Automatic assembly of commutator and rotor cage for a hollow cup motor rotor

Abstract

The application discloses a commutator and rotor holder automatic assembling equipment and method for a hollow cup motor rotor, which comprises a mounting seat, a motor, a cylinder, an adapter block, a first bearing, a sliding sleeve, a clamping jaw and a clamping jaw mounting rack, the adapter block is mounted on the output shaft of the 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 the first bearing, and the sliding sleeve is movably sleeved on the rotating shaft; the clamping jaw mounting rack is fixedly penetrated on the rotating shaft; the clamping jaw comprises a pair of clamping fingers, each clamping finger is hingedly connected to the clamping jaw mounting rack through a horizontal hinge shaft, the sliding sleeve is respectively provided with a notch groove at a position corresponding to each clamping finger, and the upper end of each clamping finger is clamped into the notch groove. The application can clamp the commutator through the clamping jaw, then the rotating shaft drives the clamping jaw to rotate to align the commutator with the rotor holder, the subsequent pressing tool on the production line is facilitated to press the commutator into the rotor holder, and automatic assembly is realized.

Description

Technical Field

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

[0002] With the development of technology and the rise in labor costs, production automation has become increasingly suitable for the current situation, and replacing manual production with fully automated production lines has become the choice of more and more manufacturing companies.

[0003] Coreless motors are widely used in military, aerospace, civilian electrical appliances, and industrial products due to their outstanding characteristics such as high energy conversion efficiency, rapid starting and braking, stable and reliable operation, and small speed fluctuation.

[0004] The conventional structure of a hollow cup motor rotor includes a spool, 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 spool covers the rotor frame, and a ring of wire distributed circumferentially on the spool is welded to the commutator.

[0005] Before welding the commutator to the spool, the commutator needs to be installed on the rotor frame. The rotor frame has multiple grooves arranged in a circle, and the commutator has multiple side protrusions arranged in a circle. Each side protrusion extends into a groove, which allows the commutator and rotor frame to be assembled. Currently, alignment is done manually, and then pressing tools are used manually to press the protrusions of the commutator into the grooves of the rotor frame. This is time-consuming and labor-intensive, with low production efficiency. Moreover, if the workers are careless and do not align the two properly, the plastic rotor frame can easily be damaged during subsequent pressing. Summary of the Invention

[0006] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides an automatic assembly equipment and method for the commutator and rotor frame of a hollow cup motor rotor. The commutator can be clamped by grippers, and then the rotating shaft drives the grippers to rotate so that the commutator and rotor frame are aligned. This facilitates the subsequent pressing tools on the production line to press the commutator into the rotor frame, thereby realizing automatic assembly.

[0007] To achieve the above objectives, according to the present invention, an automatic assembly device for the commutator and rotor frame of a hollow cup motor rotor is provided, characterized in that it includes a mounting base, a motor, a cylinder, an adapter block, a first bearing, a sliding sleeve, a gripper, and a gripper mounting bracket, wherein:

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

[0009] The sliding sleeve is mounted on the adapter block via 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 gripper mounting bracket is fixedly mounted on the rotating shaft;

[0011] The gripper includes a pair of gripping fingers, each of which is hinged to the gripper mounting bracket via a horizontal hinge shaft;

[0012] The sliding sleeve is provided with notches corresponding to the positions of each of the clamping fingers. The upper end of each clamping finger is respectively inserted into a notch, so that when the sliding sleeve moves downward along the axis of the rotating shaft, the sliding sleeve also moves on the clamping fingers. This facilitates the lower ends of the two clamping fingers to come closer to each other to clamp the commutator of the hollow cup motor, and facilitates the rotating shaft to drive the commutator held on the jaws to rotate so as to align with the rotor frame for assembly.

[0013] Preferably, the device further includes a mold fixedly mounted on the lower end of the rotating shaft, the mold being located below the gripper mounting bracket, and the bottom of the mold having a channel for accommodating the rotor shaft of the hollow cup motor rotor.

[0014] Preferably, the mounting base includes 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, the mounting base is provided with a vertical slide rail, 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 element is provided on the rotating shaft, and a photoelectric sensor for detecting the position of the sensing element is fixedly installed on the mounting base.

[0017] Preferably, a mounting block is fixed on the mounting base, and multiple second bearings are installed sequentially from top to bottom inside the mounting block, with the rotating shaft passing through all the second bearings.

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

[0019] Preferably, it further includes a two-dimensional motion platform, on which the mounting base is connected, for driving the mounting base to move up and down and to move horizontally.

[0020] Preferably, the device further includes a fixture for supporting the rotor frame, the fixture having a channel for accommodating the rotor shaft, wherein the rotor frame has a plurality of positioning holes arranged circumferentially at its bottom, and the fixture has a plurality of positioning pins arranged 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 position the rotor frame.

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

[0022] 1) The rotor frame of the hollow cup motor is placed on the tooling, wherein the rotor frame has multiple positioning holes arranged circumferentially at the bottom, and the tooling has multiple positioning pins arranged at the positions corresponding to the multiple first positioning holes at the bottom of the rotor frame, so that the positioning pins can be inserted into the positioning holes to position the rotor frame.

[0023] 2) The two-dimensional motion platform drives the mounting base and gripper to move, so that the gripper moves to the commutator. The cylinder drives the sliding sleeve to move downward. The sliding sleeve drives the two gripping fingers of the gripper to close together to hold the commutator. The gripping force of the two gripping fingers on the commutator allows the two gripping 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 base, grippers and commutator to move, so that the commutator is moved to the top of the rotor frame. Then the two-dimensional motion platform drives the commutator to move downward, so that the commutator passes through the rotor shaft and moves downward along the axial direction of the rotor shaft. The top surface of the rotor base has multiple grooves evenly arranged around its circumference. The commutator has multiple side protrusions, each side protrusion being used to enter one of the grooves.

[0025] 4) When the commutator moves along the axial direction of the rotor shaft to a set distance from the rotor frame, the motor drives the gripper to rotate, so that the gripper moves the commutator downward and rotates the commutator at the same time. During the rotation and downward movement of the commutator, the side boss of the commutator enters the groove of the rotor frame.

[0026] 5) The motor continues to rotate, causing the grippers to clamp the commutator and rotate. The commutator then rotates the rotor frame, causing the positioning hole at the bottom of the rotor frame to align with the positioning pin on the fixture. The positioning pin falls into the positioning hole, thus positioning the rotor frame on the fixture.

[0027] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0028] 1) The automatic assembly equipment of the present invention can use a cylinder to drive the sliding sleeve to move downward so that the lower end of the gripper closes and holds the commutator. Since the notch and groove on the sliding sleeve cooperate with the gripper, and the sliding sleeve does not affect the normal rotation of the gripper, the commutator on the gripper can also rotate at a set angle during the rotation of the rotating shaft driving the gripper to align with the rotor frame below the commutator. Then the sliding sleeve moves upward, the lower end of the gripper releases the clamping force on the commutator, releases the commutator, and places the commutator on the rotor frame. This makes it convenient for the subsequent pressing tools on the production line to press the commutator into the rotor frame, thereby helping to realize the automation of production and improve production efficiency.

[0029] 2) The automatic assembly method of the present invention aligns the side boss of the commutator with the groove of the rotor frame by moving the commutator downward and rotating at the same time. The assembly method is efficient and reliable, and the alignment is achieved in a fully mechanized manner, which can eliminate the need for visual recognition technology and effectively reduce production costs. Attached Figure Description

[0030] Figure 1 , Figure 2 , Figure 3 These are schematic diagrams of the present invention from different perspectives;

[0031] Figure 4 This is a schematic diagram of the gripper holding the commutator in this invention;

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

[0033] Figure 6 yes Figure 5 A sectional view along line AA.

[0034] Figure 7 This is a schematic diagram of the commutator of a coreless motor rotor;

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

[0036] Figure 9 This is a schematic diagram of the commutator, rotor shaft, and rotor frame of a coreless motor rotor assembled together.

[0037] Figure 10 This is a schematic diagram of the rotor frame placed on the tooling in this invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0039] Reference Figures 1-10 An automatic assembly device for the commutator and rotor frame of a hollow cup motor rotor, including a mounting base, motor 1, cylinder 7, adapter block 15, first bearing 16, sliding sleeve 17, gripper 19, and gripper mounting bracket 18, wherein:

[0040] The cylinder 7 and the motor 1 are respectively mounted on the mounting base. 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 a vertically arranged rotating shaft 21 to drive the rotating shaft 21 to rotate. The output shaft 2 of the motor is preferably connected to the rotating shaft 21 through a coupling 3. The mounting base includes a bracket 4 and a mounting plate 13 fixedly connected to the bracket 4. The motor 1 is mounted on the bracket 4. 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 mounted on the adapter block 15 via the first bearing 16, and the center line of the sliding sleeve 17 is vertical. Thus, 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 gripper mounting bracket 18 is fixedly mounted on the rotating shaft 21, and the rotation of the rotating shaft 21 can drive the gripper mounting bracket 18 to rotate together.

[0043] The gripper 19 includes a pair of gripping fingers, each of which is hinged to the gripper mounting frame 18 via a horizontal hinge shaft. Each gripping finger can rotate around the corresponding hinge shaft, so that when the two gripping fingers are close to each other, they can close together to grip the object, or when they are far apart, they can release the object.

[0044] The sliding sleeve 17 has notches corresponding to the positions of each of the clamping fingers. The upper end of each clamping finger is inserted into a notch, so that when the sliding sleeve 17 moves downward along the axial direction of the rotating shaft 21, it also moves on the clamping fingers. This facilitates the lower ends of the two clamping fingers to come closer together 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, allowing relative rotation and relative up-and-down sliding between the clamping jaws 19 and the commutator 26, and facilitating the rotation of the rotating shaft 21 to drive the commutator 26 clamped on the clamping jaws 19 to rotate and align with the rotor frame 25 for assembly. Since the notches and clamping fingers extend into the notches, 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 it rotates, and the two clamping fingers can also drive the sliding sleeve 17 to rotate together. The setting of the sliding sleeve 17 does not affect the normal rotation of the clamping jaws 19. The linear movement of the sliding sleeve 17 along the rotation axis 21 allows the gripper 19 to clamp or open, thus converting the linear movement of the sliding sleeve 17 into the rotational movement of the gripper fingers around the hinge axis, thereby realizing the movement of the gripper 19. After the sliding sleeve 17 moves upward, the gripper fingers can return to their original position under their own weight, or a return spring can be installed between the two gripper fingers so that after the sliding sleeve 17 enters the notch groove of the gripper fingers, the gripper fingers can remain attached to the sliding sleeve 17.

[0045] The push rod 8 of cylinder 7 is connected to the adapter block 15 via a fixed block 9, a movable block 10, etc. The push rod 8 of cylinder 7 passes through the center 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 movable block 10. The mounting plate 13 has a slot to facilitate the push rod 8 to push the fixed block 9 up and down in the slot. The adapter block 15 is fixedly installed with the movable block 10 and is fixed to 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 gripper mounting bracket 18, and the bottom of the mold 20 is provided with a channel for accommodating the rotor shaft 28 of the hollow cup motor 1 rotor.

[0047] Furthermore, the mounting base is provided with a vertical slide rail 12, and the adapter block 15 is mounted on the slide rail 12 via a slider 11 to ensure the smooth movement of the adapter.

[0048] Furthermore, an encoder is connected to the output shaft 2 of the motor; a sensing element 6 is provided on the rotating shaft 21, and a photoelectric sensor 5 for detecting the position of the sensing element 6 is fixedly installed on the mounting base. The initial position of the sensing element 6 can be determined by the photoelectric sensor 5, and then, in conjunction with the encoder, the rotation angle of the rotating shaft 21 can be determined, and thus the rotation angle of the gripper 19 can be determined, which facilitates debugging and control.

[0049] Furthermore, a mounting block is fixed on the mounting base, and multiple second bearings 22 are installed sequentially from top to bottom inside the mounting block. The rotating shaft 21 passes through all the second bearings 22, 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 onto the inner ring of the second bearing 22, thereby effectively reducing the vibration of the rotating shaft 21 when it rotates.

[0051] Furthermore, it also includes a two-dimensional motion platform, on which the mounting base is connected, for driving the mounting base to move up and down and to move horizontally.

[0052] Furthermore, it also includes a tooling 29 for supporting the rotor frame 25, the tooling 29 having a channel for accommodating the rotor shaft. The tooling 29 is a tool for supporting the rotor frame 25, wherein the rotor frame 25 has a plurality of positioning holes arranged circumferentially on its bottom, and the tooling 29 has a plurality of positioning pins 291 arranged at positions corresponding to the plurality of first positioning holes on the bottom of the rotor frame 25, so that the positioning pins 291 can be inserted into the positioning holes to achieve positioning of the rotor frame 25.

[0053] The output shaft of cylinder 7 pushes push rod 8 downward, which in turn drives fixed block 9 downward. Fixed block 9 moves downward, which in turn drives moving block 10 and slider 11 to move downward along slide rail 12. Moving block 10 moves downward, which in turn drives adapter block 15 downward. Moving adapter block 15 moves downward, which in turn drives sliding sleeve 17 downward. When sliding sleeve 17 moves downward, the slot moves downward along gripper 19, causing the lower ends of the two gripper fingers to retract and clamp commutator 26.

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

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

[0056] 1) The rotor frame 25 of the hollow cup motor 1 is placed on the tooling 29, wherein the rotor frame 25 has a plurality of positioning holes arranged circumferentially at the bottom, and the tooling 29 has a plurality of positioning pins 291 arranged at the positions corresponding to the plurality of first positioning holes at the bottom of the rotor frame 25, so that the positioning pins 291 can be inserted into the positioning holes to position the rotor frame 25.

[0057] 2) The two-dimensional motion platform drives the mounting base and the gripper 19 to move, so that the gripper 19 moves to the commutator 26. The cylinder 7 drives the sliding sleeve 17 to move downward. The sliding sleeve 17 drives the two gripping fingers of the gripper 19 to close together to grip the commutator 26. The gripping force of the two gripping fingers on the commutator 26 allows the two gripping 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 base, gripper 19 and commutator 26 to move, so that the commutator 26 moves to the top of the rotor frame 25. Then the two-dimensional motion platform drives the commutator 26 to move downward, so that the commutator 26 passes through the rotor shaft 28 and moves downward along the axial direction of the rotor shaft 28. The top surface of the rotor base is evenly arranged with a plurality of grooves 251, and the commutator 26 has a plurality of side protrusions 261, each side protrusion 261 being used to enter one of the grooves 251.

[0059] 4) When the commutator 26 moves along the axial direction of 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 is also known, so the set distance between the commutator 26 and the rotor frame 25 can be precisely controlled, or other laser rangefinders can be used to sense the position of the commutator 26 so that the two reach the set distance), the motor 1 drives the gripper 19 to rotate, so that the gripper 19 moves the commutator 26 downward and rotates the commutator 26 at the same time. During the rotation and downward movement of the commutator 26, the side protrusion 261 of the commutator 26 enters the groove 251 of the rotor frame 25.

[0060] 5) As motor 1 continues to rotate, gripper 19 clamps commutator 26 and rotates it. Commutator 26, in turn, rotates rotor frame 25, causing the positioning hole at the bottom of rotor frame 25 to align with positioning pin 291 on fixture 29. Positioning pin 291 falls into the positioning hole, thus positioning rotor frame 25 on fixture 29. Because the clamping force is appropriate and not too large, if rotor frame 25 falls onto positioning pin 291 and motor 1 continues to rotate, gripper 19 will rotate relative to commutator 26 without damaging motor 1. If the two-dimensional motion platform continues to move downwards with the mounting base, gripper 19 will also move relative to commutator 26 without damaging the two-dimensional motion platform.

[0061] After the side protrusion 261 of the commutator 26 is aligned and installed into the groove 251 of the rotor frame 25, the groove 251 needs to hold the side protrusion 261 in place, and the clamping force of the gripper 19 is not strong enough to allow the side protrusion 261 to enter the groove 251 to a shallow depth. Subsequently, the commutator 26 needs to be pressed downwards by the die of an external pressing device to press the side protrusion 261 of the commutator 26 into 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 during subsequent processing steps, thus ensuring normal production.

[0062] Those skilled in the art will readily understand that the above description is merely 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 within the scope of protection of the present invention.

Claims

1. An automatic assembly device for the commutator and rotor frame of a hollow cup motor rotor, characterized in that, Includes a mounting base, motor, cylinder, adapter block, first bearing, sliding sleeve, gripper, and gripper mounting bracket, wherein: The cylinder and the motor are respectively mounted on the mounting base. The adapter block is mounted on the output shaft of the cylinder to drive the adapter block to move up and down. The output shaft of the motor is connected to a vertically arranged rotating shaft to drive the rotating shaft to rotate. The sliding sleeve is mounted on the adapter block via 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 gripper mounting bracket is fixedly mounted on the rotating shaft; The gripper includes a pair of gripping fingers, each of which is hinged to the gripper mounting bracket via a horizontal hinge shaft; The sliding sleeve is provided with notches corresponding to the positions of each of the clamping fingers. The upper end of each clamping finger is respectively inserted into a notch, so that when the sliding sleeve moves downward along the axis of the rotating shaft, the sliding sleeve also moves on the clamping fingers. This facilitates the lower ends of the two clamping fingers to come closer to each other to clamp the commutator of the hollow cup motor, and facilitates the rotating shaft to drive the commutator held on the jaws to rotate so as to align with the rotor frame for assembly.

2. The automatic assembly equipment for the commutator and rotor frame of the hollow cup motor rotor according to claim 1, characterized in that, It also includes a mold that is fixedly mounted on the lower end of the rotating shaft. The mold is located below the gripper mounting bracket, 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 hollow cup motor rotor according to claim 1, characterized in that, The mounting base includes 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 hollow cup motor rotor according to claim 1, characterized in that, The mounting base is provided with a vertical slide rail, and the adapter block is mounted on the slide rail via a slider.

5. The automatic assembly equipment for the commutator and rotor frame of the hollow cup motor rotor according to claim 1, characterized in that, An encoder is connected to the output shaft of the motor; a sensing plate is provided on the rotating shaft, and a photoelectric sensor for detecting the position of the sensing plate is fixedly installed on the mounting base.

6. The automatic assembly equipment for the commutator and rotor frame of the hollow cup motor rotor according to claim 1, characterized in that, A mounting block is fixed on the mounting base, and multiple second bearings are installed sequentially from top to bottom inside the mounting block, with the rotating shaft passing through all the second bearings.

7. The automatic assembly equipment for the commutator and rotor frame of the hollow cup motor rotor according to claim 6, characterized in that, It also includes a rotating shaft locking nut, on which the rotating shaft is provided with external threads. The rotating shaft locking nut is threadedly connected to the rotating shaft and locks the rotating shaft onto the inner ring of the second bearing.

8. The automatic assembly equipment for the commutator and rotor frame of the hollow cup motor rotor according to claim 1, characterized in that, It also includes a two-dimensional motion platform, on which the mounting base is connected, for driving the mounting base to move up and down and to move horizontally.

9. The automatic assembly equipment for the commutator and rotor frame of the hollow cup motor rotor according to claim 1, characterized in that, It also includes a fixture for supporting the rotor frame, the fixture having a channel for accommodating the rotor shaft, wherein the rotor frame has a plurality of positioning holes arranged circumferentially at the bottom, and the fixture has a plurality of positioning pins arranged 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 position the rotor frame.

10. A method for automatically assembling the commutator and rotor frame of a hollow cup motor rotor using the automatic assembly equipment described in any one of claims 1 to 9, characterized in that: Includes the following steps: 1) The rotor frame of the hollow cup motor is placed on the tooling, wherein the rotor frame has multiple positioning holes arranged circumferentially at the bottom, and the tooling has multiple positioning pins arranged at the positions corresponding to the multiple first positioning holes at the bottom of the rotor frame, so that the positioning pins can be inserted into the positioning holes to position the rotor frame. 2) The two-dimensional motion platform drives the mounting base and gripper to move, so that the gripper moves to the commutator. The cylinder drives the sliding sleeve to move downward. The sliding sleeve drives the two gripping fingers of the gripper to close together to hold the commutator. The gripping force of the two gripping fingers on the commutator allows the two gripping 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 base, grippers and commutator to move, so that the commutator is moved to the top of the rotor frame. Then the two-dimensional motion platform drives the commutator to move downward, so that the commutator passes through the rotor shaft and moves downward along the axial direction of the rotor shaft. The top surface of the rotor base has multiple grooves evenly arranged around its circumference. The commutator has multiple side protrusions, each side protrusion being used to enter one of the grooves. 4) When the commutator moves along the axial direction of the rotor shaft to a set distance from the rotor frame, the motor drives the gripper to rotate, so that the gripper moves the commutator downward and rotates the commutator at the same time. During the rotation and downward movement of the commutator, the side boss of the commutator enters the groove of the rotor frame. 5) The motor continues to rotate, causing the grippers to clamp the commutator and rotate. The commutator then rotates the rotor frame, causing the positioning hole at the bottom of the rotor frame to align with the positioning pin on the fixture. The positioning pin falls into the positioning hole, thus positioning the rotor frame on the fixture.

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