic diagram of the rotor frame placed on the tooling in the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] Reference Figures 1 to 10 , an automatic assembly device for a commutator and a rotor frame of a coreless motor rotor, comprising a mounting seat, a motor 1, a cylinder 7, a transfer block 15, a first bearing 16, a sliding sleeve 17, a clamping jaw 19 and a clamping jaw mounting frame 18, wherein:

[0040] The cylinder 7 and the motor 1 are respectively mounted on the mounting seat, the adapter block 15 is mounted on the output shaft of the cylinder 7 to drive the adapter block 15 to move up and down, the output shaft 2 of the motor is connected to the vertically arranged rotating shaft 21 to drive the rotating shaft 21 to rotate, and the output shaft 2 of the motor is preferably connected to the rotating shaft 21 through a coupling 3. The mounting seat includes a bracket 4 and a mounting plate 13 fixedly connected to the bracket 4, the motor 1 is mounted on the bracket 4, and the bracket 4 and the cylinder 7 are fixedly mounted on the mounting plate 13 through a first connecting block 14 and a second connecting block 27, respectively.

[0041] The sliding sleeve 17 is installed on the adapter block 15 through the first bearing 16, and the center line of the sliding sleeve 17 is vertical, so the sliding sleeve 17 can rotate relative to the adapter block 15 and move up and down under the drive of the cylinder 7 and the adapter block 15. The sliding sleeve 17 is movably sleeved on the rotating shaft 21 so as to move up and down relative to the rotating shaft 21.

[0042] The clamping jaw mounting frame 18 is fixedly mounted on the rotating shaft 21 , and the rotation of the rotating shaft 21 can drive the clamping jaw mounting frame 18 to rotate together.

[0043] The clamping jaw 19 includes a pair of clamping fingers, each of which is hinged to the clamping jaw mounting frame 18 via a horizontal hinge shaft. Each clamping finger can rotate around the corresponding hinge shaft, so that the two clamping fingers can close together to clamp an object when they are close to each other, or can release the object when they are away from each other.

[0044] The sliding sleeve 17 is provided with a notch groove at a position corresponding to each of the clamping fingers, and the upper end of each of the clamping fingers is respectively inserted into one of the notch grooves, so that when the sliding sleeve 17 moves downward along the axial direction of the rotating shaft 21, the sliding sleeve 17 also moves on the clamping fingers, so that the lower ends of the two clamping fingers are close to each other to clamp the commutator 26 of the hollow cup motor 1. The clamping force of the two clamping fingers should be appropriate and not too large, so that the clamping jaws 19 and the commutator 26 can be relatively rotated and relatively slid up and down, and the rotating shaft 21 can drive the commutator 26 clamped on the clamping jaws 19 to rotate to align with the rotor frame 25 for assembly. Since the notch grooves and the clamping fingers extend into the notch grooves, and the rotor mounting frame is fixed on the rotating shaft 21, the rotating shaft 21 can drive the two clamping fingers to rotate when rotating, and the two clamping fingers can also drive the sliding sleeve 17 to rotate together, and the setting of the sliding sleeve 17 does not affect the normal rotation of the clamping jaws 19. The clamping jaws 19 can be clamped or opened by the linear motion of the sliding sleeve 17 along the axial direction of the rotating shaft 21, that is, the linear motion of the sliding sleeve 17 is converted into the rotational motion of the clamping fingers around the hinge axis to realize the movement of the clamping jaws 19. After the sliding sleeve 17 moves upward, the clamping fingers can return to their original positions under their own gravity, or a return spring can be installed between the two clamping fingers, so that after the sliding sleeve 17 enters the notch groove of the clamping fingers, the clamping fingers can always be attached to the sliding sleeve 17.

[0045] The push rod 8 of the cylinder 7 is connected to the adapter block 15 through the fixed block 9, the moving block 10, etc. The push rod 8 of the cylinder 7 passes through the central hole of the second connecting block 27 and is fixedly connected to the fixed block 9. The fixed block 9 is fixedly connected to the moving block 10. The mounting plate 13 is provided with a slot hole, which is convenient for the push rod 8 to push the fixed block 9 to move up and down in the slot hole. The adapter block 15 is fixedly installed with the moving block 10, and the adapter block 15 is fixed with the sliding sleeve 17.

[0046] Furthermore, the present invention also includes a mold 20 fixedly mounted on the lower end of the rotating shaft 21, the mold 20 is located below the clamp mounting frame 18, and a channel for accommodating the rotor shaft 28 of the hollow cup motor 1 rotor is provided at the bottom of the mold 20.

[0047] Furthermore, a vertical slide rail 12 is provided on the mounting seat, and the adapter block 15 is installed on the slide rail 12 through a slider 11 to ensure the stability of the movement of the adapter block.

[0048] Furthermore, an encoder is connected to the output shaft 2 of the motor; a sensing sheet 6 is provided on the rotating shaft 21, and a photoelectric sensor 5 for detecting the position of the sensing sheet 6 is fixedly mounted on the mounting seat. The initial position of the sensing sheet 6 can be known through the photoelectric sensor 5, and then the rotation angle of the rotating shaft 21 can be known in cooperation with the encoder, and then the rotation angle of the clamping jaw 19 can be known, which is convenient for debugging and control.

[0049] Furthermore, a mounting block is fixed on the mounting seat, and a plurality of second bearings 22 are sequentially mounted in the mounting block from top to bottom. The rotating shaft 21 passes through all the second bearings 22 , thereby effectively ensuring the smooth rotation of the rotating shaft 21 .

[0050] Furthermore, it also includes a rotating shaft locking nut 23, the rotating shaft 21 is provided with an external thread, the rotating shaft locking nut 23 is threadedly connected to the rotating shaft 21 and locks the rotating shaft 21 on the inner ring of the second bearing 22, thereby effectively reducing the jitter of the rotating shaft 21 during rotation.

[0051] Furthermore, it also includes a two-dimensional motion platform, on which the mounting seat is connected to drive the mounting seat to move up and down and in the horizontal direction.

[0052] Furthermore, it also includes a tool 29 for placing the rotor frame 25, and the tool 29 is provided with a hole for accommodating the rotor shaft. The tool 29 is a tool for supporting the rotor frame 25, wherein the bottom of the rotor frame 25 is circumferentially arranged with a plurality of positioning holes, and the tool 29 is provided with a plurality of positioning pins 291 at positions corresponding to the plurality of first positioning holes at the bottom of the rotor frame 25, so that the positioning pins 291 are inserted into the positioning holes to realize the positioning of the rotor frame 25.

[0053] The output shaft of the cylinder 7 pushes the push rod 8 downward, driving the fixed block 9 downward, the fixed block 9 drives the moving block 10 and the slider 11 to move downward along the slide rail 12, the moving block 10 moves downward and drives the adapter block 15 downward, the adapter block 15 moves downward and drives the sliding sleeve 17 to move downward, when the sliding sleeve 17 moves downward, the notch moves downward along the clamping jaw 19, so that the lower ends of the two clamping fingers are retracted to clamp the commutator 26.

[0054] After the motor 1 is powered on, the output shaft drives the rotating shaft 21 to rotate. The rotation of the rotating shaft 21 drives the rotation of the clamp mounting frame 18, the clamp 19, the mold 20 and the sliding sleeve 17, so that a circle of side bosses 261 of the commutator 26 and a circle of grooves 251 of the rotor frame 25 can be aligned in place.

[0055] Specifically, the method for automatically assembling the commutator 26 and the rotor frame 25 of the coreless motor 1 rotor using the automatic assembly equipment comprises the following steps:

[0056] 1) placing the rotor frame 25 of the coreless motor 1 on the tooling 29, wherein a plurality of positioning holes are arranged circumferentially at the bottom of the rotor frame 25, and a plurality of positioning pins 291 are arranged at positions corresponding to the plurality of first positioning holes at the bottom of the rotor frame 25 on the tooling 29, so that the positioning pins 291 are inserted into the positioning holes to realize the positioning of the rotor frame 25;

[0057] 2) The two-dimensional motion platform drives the mounting seat and the clamping jaw 19 to move, so that the clamping jaw 19 moves to the commutator 26, and the cylinder 7 drives the sliding sleeve 17 to move downward, and the sliding sleeve 17 drives the two clamping fingers of the clamping jaw 19 to close to clamp the commutator 26, wherein the clamping force of the two clamping fingers on the commutator 26 allows the two clamping fingers to rotate relative to the commutator 26 and move up and down relative to the steering gear;

[0058] 3) The two-dimensional motion platform drives the mounting seat, the clamping jaws 19 and the commutator 26 to move, so that the commutator 26 moves to the top of the rotor frame 25, and then the two-dimensional motion platform drives the commutator 26 to move downward, so that the commutator 26 is inserted into the rotor shaft 28 and moves downward along the axial direction of the rotor shaft 28; wherein, a plurality of grooves 251 are evenly arranged on the top surface of the rotor seat in the circumferential direction, and the commutator 26 has a plurality of side bosses 261, and each side boss 261 is used to enter one of the grooves 251;

[0059] 4) When the commutator 26 moves axially along the rotor shaft 28 to a set distance from the rotor frame 25 (since the length of the rotor shaft 28 is known, the distance that the two-dimensional motion platform drives the commutator 26 to move up and down can also be known, so the set distance between the commutator 26 and the rotor frame 25 can be accurately controlled, or other laser ranging sensors can be used to sense the position of the commutator 26 so that the two reach the set distance), the motor 1 drives the clamping jaw 19 to rotate, so that the clamping jaw 19 moves downward with the commutator 26 and also rotates with the commutator 26. During the process of rotation and downward movement of the commutator 26, the side boss 261 of the commutator 26 enters the groove 251 of the rotor frame 25.

[0060] 5) The motor 1 continues to rotate, so that the clamping jaws 19 clamp the commutator 26 and rotate, and the commutator 26 rotates with the rotor frame 25, so that the positioning hole at the bottom of the rotor frame 25 is aligned with the positioning pin 291 on the tooling 29, and the positioning pin 291 falls into the positioning hole, so that the rotor frame 25 is positioned on the tooling 29. Since the clamping force is appropriate and not too large, if the rotor frame 25 falls on the positioning pin 291, the motor 1 continues to rotate, and the clamping jaws 19 will rotate relative to the commutator 26, and the motor 1 will not be damaged. If the two-dimensional motion platform continues to move downward with the mounting seat, the clamping jaws 19 will also move relative to the commutator 26, and the two-dimensional motion platform will not be damaged.

[0061] After the side boss 261 of the commutator 26 is aligned and installed in the groove 251 of the rotor frame 25, the side boss 261 does not enter the groove 251 to a great depth because the groove 251 needs to clamp the side boss 261 and the force of the clamping jaws 19 to clamp the commutator 26 is not strong. Subsequently, the commutator 26 will be pressed downward by the die of the external press-fitting device to press the side boss 261 of the commutator 26 downward to the set position. After the rotor frame 25 is initially positioned on the tooling, the rotor frame 25 and the commutator 26 will not shift in the subsequent processing steps to affect normal production.

[0062] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Automatic assembly equipment for commutator and rotor frame of hollow cup motor rotor, characterized in that: It includes a mounting seat, a motor, a cylinder, a transfer block, a first bearing, a sliding sleeve, a clamping jaw and a clamping jaw mounting frame, wherein: The cylinder and the motor are respectively mounted on the mounting seat, the adapter block is mounted on the output shaft of the cylinder to drive the adapter block to move up and down, and the output shaft of the motor is connected to the vertically arranged rotating shaft to drive the rotating shaft to rotate; The sliding sleeve is mounted on the adapter block through the first bearing, and the center line of the sliding sleeve is vertical. The sliding sleeve is movably sleeved on the rotating shaft so as to move up and down relative to the rotating shaft. The clamping jaw mounting frame is fixedly mounted on the rotating shaft; The clamping jaw comprises a pair of clamping fingers, each of which is hinged to the clamping jaw mounting frame via a horizontal hinge shaft; The sliding sleeve is provided with notch grooves at the position corresponding to each of the clamping fingers, and the upper end of each of the clamping fingers is respectively inserted into one of the notch grooves, so that when the sliding sleeve moves downward along the axial direction of the rotating shaft, the sliding sleeve also moves on the clamping fingers, thereby facilitating the lower ends of the two clamping fingers to approach each other to clamp the commutator of the hollow cup motor, and facilitating the rotating shaft to drive the commutator clamped on the clamping claw to rotate so as to align the position with the rotor frame for assembly.

2. The automatic assembly equipment for the commutator and rotor frame of the coreless motor rotor according to claim 1, characterized in that: It also includes a mold fixedly mounted on the lower end of the rotating shaft, the mold is located below the clamping jaw mounting frame, and the bottom of the mold is provided with a channel for accommodating the rotor shaft of the hollow cup motor rotor.

3. The automatic assembly equipment for the commutator and rotor frame of the coreless motor rotor according to claim 1, characterized in that: The mounting seat comprises a bracket and a mounting plate fixedly connected to the bracket, the motor is mounted on the bracket, and the bracket and the cylinder are fixedly mounted on the mounting plate via a first connecting block and a second connecting block respectively.

4. The automatic assembly equipment for the commutator and rotor frame of the coreless motor rotor according to claim 1, characterized in that: A vertical slide rail is arranged on the mounting seat, and the adapter block is mounted on the slide rail via a sliding block.

5. The automatic assembly equipment for the commutator and rotor frame of the coreless motor rotor according to claim 1, characterized in that: An encoder is connected to the output shaft of the motor; a sensing sheet is arranged on the rotating shaft, and a photoelectric sensor for detecting the position of the sensing sheet is fixedly mounted on the mounting seat.

6. The automatic assembly equipment for the commutator and rotor frame of the coreless motor rotor according to claim 1, characterized in that: A mounting block is fixed on the mounting seat, and a plurality of second bearings are sequentially mounted in the mounting block from top to bottom, and the rotating shaft passes through all the second bearings.

7. The automatic assembly equipment for the commutator and rotor frame of the coreless motor rotor according to claim 1, characterized in that: It also includes a rotating shaft locking nut. The rotating shaft is provided with an external thread. The rotating shaft locking nut is threadedly connected to the rotating shaft and locks the rotating shaft on the inner ring of the second bearing.

8. The automatic assembly equipment for the commutator and rotor frame of the coreless motor rotor according to claim 1, characterized in that: It also includes a two-dimensional motion platform, on which the mounting seat is connected so as to drive the mounting seat to move up and down and in a horizontal direction.

9. The automatic assembly equipment for the commutator and rotor frame of the coreless motor rotor according to claim 1, characterized in that: It also includes a tooling for placing a rotor frame, the tooling is provided with a channel for accommodating a rotor shaft, wherein a plurality of positioning holes are circumferentially arranged at the bottom of the rotor frame, and the tooling is provided with a plurality of positioning pins at positions corresponding to the plurality of first positioning holes at the bottom of the rotor frame, so that the positioning pins can be inserted into the positioning holes to realize positioning of the rotor frame.

10. A method for automatically assembling a commutator and a rotor frame of a coreless motor rotor using the automatic assembly equipment described in any one of claims 1 to 9, characterized in that: The following steps are involved: 1) placing a rotor frame of a coreless motor rotor on a tool, wherein a plurality of positioning holes are arranged circumferentially at the bottom of the rotor frame, and the tool is provided with a plurality of positioning pins at positions corresponding to the plurality of first positioning holes at the bottom of the rotor frame, so that the positioning pins are inserted into the positioning holes to realize positioning of the rotor frame; 2) The two-dimensional motion platform drives the mounting seat and the clamping jaw to move, so that the clamping jaw moves to the commutator, and the cylinder drives the sliding sleeve to move downward, and the sliding sleeve drives the two clamping fingers of the clamping jaw to close to clamp the commutator, wherein the clamping force of the two clamping fingers on the commutator allows the two clamping fingers to rotate relative to the commutator and move up and down relative to the steering gear; 3) The two-dimensional motion platform drives the mounting seat, the clamping claw and the commutator to move, so that the commutator moves to the top of the rotor frame, and then the two-dimensional motion platform drives the commutator to move downward, so that the commutator is inserted into the rotor shaft and moves downward along the axial direction of the rotor shaft; wherein the top surface of the rotor seat is evenly arranged with a plurality of grooves in the circumferential direction, and the commutator has a plurality of side bosses, each of which is used to enter one of the grooves; 4) When the commutator moves axially along the rotor shaft to a set distance from the rotor frame, the motor drives the clamp to rotate, so that the clamp moves downward with the commutator and also rotates with the commutator. In the process of the commutator rotating and moving downward, the side boss of the commutator enters the groove of the rotor frame; 5) The motor continues to rotate, causing the clamp to clamp the commutator and rotate, and the commutator rotates the rotor frame, so that the positioning hole at the bottom of the rotor frame is aligned with the positioning pin on the tooling, and the positioning pin falls into the positioning hole to achieve the positioning of the rotor frame on the tooling.

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