A motor rotor disassembly robot based on negative feedback regulation

Abstract

A motor rotor disassembly robot based on negative feedback regulation belongs to the technical field of motor maintenance and disassembly. The present invention solves the problems of low disassembly efficiency and easy risk of magnetic attraction out of control in existing permanent magnet motor rotor disassembly devices. It includes a positioning component, an adjustment component and three groups of execution components. The positioning component includes a primary reference platform, a vibration isolation device arranged directly below the primary reference platform and a position adjustment mechanism connected between the primary reference platform and the vibration isolation device. The angle and stability of the primary reference platform are adjusted by the position adjustment mechanism. Three detection cameras and three constant torque motors are correspondingly installed at the ends of the three adjustment modules, and the position and angle of the studs are adjusted by the adjustment modules. The negative feedback adjustment mechanism is used to ensure the accuracy of the operation, and based on the dynamic torque balance mechanism, the risk of magnetic attraction out of control during the disassembly of the permanent magnet motor is effectively avoided.

Description

Technical Field

[0001] The 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 (PMMs) have been widely used in precision electromechanical equipment due to their high efficiency, high power density, and excellent controllability. However, maintaining and repairing PMMs, especially when disassembling key components such as the rotor and stator, presents numerous technical challenges.

[0003] The rotor of a permanent magnet motor typically contains embedded high-performance permanent magnets, such as neodymium iron boron (NdFeB) magnets, which produce extremely high magnetic field strength. This powerful magnetic field has a strong attraction to surrounding magnetically conductive materials. During disassembly, when the distance between the stator and rotor enters the range of the strong magnetic field, the nonlinear magnetic field gradient generated by the NdFeB magnets can cause transient attraction. This phenomenon not only hinders the smooth disassembly process but can also cause serious damage to the stator and rotor surfaces, affecting the performance and service life of the motor.

[0004] Furthermore, traditional permanent magnet motor disassembly relies on experienced operators manually adjusting the relative position of the stator and rotor. This method is not only time-consuming and labor-intensive, but also lacks standardization and is prone to errors caused by human error during disassembly. This inefficient and high-risk disassembly method no longer meets the modern industry's requirements for efficient, accurate, and safe maintenance of precision electromechanical equipment.

[0005] Therefore, a new type of permanent magnet motor rotor disassembly device is urgently needed to solve the risk of magnetic attraction loss of control during the disassembly of the permanent magnet motor and improve the disassembly process efficiency. Summary of the Invention

[0006] The present invention aims to solve the problems of low disassembly efficiency and the risk of magnetic attraction loss of control in existing permanent magnet motor rotor disassembly devices, 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:

[0008] A motor rotor disassembly robot based on negative feedback regulation includes a positioning component, an adjustment component and three groups of execution components, wherein the positioning component includes a primary reference platform, a vibration isolation device arranged directly below the primary reference platform and a position adjustment mechanism connected between the primary reference platform and the vibration isolation device; a first inclination sensor and a top mechanical interface are installed on the primary reference platform; the angle and stability of the primary reference platform are adjusted by the position adjustment mechanism; the adjustment component includes three adjustment modules arranged along the circumference of the primary reference platform; each group of the execution components includes a detection camera, a fixed torque motor with a built-in torque sensor and a stud fixed at the output end of the fixed torque motor; the three detection cameras and the three fixed torque motors are correspondingly installed at the ends of the three adjustment modules; the position and angle of the stud are adjusted by the adjustment modules.

[0009] Furthermore, the position adjustment mechanism includes three linear motors distributed along the circumferential direction and piezoelectric ceramics correspondingly located between each linear motor and the primary reference platform, and each piezoelectric ceramic has a built-in displacement sensor.

[0010] Furthermore, the three linear motors are evenly distributed along the circumferential direction.

[0011] Furthermore, each adjustment module includes three first to third adjustment arms arranged end to end, each two adjacent adjustment arms are connected by a joint motor, the first adjustment arm is fixedly mounted on the primary reference platform, the output end of each joint motor is provided with an angle measuring device, and the top surface of the third adjustment arm is the secondary reference surface.

[0012] Furthermore, a second inclination sensor is installed on the secondary reference surface.

[0013] Furthermore, the three detection cameras are correspondingly installed at the ends of the three third adjustment arms, and the three constant torque motors are correspondingly fixed at the bottom ends of the three third adjustment arms.

[0014] Furthermore, the cross section of the primary reference platform is circular.

[0015] Furthermore, each first adjustment arm is fixedly mounted on a side surface of the primary reference platform.

[0016] Furthermore, the vibration isolation device is a cylindrical structure.

[0017] Furthermore, the three adjustment modules are evenly distributed along the circumference of the primary reference platform.

[0018] Compared with the prior art, the present invention has the following effects:

[0019] The top surface of the primary reference platform serves as the primary reference surface. A first inclination sensor is used as a measurement tool to achieve real-time negative feedback adjustment of the primary reference surface angle. This negative feedback adjustment mechanism ensures operational accuracy and reduces damage to the motor assembly being disassembled due to improper operation.

[0020] 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 the preliminary positioning reference of the first-level reference platform.

[0021] By providing the position adjustment mechanism, the stability and angular accuracy of the primary reference platform and the adjustment components and execution components installed on the primary reference platform are ensured, thereby achieving leveling.

[0022] 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.

[0023] During the screwing-in process of the three studs, if the load on one of the studs suddenly increases, the constant torque motor will be overload 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.

[0024] The present invention provides a motor rotor disassembly robot based on negative feedback regulation. Based on a dynamic torque balance mechanism, it uses three studs and three constant torque motors with built-in torque sensors to achieve dynamic torque balance between three-point supports. During the disassembly process, the corresponding threads of the three studs are screwed into the threaded holes on the permanent magnet motor rotor. There is no need to destroy the permanent magnet motor rotor or stator structure, and no damage will be caused to the structures at other positions of the rotor.

[0025] 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 preventing the rotor axis from deviating and greatly improving the accuracy of repeated assembly.

[0026] The motor rotor disassembly robot based on negative feedback regulation of the present invention can not only be used 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

[0027] Figure 1 This is a schematic diagram of a first three-dimensional structure of a motor rotor disassembly robot based on negative feedback regulation according to the present invention;

[0028] Figure 2This is a second three-dimensional structural diagram of a motor rotor disassembly robot based on negative feedback regulation according to the present invention;

[0029] Figure 3 This is a schematic front view of a motor rotor disassembly robot based on negative feedback regulation according to the present invention;

[0030] Figure 4 This is a top view schematic diagram of a motor rotor disassembly robot based on negative feedback regulation according to the present invention.

[0031] In the picture:

[0032] 1. Primary reference platform; 2. Vibration isolation device; 3. Position adjustment mechanism; 31. Linear motor; 32. Piezoelectric ceramics; 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. Constant torque motor; 9. Stud. DETAILED DESCRIPTION

[0033] Specific implementation method 1: Combination Figures 1 to 4 This embodiment is explained, and the technical solutions in the embodiment of the present invention are clearly and completely described. Obviously, the described embodiment is only a part of the embodiment of the present invention, rather than all the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0034] It should be noted that the descriptions of the present invention regarding directions such as "front", "back", "left", "right", "inside", "outside", "left side", "right side", "upper", "lower", "top", and "bottom" are all defined based on the relationship between the orientations or positions shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure must be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the present invention. In the description of the present invention, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0035] In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0036] A motor rotor disassembly robot based on negative feedback regulation includes a positioning component, an adjustment component and three groups of execution components, wherein 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 adjustment of the primary reference platform 1 are achieved through the position adjustment mechanism 3. The adjustment component includes three adjustment modules 6 arranged along the circumference of the primary reference platform 1. Each group of the execution components includes a detection camera 7, a fixed torque motor 8 with a built-in torque sensor and a stud 9 fixed at the output end of the fixed torque motor 8. The three detection cameras 7 and the three fixed torque motors 8 are correspondingly installed at the ends of the three adjustment modules 6, and the position and angle of the stud 9 are adjusted through the adjustment module 6.

[0037] A top mechanical interface 5 is installed on the primary reference platform 1 for connecting a robotic arm or other devices.

[0038] The top surface of the primary reference platform 1 is the primary reference surface. A first inclination sensor 4 is provided as a measuring tool to achieve real-time negative feedback adjustment of the primary reference surface angle. This negative feedback adjustment mechanism ensures operational accuracy and reduces damage to the motor assembly being disassembled due to improper operation.

[0039] 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 a preliminary positioning reference for the first-level reference platform 1.

[0040] By providing the position adjustment mechanism 3 , the stability and angular accuracy of the primary reference platform 1 and the adjustment components and execution components mounted on the primary reference platform 1 are ensured, that is, leveling is achieved.

[0041] The constant torque motor 8 can set a threshold value and has an adaptive function for overload protection.

[0042] The size of the stud 9 can be selected according to the threaded hole on the motor rotor to be disassembled.

[0043] The detection camera 7 is used to accurately locate the position of the threaded hole on the motor rotor to be disassembled, so as to adjust the position of the stud 9 and further ensure the disassembly efficiency.

[0044] 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.

[0045] During the screwing-in process of the three studs 9, once the load of one of the studs 9 suddenly increases, the constant torque motor 8 is overload protected, thereby realizing adaptive adjustment of the screwing-in process of the three studs 9, effectively avoiding the risk of magnetic attraction out of control during the disassembly of the permanent magnet motor, and also greatly improving the disassembly efficiency.

[0046] The motor rotor disassembly robot based on negative feedback regulation of the present invention is based on a dynamic torque balance mechanism and utilizes 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 corresponding threads of the three studs 9 are screwed into the threaded holes on the permanent magnet motor rotor, without destroying the permanent magnet motor rotor or stator structure, and will not cause damage to the structures at other positions of the rotor.

[0047] By providing a constant torque motor 8 to maintain the dynamic balance of the ejection torque of the three studs 9, non-coplanar overturning torque can be avoided during the disassembly process, thereby effectively avoiding the deviation of the rotor axis and greatly improving the repeated assembly accuracy.

[0048] The motor rotor disassembly robot based on negative feedback regulation of the present invention can not only be used 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.

[0049] The position adjustment mechanism 3 comprises three circumferentially distributed linear motors 31 and corresponding piezoelectric ceramics 32 positioned between each linear motor 31 and the primary reference platform 1. Each piezoelectric ceramic 32 has a built-in displacement sensor. This design ensures that the linear motors 31 are high-precision linear motors, driving the vibration isolation device 2. The piezoelectric ceramics 32, which can be built-in, precisely control the angle of the primary reference platform 1, ultimately ensuring that the primary reference platform 1 is parallel to the upper surface of the motors.

[0050] The three linear motors 31 are evenly distributed along the circumferential direction.

[0051] Each adjustment module 6 includes three first to third adjustment arms arranged end to end, and each adjacent adjustment arm is connected by a joint motor 64. The first adjustment arm 61 is fixed on the primary reference platform 1, and the output end of each joint motor 64 is provided with an angle measuring device. The top surface of the third adjustment arm 63 is the secondary reference surface. With such a design, before the disassembly operation, the threaded hole on the motor rotor to be disassembled is first detected with a detection camera 7 to obtain the diameter data of the pitch circle where the threaded hole is located. The central control system collects the diameter data, controls the rotation of the joint motor 64, and then controls the deflection of the second adjustment arm 62 and the third adjustment arm 63, and finally realizes the telescopic action 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 fixed at any position on the primary reference platform 1, preferably fixed on the side of the primary reference platform 1, so as to leave enough space for the top mechanical interface 5.

[0052] A second inclination sensor 65 is installed on the secondary reference surface. With this design, by setting the second inclination sensor 65 as a measuring tool, real-time negative feedback adjustment of the angle of the secondary reference surface is achieved. Each adjustment module 6 integrates a second inclination sensor 65, two joint motors 64 and two angle measuring devices to form a dual-axis stabilization system. It can always maintain the horizontal state of the secondary reference platform surface during the disassembly of the motor rotor and adapt to the disassembly requirements of motor rotors of different diameters. It has wide-area adaptability and is particularly suitable for the disassembly of precision rotors. For example, when disassembling motor rotors of 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 of different diameters; when the second inclination sensor 65 detects that the secondary reference platform surface is tilted, it transmits a signal to the central control system, which issues a specified control signal to control the movement of the joint motor 64, and the angle measuring device monitors the movement of the joint motor 64 in real time, thereby always maintaining the horizontal state of the secondary reference platform surface.

[0053] The three detection cameras 7 are correspondingly mounted on the ends of the three third adjustment arms 63 , and the three constant torque motors 8 are correspondingly fixed on the bottom ends of the three third adjustment arms 63 .

[0054] The cross section of the first level reference platform 1 is circular. With this design, the first level reference platform 1 can be a cylindrical structure or a truncated cone structure. The circular cross section makes it easier to install the positioning component.

[0055] Each first adjustment arm 61 is fixedly mounted on a side surface of the primary reference platform 1 .

[0056] The vibration isolation device 2 is a cylindrical structure. Such a design can adapt to the internal shape of the motor rotor to be disassembled, thereby allowing it to smoothly pass through the rotor and rotate onto the reference plate during the disassembly process.

[0057] The three adjustment modules 6 are evenly distributed along the circumference of the primary reference platform 1 .

[0058] Workflow:

[0059] First, the motor to be disassembled is placed on the reference plate, and the position of the motor to be disassembled is determined by the detection camera 7. The control system controls the positioning component and the adjustment component, adjusts the stud 9 to a suitable angle and aligns 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 groups of actuators are parallel to each other; finally, the constant torque motor 8 is started to move the stud 9 forward and push out the rotor, and then the robotic arm docks it to the top mechanical interface 5 to take out the rotor and place it in the specified position.

[0060] The reference plate can be any structure such as the ground, a platform, etc. that meets the flatness requirements of the disassembly operation.

[0061] Two reference plates can be prepared in advance, one of which is used for disassembly operations and the other is used to place the disassembled motor rotor, which facilitates assembly line operations and has a higher degree of automation.

[0062] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A motor rotor disassembly robot based on negative feedback regulation, characterized by: The invention comprises a positioning component, an adjustment component and three groups of execution components, wherein the positioning component comprises 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 by the position adjustment mechanism (3); the adjustment component comprises three adjustment modules (6) arranged along the circumference of the primary reference platform (1); each group of the execution components comprises a detection camera (7), a fixed torque motor (8) with a built-in torque sensor and a stud (9) fixed at the output end of the fixed torque motor (8); the three detection cameras (7) and the three fixed torque motors (8) are correspondingly installed at the ends of the three adjustment modules (6); and the position and angle of the stud (9) are adjusted by the adjustment modules (6).

2. The motor rotor disassembly robot based on negative feedback regulation according to claim 1, characterized in that: The position adjustment mechanism (3) comprises three linear motors (31) distributed along the circumferential direction and piezoelectric ceramics (32) correspondingly located between each linear motor (31) and the primary reference platform (1), and each piezoelectric ceramic (32) has a built-in displacement sensor.

3. The motor rotor disassembly robot based on negative feedback regulation according to claim 2, characterized in that: The three linear motors (31) are evenly distributed along the circumferential direction.

4. The motor rotor disassembly robot based on negative feedback regulation according to claim 1, characterized in that: Each adjustment module (6) comprises three first to third adjustment arms arranged end to end in sequence, and each two adjacent adjustment arms are connected via a joint motor (64). The first adjustment arm (61) is fixed on the primary reference platform (1), and the output end of each joint motor (64) is provided with an angle measuring device. The top surface of the third adjustment arm (63) is the secondary reference surface.

5. The motor rotor disassembly robot 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 motor rotor disassembly robot based on negative feedback regulation according to claim 4, characterized in that: The three detection cameras (7) are correspondingly mounted on the ends of the three third adjustment arms (63), and the three constant torque motors (8) are correspondingly fixed on the bottom ends of the three third adjustment arms (63).

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

8. The motor rotor disassembly robot based on negative feedback regulation according to claim 4, characterized in that: Each first regulating arm (61) is fixedly mounted on a side surface of the first-level reference platform (1).

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

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

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