Motor rotor disassembling manipulator based on negative feedback adjustment

Abstract

The invention discloses a motor rotor disassembly manipulator based on negative feedback adjustment, and belongs to the technical field of motor maintenance and disassembly. The permanent magnet motor rotor disassembling device solves the problems that an existing permanent magnet motor rotor disassembling device is low in disassembling efficiency, and the risk that magnetic attraction is out of control easily occurs. The device comprises a positioning assembly, an adjusting assembly and three execution assemblies, the positioning assembly comprises a first-stage reference platform, a vibration isolation device arranged right below the first-stage reference platform and a position adjusting mechanism connected between the first-stage reference platform and the vibration isolation device, and angle and stability adjustment of the first-stage reference platform is achieved through the position adjusting mechanism; the three detection cameras and the three fixed-torque motors are correspondingly installed at the tail ends of the three adjusting modules, and the positions and angles of the studs are adjusted through the adjusting modules. And a negative feedback adjusting mechanism is utilized to ensure the accuracy of operation, and the risk of out-of-control magnetic attraction in the disassembly process of the permanent magnet motor is effectively avoided based on a dynamic torque balance mechanism.

Description

Technical Field

[0001] The present invention relates to a motor rotor disassembly manipulator based on negative feedback regulation, belonging to the technical field of motor maintenance and disassembly. Background Art

[0002] With the rapid development of modern industrial technology, permanent magnet motors have been widely used in precision electromechanical equipment due to their high efficiency, high power density, and good control performance. However, when maintaining and overhauling permanent magnet motors, especially when disassembling key components such as the rotor and stator of permanent magnet motors, many technical problems are faced.

[0003] The rotor of a permanent magnet motor usually has high-performance permanent magnets embedded, such as neodymium iron boron magnets, with extremely high magnetic field intensity. This strong magnetic field has a very strong adsorption ability for surrounding ferromagnetic materials. During the disassembly process, when the distance between the stator and the rotor enters the range of the strong magnetic field, the non-linear magnetic field gradient generated by the neodymium iron boron magnet may cause a transient adsorption phenomenon. This phenomenon not only hinders the smooth progress of the disassembly work, but also may cause serious damage to the surfaces of the stator and the rotor, affecting the performance and service life of the motor.

[0004] In addition, the traditional method of disassembling permanent magnet motors mainly relies on experienced operators to manually adjust the relative positions of the stator and the rotor. This method is not only time-consuming and laborious, but also has a low standardization level, and is prone to errors during the disassembly process due to human factors. In the maintenance of precision electromechanical equipment, this low-efficiency and high-risk disassembly method can no longer meet the requirements of modern industry for efficient, precise, and safe maintenance.

[0005] Therefore, there is an urgent need for a new type of permanent magnet motor rotor disassembly device to solve the risk of magnetic adsorption out of control during the disassembly process of permanent magnet motors and improve the efficiency of the disassembly process. Summary of the Invention

[0006] The present invention is to solve the problems of low disassembly efficiency and easy occurrence of magnetic adsorption out of control risk existing in the existing permanent magnet motor rotor disassembly device, and further provides a motor rotor disassembly manipulator based on negative feedback regulation.

[0007] The technical solution adopted by the present invention to solve the above technical problems is: A motor rotor disassembly manipulator based on negative feedback regulation, comprising a positioning component, an adjustment component and three execution components. The positioning component includes a first-level reference platform, a vibration isolation device arranged directly below the first-level reference platform, and a position adjustment mechanism connected between the first-level reference platform and the vibration isolation device. A first inclination sensor and a top mechanical interface are installed on the first-level reference platform. The angle and stability of the first-level reference platform are adjusted through the position adjustment mechanism. The adjustment component includes three adjustment modules arranged circumferentially along the first-level reference platform. Each execution component includes a detection camera, a constant-torque motor with a torque sensor built therein, and a stud fixed to the output end of the constant-torque motor. The three detection cameras and the three constant-torque motors are respectively installed at the ends of the three adjustment modules. The position and angle of the stud are adjusted through the adjustment module.

[0008] Further, the position adjustment mechanism includes three linear motors distributed circumferentially and piezoelectric ceramics corresponding to each linear motor and between the linear motor and the first-level reference platform. Each piezoelectric ceramic is built with a displacement sensor.

[0009] Further, the three linear motors are evenly distributed circumferentially.

[0010] Further, each adjustment module includes a first to a third adjustment arm arranged end to end in sequence. Each adjacent two adjustment arms are connected by a joint motor. The first adjustment arm is fixed to the first-level reference platform. An angle measuring device is provided at the output end of each joint motor. The top surface of the third adjustment arm is a second-level reference surface.

[0011] Further, a second inclination sensor is installed on the second-level reference surface.

[0012] Further, the three detection cameras are respectively installed at the ends of the three third adjustment arms, and the three constant-torque motors are respectively fixed to the bottoms of the three third adjustment arms.

[0013] Further, the cross-section of the first-level reference platform is circular.

[0014] Further, each first adjustment arm is fixed to the side surface of the first-level reference platform.

[0015] Further, the vibration isolation device is of a cylindrical structure.

[0016] Further, the three adjustment modules are evenly distributed circumferentially along the first-level reference platform.

[0017] The present invention has the following effects compared with the prior art: The top surface of the primary reference platform is the primary reference surface. The first inclination sensor is set as a measuring tool to achieve real-time negative feedback adjustment of the primary reference surface angle. The negative feedback adjustment mechanism is used to ensure the accuracy of the operation and reduce the damage to the motor components to be disassembled due to improper operation.

[0018] In addition to the vibration isolation function, the vibration isolation device also has a positioning function. The bottom surface of the vibration isolation device is a plane. In the working state, it is located on the reference plate where the motor rotor to be disassembled is located, serving as a preliminary positioning reference for the primary reference platform.

[0019] By providing the position adjustment mechanism, the stability and angle accuracy of the primary reference platform and the adjustment components and execution components installed on the primary reference platform are ensured, that is, leveling is achieved.

[0020] The motor rotor disassembly robot based on negative feedback regulation of the present invention can significantly improve work efficiency, reduce labor costs, and is particularly suitable for batch processing tasks.

[0021] During the screwing-in process of the three studs, once the load of one of the studs suddenly increases, the constant torque motor will be overloaded and protected, thereby achieving adaptive adjustment of the screwing-in process of the three studs, effectively avoiding the risk of magnetic attraction out of control during the disassembly of the permanent magnet motor, and greatly improving the disassembly efficiency.

[0022] The motor rotor disassembly robot based on negative feedback regulation of the present invention realizes the dynamic balance of torque between three points of support based on the dynamic torque balance mechanism by using three studs and three constant torque motors with built-in torque sensors. During the disassembly process, the corresponding threads of the three studs are screwed into the threaded holes on the permanent magnet motor rotor, without destroying the permanent magnet motor rotor or stator structure, and without causing damage to the structure at other positions of the rotor.

[0023] By setting a constant torque motor to maintain the dynamic balance of the ejection torque of the three studs, non-coplanar overturning torque can be avoided during the disassembly process, thereby effectively avoiding the deviation of the rotor axis and greatly improving the accuracy of repeated assembly.

[0024] The motor rotor disassembly robot based on negative feedback regulation of the present invention can be used not only for disassembling permanent magnet motor rotors, but also for installing rotors. It can also be used for non-destructive disassembly and installation of various types of components, such as end covers or bearing sleeves, and has significant functional scalability and application potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a first three-dimensional structural schematic diagram of a motor rotor disassembly manipulator based on negative feedback regulation of the present invention; Figure 2 It is a second three-dimensional structural schematic diagram of a motor rotor disassembly manipulator based on negative feedback regulation of the present invention; Figure 3 The front view schematic diagram of a motor rotor disassembly manipulator based on negative feedback regulation according to the present invention; Figure 4 The top view schematic diagram of a motor rotor disassembly manipulator based on negative feedback regulation according to the present invention.

[0026] In the figure: 1. Primary reference platform; 2. Vibration isolation device; 3. Position adjustment mechanism; 31. Linear motor; 32. Piezoelectric ceramic; 4. First inclination sensor; 5. Top mechanical interface; 6. Adjustment module; 61. First adjustment arm; 62. Second adjustment arm; 63. Third adjustment arm; 64. Joint motor; 65. Second inclination sensor; 7. Detection camera; 8. Fixed-torque motor; 9. Stud. Specific embodiments

[0027] Specific embodiment 1: In combination with Figures 1 to 4 This embodiment is described to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that the descriptions of the present invention regarding directions such as "front", "rear", "left", "right", "inside", "outside", "left side", "right side", "upper part", "lower part", "top", "bottom", etc. are all defined based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the structures must be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In the description of the present invention, "a plurality of" means two or more, unless otherwise specifically defined.

[0029] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0030] A motor rotor disassembly manipulator based on negative feedback regulation, comprising a positioning component, an adjustment component and three execution components. The positioning component includes a first-level reference platform 1, a vibration isolation device 2 arranged directly below the first-level reference platform 1, and a position adjustment mechanism 3 connected between the first-level reference platform 1 and the vibration isolation device 2. A first inclination sensor 4 and a top mechanical interface 5 are installed on the first-level reference platform 1. The angle and stability of the first-level reference platform 1 are adjusted through the position adjustment mechanism 3. The adjustment component includes three adjustment modules 6 arranged circumferentially along the first-level reference platform 1. Each execution component includes a detection camera 7, a constant-torque motor 8 with a torque sensor built therein, and a stud 9 fixed to the output end of the constant-torque motor 8. The three detection cameras 7 and the three constant-torque motors 8 are respectively installed at the ends of the three adjustment modules 6. The position and angle of the stud 9 are adjusted through the adjustment module 6.

[0031] By installing the top mechanical interface 5 on the first-level reference platform 1, it is used to connect the robotic arm or other devices.

[0032] The top surface of the first-level reference platform 1 is the first-level reference plane. By setting the first inclination sensor 4 as a measuring tool, the real-time negative feedback adjustment of the angle of the first-level reference plane is realized. Using the negative feedback adjustment mechanism can ensure the accuracy of the operation and reduce the damage of the motor components to be disassembled caused by improper operation.

[0033] In addition to the vibration isolation function, the vibration isolation device 2 also has a positioning function. The bottom surface of the vibration isolation device 2 is a plane. In the working state, it is located on the reference plate where the motor rotor to be disassembled is located, serving as the preliminary positioning reference for the first-level reference platform 1.

[0034] By setting the position adjustment mechanism 3, the stability and angle accuracy of the first-level reference platform 1 and the adjustment component and the execution component installed on the first-level reference platform 1 are ensured, that is, leveling is realized.

[0035] The constant-torque motor 8 can set a threshold value and has an adaptive function for overload protection.

[0036] The size of the stud 9 can be selected according to the threaded holes on the actual motor rotor to be disassembled.

[0037] The detection camera 7 is used to accurately locate the position of the threaded holes on the motor rotor to be disassembled, so as to adjust the position of the stud 9 and further ensure the disassembly efficiency.

[0038] The motor rotor disassembly manipulator based on negative feedback regulation of the present invention can significantly improve the work efficiency, reduce the labor cost, and is especially suitable for batch processing tasks.

[0039] During the screwing process of the three studs 9, once the load of a certain stud 9 suddenly increases, the constant-torque motor 8 will be overloaded and protected, thereby realizing the adaptive adjustment of the screwing process of the three studs 9, effectively avoiding the risk of magnetic attraction out of control during the disassembly process of the permanent magnet motor, and greatly improving the disassembly efficiency at the same time.

[0040] A motor rotor disassembly manipulator based on negative feedback regulation according to the present invention, based on a dynamic torque balance mechanism, uses three studs 9 and three constant-torque motors 8 with built-in torque sensors to achieve dynamic torque balance between three-point supports. During the disassembly process, the three studs 9 are screwed into the threaded holes on the permanent magnet motor rotor corresponding to the threads, without damaging the structure of the permanent magnet motor rotor or stator, nor causing damage to the structures at other positions of the rotor.

[0041] By setting the constant-torque motor 8 to maintain the dynamic balance of the ejection torque of the three studs 9, non-coplanar overturning torque during the disassembly process is avoided, thereby effectively avoiding the offset of the rotor axis and greatly improving the repeated assembly accuracy.

[0042] A motor rotor disassembly manipulator based on negative feedback regulation according to the present invention can not only be used for the disassembly of permanent magnet motor rotors, but also for the installation of rotors, and can also be used for the non-destructive disassembly and installation of various types of components, such as end covers or bearing sleeves, etc., with significant functional expandability and application potential.

[0043] The position adjustment mechanism 3 includes three linear motors 31 distributed circumferentially and piezoelectric ceramics 32 correspondingly located between each linear motor 31 and the first-level reference platform 1. Each piezoelectric ceramic 32 is internally provided with a displacement sensor. Designed in this way, the linear motor 31 is a high-precision linear motor for driving the vibration isolation device 2 to act. The piezoelectric ceramic 32 can be an internally installed piezoelectric ceramic 32 for precisely controlling the angle of the first-level reference platform 1, and finally ensuring that the first-level reference platform 1 is parallel to the upper surface of the motor.

[0044] The three linear motors 31 are evenly distributed circumferentially.

[0045] Each adjustment module 6 includes a first to a third adjustment arm arranged in sequence end to end. Each adjacent two adjustment arms are connected by a joint motor 64. The first adjustment arm 61 is fixedly installed on the primary reference platform 1. An angle measuring device is provided at the output end of each joint motor 64. The top surface of the third adjustment arm 63 is the secondary reference surface. With such a design, before the disassembly operation, first use the detection camera 7 to detect the threaded holes on the motor rotor to be disassembled, obtain the diameter data of the pitch circle where the threaded holes are located. The central control system collects the diameter data and controls the rotation of the joint motor 64, thereby controlling the deflection of the second adjustment arm 62 and the third adjustment arm 63, and finally realizing the telescopic movement of the entire adjustment module 6. The angle measuring device monitors the rotation angle of the joint motor 64 in real time. The third adjustment arm 63 serves as the secondary reference platform, and its top surface is the secondary reference surface. The first adjustment arm 61 can be fixedly installed at any position on the primary reference platform 1, preferably on the side surface of the primary reference platform 1, so as to leave enough space for the top mechanical interface 5.

[0046] A second inclination sensor 65 is installed on the secondary reference surface. With such a design, by setting the second inclination sensor 65 as the measuring tool, real-time negative feedback adjustment of the angle of the secondary reference surface is realized. In each adjustment module 6, the second inclination sensor 65, two joint motors 64 and two angle measuring devices are integrated to form a two-axis stabilization system, which can always maintain the horizontal state of the secondary reference platform surface during the disassembly process of the motor rotor and adapt to the disassembly requirements of motor rotors with different diameters, having a wide-area adaptation ability, especially suitable for the disassembly of precision rotors. For example, when disassembling motor rotors with different diameters, the joint motor 64 between the first adjustment arm 61 and the second adjustment arm 62 can be adjusted, and then the inclination angle of the second adjustment arm 62 can be adjusted to adapt to the disassembly requirements of motor rotors with different diameters; when the second inclination sensor 65 detects that the secondary reference platform surface is inclined, the signal is transmitted to the central control system, and the central control system issues a command to control the action of the joint motor 64, and the angle measuring device monitors the action of the joint motor 64 in real time, thereby always maintaining the horizontal state of the secondary reference platform surface.

[0047] Three detection cameras 7 are correspondingly installed at the ends of the three third adjustment arms 63, and three constant-torque motors 8 are correspondingly fixedly installed at the bottoms of the three third adjustment arms 63.

[0048] The cross-section of the primary reference platform 1 is circular. With such a design, the primary reference platform 1 can be a cylindrical structure or a frustum-shaped structure. Designing its cross-section as circular is more convenient for the installation of positioning components.

[0049] Each first adjustment arm 61 is fixedly installed on the side surface of the primary reference platform 1.

[0050] The vibration isolation device 2 is of a cylindrical structure. Designed in this way, it can adapt to the internal shape of the motor rotor to be disassembled, so that it can smoothly pass through the rotor and rotate onto the reference plate during the disassembly process.

[0051] The three adjustment modules 6 are evenly distributed circumferentially along the first-level reference platform 1.

[0052] Workflow: First, place the motor to be disassembled on the reference plate, determine the position of the motor to be disassembled through the detection camera 7, and the control system controls the positioning component and the adjustment component to act, adjust the stud 9 to an appropriate angle and align it with the threaded hole on the rotor of the motor to be disassembled; then, the linear motor 31 pushes the vibration isolation device 2 through the rotor of the motor to be disassembled to contact the reference plate, ensuring that the three sets of execution components are parallel to each other; finally, start the constant-torque motor 8 to make the stud 9 advance, eject the rotor, and then the robotic arm docks to the top mechanical interface 5 and takes out the rotor and places it at the designated position.

[0053] The reference plate can be various structures such as the ground, a platform, etc. that meet the flatness requirements for disassembly operations.

[0054] Two reference plates can be prepared in advance. One reference plate is used for disassembly operations, and the other reference plate is used for placing the disassembled motor rotor, which is convenient for assembly line operations and has a higher degree of automation.

[0055] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A motor rotor disassembly manipulator based on negative feedback regulation, characterized in that: It includes a positioning component, an adjustment component and three groups of execution components. The positioning component includes a primary reference platform (1), a vibration isolation device (2) arranged directly below the primary reference platform (1), and a position adjustment mechanism (3) connected between the primary reference platform (1) and the vibration isolation device (2). A first inclination sensor (4) and a top mechanical interface (5) are installed on the primary reference platform (1). The angle and stability of the primary reference platform (1) are adjusted through the position adjustment mechanism (3). The adjustment component includes three adjustment modules (6) arranged circumferentially along the primary reference platform (1). Each group of the execution components includes a detection camera (7), a constant-torque motor (8) with a torque sensor built therein, and a stud (9) fixed to the output end of the constant-torque motor (8). The three detection cameras (7) and the three constant-torque motors (8) are respectively installed at the ends of the three adjustment modules (6). The position and angle of the stud (9) are adjusted through the adjustment module (6).

2. The motor rotor disassembly manipulator based on negative feedback regulation according to claim 1, characterized in that: The position adjustment mechanism (3) includes three linear motors (31) distributed circumferentially and piezoelectric ceramics (32) correspondingly located between each linear motor (31) and the primary reference platform (1). Each piezoelectric ceramic (32) is built with a displacement sensor.

3. The manipulator for disassembling the motor rotor based on negative feedback regulation according to claim 2, characterized in that: The three linear motors (31) are evenly distributed circumferentially.

4. The manipulator for disassembling the motor rotor based on negative feedback regulation according to claim 1, wherein: Each adjustment module (6) includes a first to a third adjustment arm arranged in sequence end to end. Each adjacent two adjustment arms are connected by a joint motor (64). The first adjustment arm (61) is fixed to the primary reference platform (1). An angle measuring device is provided at the output end of each joint motor (64). The top surface of the third adjustment arm (63) is a secondary reference surface.

5. The manipulator for disassembling a motor rotor based on negative feedback regulation according to claim 4, characterized in that: A second inclination sensor (65) is installed on the secondary reference surface.

6. The robotic manipulator for disassembling the motor rotor based on negative feedback regulation according to claim 4, wherein: The three detection cameras (7) are correspondingly installed at the ends of the three third adjustment arms (63), and the three constant-torque motors (8) are correspondingly fixed to the bottoms of the three third adjustment arms (63).

7. A motor rotor disassembly manipulator based on negative feedback regulation according to claim 1, characterized in that: The cross-section of the primary reference platform (1) is circular.

8. A motor rotor disassembly manipulator based on negative feedback regulation according to claim 4, characterized in that: Each first adjustment arm (61) is fixed to the side surface of the primary reference platform (1).

9. A motor rotor disassembly manipulator based on negative feedback regulation according to claim 1, characterized in that: The vibration isolation device (2) is of a cylindrical structure.

10. A motor rotor disassembly manipulator based on negative feedback regulation according to claim 1, characterized in that: The three adjustment modules (6) are evenly distributed circumferentially along the primary reference platform (1).

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