Debugging device and debugging method for stepping motor

Abstract

The present application discloses a debugging device and a debugging method for a stepper motor, wherein the debugging device comprises an in-situ debugging assembly and an extension position debugging assembly respectively used for in-situ debugging and debugging of the initial extension position of the output shaft. The in-situ debugging of the present application adopts a debugging method in which a rotating table and a magnetic attraction component drive the nut to rotate, without the intervention of other electrical components, and the structure is simple and the control difficulty is low. The present application connects the output shaft extension position debugging assembly and the in-situ debugging assembly into a complete set of equipment through a transverse movement component to achieve integration, and the output shaft extension position debugging of the present application does not require manual participation and has high work efficiency. A first elastic member is provided for upward elastic pulling, which will not cause damage to the workpiece; the debugging method of the present application comprises driving the magnetic ring and the nut to rotate by magnetic attraction to achieve in-situ debugging, and driving the output shaft to rotate and move axially to achieve extension position debugging. The debugging method of the present application does not require manual participation and is simple and fast.

Description

Technical Field

[0001] The present application relates to the field of production and manufacturing, and in particular to a debugging device and a debugging method for a stepper motor. Background Art

[0002] Stepper motor is a common driving component, which is divided into linear displacement stepper motor and angular displacement stepper motor. Figure 1 and Figure 2 As shown, the linear displacement stepper motor includes components such as a casing, a magnetic ring, a nut, a bearing, an output shaft, and a limit cover. The magnetic ring and the nut are coaxially connected as a whole, and the nut is rotatably assembled in the casing through the bearing. The magnetic ring and the nut are both coaxially arranged with the casing. A part of the output shaft is located in the casing, and a part extends to the outside of the casing. The outer periphery of the output shaft located in the casing is provided with an external thread, and the nut is provided with an internal thread. The output shaft is threadedly engaged with the nut. When the nut rotates, if the rotation of the output shaft is restricted, the output shaft can be linearly extended and retracted in the axial direction; the limit cover is arranged at an opening position on the top of the casing, and the limit cover limits the guide pin on the output shaft through the limit groove, so that the output shaft can only be linearly extended and retracted in the axial direction but cannot rotate under the drive of the nut.

[0003] During the production process of online displacement stepper motors, they need to be debugged, including in-situ debugging and debugging of the initial extended position of the output shaft. In-situ debugging refers to rotating the in-situ block set at the top of the nut to the original position, wherein an in-situ stopper is provided on the inner side of the casing. When the in-situ block is rotated along the circumferential direction until it is against the in-situ stopper, the in-situ block is in the original position. The initial extended position debugging of the output shaft refers to adjusting the axial distance from the upper surface of the casing to the upper end face of the output shaft to a predetermined value based on the upper surface of the casing.

[0004] The following problems exist in the prior art: 1. Since the nut and the original block on the top of the nut are both located inside the casing, manual labor or a handheld tool is required to reach into the casing to move the original block to rotate it to its original position. This method is time-consuming and labor-intensive, and there are a series of problems with manual debugging, such as labor cost issues, inability to ensure that debugging is in place, etc. On the other hand, when using this debugging method, the top of the casing cannot be assembled with a limit cover first, otherwise the casing will be closed, and manual labor or tools cannot be inserted into the casing to move the original block. However, if the limit cover is assembled after adjusting the original position, if the worker accidentally touches the output shaft or the original block when assembling the limit cover, it may cause the nut to rotate and then cause the original position to be lost; 2. The initial extension position debugging of the output shaft relies on manual operation by the worker, and then a sensor is used to measure the extension amount of the output shaft. This method has high labor intensity, cannot be adapted to mass production, and has poor accuracy. Summary of the Invention

[0005] The embodiments of the present application provide a debugging device and a debugging method for a stepper motor, which can be used for in-situ debugging and extended position debugging during the production process of the stepper motor.

[0006] In a first aspect, an embodiment of the present application provides a stepper motor debugging device, comprising:

[0007] The in-situ debugging assembly includes a transverse movement component, a movable platform, a mounting platform, a lifting component, a rotating platform, a magnetic attraction component, and a first driving component; the transverse movement component is arranged along a first direction, and is used to drive the movable platform to move in the first direction; the movable platform is arranged on the transverse movement component; the mounting platform is slidably connected to the movable platform along a second direction; the lifting component is respectively connected to the movable platform and the mounting platform, and is used to drive the mounting platform to move in the second direction; the stepping motor to be debugged is mounted on the mounting platform; the rotating platform is rotatably arranged on the mounting platform around the second direction, and the rotating platform is provided with a mounting hole sleeved on the outer periphery of the stepping motor; the magnetic attraction component is arranged on the rotating platform, and is used to attract the magnetic ring of the stepping motor; the first driving component is arranged on the mounting platform, and the first driving component is connected to the rotating platform, and is used to drive the rotating platform to rotate;

[0008] The extended position debugging assembly includes a first bracket, a positioning plate, a second drive component, a transmission column, a displacement sensor, a bracket plate, a sliding guide column, a clamping finger, a first elastic member and a first telescopic member; the first bracket is arranged at one end of the transverse movement component along the first direction; the positioning plate is connected to the first bracket for fitting and positioning with the upper surface of the stepper motor; the second drive component is arranged on the first bracket; the transmission column is connected to the output end of the second drive component, and the transmission column is driven to rotate around the second direction through the second drive component; one end of the displacement sensor is connected to the transmission column, and the telescopic end of the displacement sensor extends downward; one end of the bracket plate is connected to the transmission column, and the other end is provided with a guide hole; the sliding guide column passes through the guide hole along the second direction, and one end of the sliding guide column is connected to the clamping finger; the clamping finger is used to clamp the output shaft of the stepper motor; the first elastic member is arranged between the sliding guide column and the bracket plate, and the telescopic direction of the first elastic member is consistent with the sliding direction of the sliding guide column; one end of the first telescopic member is arranged on the first bracket, and the other end of the first telescopic member is used to push the sliding guide column to slide so that the first elastic member is deformed.

[0009] Preferably, the transverse movement assembly includes a slide rail and a transverse movement driving member; the slide rail is arranged along the first direction; the movable platform is slidably connected to the slide rail; the transverse movement driving member is connected to the movable platform for driving the movable platform to slide in the first direction.

[0010] Preferably, the mounting platform is provided with a first central hole for the housing of the stepping motor to pass through, the mounting platform is provided with a positioning pin; and the housing is provided with a positioning hole that cooperates with the positioning pin.

[0011] Preferably, the housing of the stepper motor is coaxially arranged in the mounting hole of the rotating table; the magnetic attraction component includes a plurality of magnets arranged on the rotating table around the second direction.

[0012] Preferably, the first drive assembly includes a first pulley, a second pulley, a first belt and a first motor; the first pulley and the second pulley are both rotatably connected to the mounting table; the first pulley is coaxially connected to the rotating table; the first belt is respectively connected to the first pulley and the second pulley; the first motor is arranged on the mounting table, and the output end of the first motor is connected to the second pulley.

[0013] Preferably, the positioning plate of the extended position debugging assembly is arranged above the transverse movement component, and the lower surface of the positioning plate is configured as a horizontal positioning surface; the positioning plate is provided with an avoidance hole and a second center hole, the avoidance hole is used to avoid the output shaft of the stepper motor in the first direction, and one end of the avoidance hole is connected to the second center hole; the second center hole is coaxially arranged with the transmission column.

[0014] Preferably, the second drive assembly includes a third pulley, a fourth pulley, a second belt and a second motor; the third pulley and the fourth pulley are both rotatably connected to the first bracket; the third pulley is coaxially connected to the transmission column; the second belt is respectively connected to the third pulley and the fourth pulley; the second motor is arranged on the first bracket, and the output end of the second motor is connected to the fourth pulley.

[0015] Preferably, the extended position debugging assembly also includes a baffle and a photoelectric sensor; the baffle is arranged on the bracket plate; the photoelectric sensor is arranged on the first bracket, and when the baffle rotates around the second direction to block the photoelectric sensor, the photoelectric sensor generates an induction signal.

[0016] Preferably, the stepper motor debugging device further includes a riveting assembly; the riveting assembly includes a second bracket, a riveting slide, a second telescopic member, and a riveting head; the second bracket is arranged above the transverse movement assembly; the riveting slide is slidably connected to the second bracket along the second direction; the second telescopic member is arranged on the second bracket for driving the riveting slide to move in the second direction;

[0017] The rivet head includes an outer sleeve, a rivet cutter, a center sleeve, a limit pin and a second elastic member; the outer sleeve is arranged on the riveting slide; the rivet cutter is coaxially arranged on the lower surface of the outer sleeve, and the lower surface of the rivet cutter is provided with multiple riveting cutting parts along its circumference, and the riveting cutting parts are used to rivet the upper edge of the casing and the limit cover of the stepper motor together; the center sleeve is coaxially slidably connected to the outer sleeve; the center sleeve is coaxially provided with a third center hole; the outer sleeve is provided with a sliding groove, and the length direction of the sliding groove is configured as the second direction, one end of the limit pin is connected to the center sleeve, and the other end passes through the sliding groove; the two ends of the second elastic member are respectively connected to the center sleeve and the outer sleeve, and the telescopic direction of the second elastic member is consistent with the axial direction of the center sleeve.

[0018] In a second aspect, an embodiment of the present application provides a stepper motor debugging method using a debugging device, the debugging method comprising:

[0019] Step S100: Install the stepper motor on the mounting platform;

[0020] Step S200: The magnetic assembly is magnetically connected to the magnetic ring of the stepping motor. The first driving assembly drives the rotating platform and the magnetic assembly to rotate in the second direction. The magnetic assembly drives the magnetic ring and the nut to rotate. When the nut and the in-situ block on the nut rotate in the second direction until they abut against the in-situ stop inside the housing, the in-situ commissioning is completed.

[0021] Step S300: The traverse assembly drives the movable platform and the stepper motor to move transversely in a first direction to below the first bracket, and the lifting assembly drives the mounting platform and the stepper motor to move upward in a second direction. When the output shaft of the stepper motor abuts against the displacement sensor and the upper surface of the stepper motor abuts against the lower surface of the positioning plate, the lifting assembly stops lifting.

[0022] Step S400: The first telescopic member drives the sliding guide post to move downward, causing the first elastic member to deform. The first telescopic member stops pressing downward, and the clamping fingers clamp the output shaft of the stepping motor.

[0023] In step S500, the second driving component drives the transmission column, the displacement sensor and the clamping fingers to rotate in the second direction, and at the same time the second telescopic member retracts upward, so that the clamping fingers drive the output shaft of the stepper motor to rotate, and at the same time the first elastic member drives the clamping fingers to pull the output shaft of the stepper motor upward, so that the output shaft of the stepper motor rotates and extends, and the extension amount of the output shaft is measured by the displacement sensor. When the extension amount reaches a predetermined value, the second driving component stops driving and the clamping fingers release the output shaft, and the stepper motor falls back to the moving platform, and the extension position debugging of the output shaft is completed.

[0024] The stepper motor debugging device and debugging method of the present application have at least the following beneficial effects:

[0025] The debugging equipment of the present application includes an in-situ debugging assembly and an extension position debugging assembly, which are respectively used for in-situ debugging and debugging of the initial extended position of the output shaft. During in-situ debugging, the casing of the stepper motor is installed on the mounting table, and the magnetic attraction component on the rotating table is used to attract the magnetic ring inside the casing. Then, the rotating table and the magnetic attraction component are driven to rotate by the first driving component, so that the magnetic ring and the nut rotate inside the casing until the in-situ block on the nut rotates circumferentially to abut against the in-situ stop block, thereby realizing in-situ debugging. On the one hand, this method does not require manual participation. On the other hand, the debugging method of using the rotating table and the magnetic attraction component to drive the nut to rotate does not involve other electrical components, has a simple structure, and is easy to control. After the in-situ debugging is completed, the transverse movement component drives the stepper motor to move transversely to the bottom of the extension position debugging assembly. During this process, the rotating table and the magnetic attraction component will not rotate, so the position of the nut and the in-situ block will not change, resulting in loss of the in-situ position. When debugging the extended position of the conveying shaft, the lifting component will move the mounting table and the stepper motor upward The jacking is performed until the upper surface of the casing is fitted and positioned with the positioning plate in the second direction. At the same time, during the upward jacking process of the stepper motor, the upper end surface of the output shaft will push the telescopic end of the displacement sensor to retract upward, and then the first telescopic member pushes the sliding guide column downward to deform the first elastic member, and then the clamping finger clamps the outer peripheral surface of the output shaft. Then the second driving assembly drives the transmission column, the displacement sensor and the clamping finger to rotate. At the same time, the first telescopic member is retracted upward to release the first elastic member, causing the output shaft to rotate and be pulled upward and extended by the clamping finger until the distance between the upper end surface of the output shaft and the upper surface of the casing measured by the displacement sensor reaches a predetermined value. The clamping finger releases the output shaft, and the mounting table and the stepper motor fall back to the moving table again. The present application connects the output shaft extension position debugging assembly and the in-situ debugging assembly into a complete set of equipment through a transverse movement assembly to achieve integration. The output shaft extension position debugging of the present application does not require manual participation and has high work efficiency. The first elastic member is set for upward elastic pulling without causing damage to the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0027] Figure 1 It is a vertical cross-section of the stepper motor;

[0028] Figure 2 This is an exploded diagram of a stepper motor;

[0029] Figure 3 It is a structural diagram of the debugging equipment in this application;

[0030] Figure 4 yes Figure 3 Schematic diagram of the structure of the in-situ debugging assembly and stepper motor;

[0031] Figure 5 yes Figure 4 Vertical cross-section of the (stepper motor hidden);

[0032] Figure 6 yes Figure 4 The in-situ debugging assembly in the figure hides the structural diagram behind the upper mounting platform;

[0033] Figure 7 It is a structural diagram of the extended position debugging assembly in this application;

[0034] Figure 8 yes Figure 7 Enlarged view of point A in the middle;

[0035] Figure 9 is a vertical cross-sectional view of the debugging assembly in the extended position in a preferred embodiment;

[0036] Figure 10 It is a structural diagram of the riveting assembly in this application;

[0037] Figure 11 yes Figure 10 Vertical section of the middle riveted joint;

[0038] Description of the reference numerals is as follows:

[0039] 100, in-situ commissioning assembly; 110, transverse movement assembly; 111, slide rail; 112, transverse movement drive member; 120, moving platform; 130, mounting platform; 130a, first center hole; 130b, positioning pin; 131, upper mounting platform; 132, lower mounting platform; 140, lifting assembly; 150, rotating platform; 150a, mounting hole; 160, magnetic attraction assembly; 161, magnet; 170, first drive assembly; 171, first pulley; 172, second pulley; 173, first belt; 174, first motor;

[0040] 200, extended position debugging assembly; 210, first bracket; 220, positioning plate; 220a, avoidance hole; 220b, second center hole; 230, second drive assembly; 231, third pulley; 232, fourth pulley; 233, second belt; 234, second motor; 240, transmission column; 241, pneumatic slip ring; 2411, fixed ring; 2412, movable ring; 250, displacement sensor; 260, bracket plate; 270, sliding guide column; 280, clamping finger; 290, first elastic member; 2100, first telescopic member; 2110, baffle; 2120, photoelectric sensor;

[0041] 300, riveting assembly; 310, second bracket; 320, riveting carriage; 330, second telescopic member; 340, riveting head; 341, outer sleeve; 341a, sliding groove; 342, rivet cutter; 3421, riveting cutting portion; 343, center sleeve; 343a, third center hole; 345, stop pin; 346, second elastic member;

[0042] 400, stepper motor; 410, housing; 411, home position stop; 412, cylindrical portion; 410a, upper surface of housing; 410b, positioning hole; 420, magnetic ring; 430, nut; 431, home position block; 440, output shaft; 441, threaded section; 442, optical axis section; 443, guide pin; 450, limit cover; 450a, guide groove. DETAILED DESCRIPTION

[0043] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0044] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0045] This embodiment discloses a debugging device and a debugging method for a stepper motor. To facilitate understanding of the technical solution of this embodiment, the existing stepper motor structure is first briefly described.

[0046] like Figure 1 and Figure 2As shown, the stepper motor 400 includes a housing 410, a magnetic ring 420, a nut 430, a bearing (not shown), an output shaft 440, a limit cover 450 and other components. The upper surface 410a of the housing has a cylindrical portion 412 extending upward, and the housing 410 is provided with a positioning hole 410b to facilitate positioning of the housing 410; the magnetic ring 420 is coaxially sleeved on the outer circumference of the nut 430, and the two are connected as a whole. The magnetic ring 420 and the nut 430 are coaxially arranged inside the housing 410, and the upper and lower ends of the nut 430 are rotatably connected to the housing 410 through bearings arranged inside the housing 410; an original position block 431 is provided on the upper surface of the nut 430, and an original position stopper 411 is provided on the inner side of the housing 410; the output shaft 440 includes two sections, one section is a screw The threaded section 441 is provided with an external thread, and the threaded section 441 is threadedly connected to the internal thread of the nut 430. The other section is the optical axis section 442, and the optical axis section 442 extends coaxially to the outside of the housing 410; the limit cover 450 is provided at the opening position of the cylindrical portion 412, and the limit cover 450 is supported by the step surface on the inner side of the cylindrical portion 412. The output shaft 440 passes through the limit cover 450 coaxially, and the limit cover 450 is provided with a guide groove 450a. A guide pin 443 is provided on the optical axis section 442 of the output shaft 440, and the guide pin 443 is provided in the guide groove 450a. The guide groove 450a can allow the guide pin 443 to slide axially, but does not allow the guide pin 443 to rotate, so that the output shaft 440 can only linearly expand and contract along the axial direction but cannot rotate under the drive of the nut 430.

[0047] First, the debugging equipment of the stepping motor in this embodiment is introduced.

[0048] like Figure 3 As shown, the debugging device includes an in-situ debugging assembly 100 and an extended position debugging assembly 200. The in-situ debugging assembly 100 is used for in-situ debugging of the in-situ block 431, and the extended position debugging assembly 200 is used for initial extended position debugging of the output shaft 440.

[0049] like Figure 4 As shown, the in-situ debugging assembly 100 includes a traverse assembly 110, a moving platform 120, a mounting platform 130, a lifting assembly 140, a rotating platform 150, a magnetic attraction assembly 160 and a first drive assembly 170, as follows:

[0050] like Figure 5As shown, the transverse movement assembly 110 includes a slide rail 111 and a transverse movement driving member 112; the length direction of the slide rail 111 is configured as a first direction, the slide rail 111 is arranged on a work surface or the ground or other base surface, the movable platform 120 is slidably connected to the slide rail 111, and the sliding direction of the movable platform 120 is configured as the first direction; the transverse movement driving member 112 is arranged on a work surface or the ground or other base surface, the output end of the transverse movement driving member 112 is connected to the movable platform 120, the transverse movement driving member 112 includes a telescopic cylinder or an existing actuator with linear driving capability, and the driving direction of the transverse movement driving member 112 is configured as the first direction.

[0051] like Figure 5 and Figure 6 As shown, the mounting platform 130 is arranged on the movable platform 120, and the mounting platform 130 can slide in the second direction relative to the movable platform 120. In this embodiment, the movable platform 120 is provided with multiple guide shafts (not marked), and the axial direction of the guide shafts is configured in the second direction. The guide shafts pass through the mounting platform 130, which can realize stable sliding of the mounting platform 130 relative to the movable platform 120.

[0052] like Figure 5 As shown, the lifting assembly 140 includes a plurality of telescopic cylinders arranged about the second direction. The cylinder barrel ends of the telescopic cylinders are mounted on the mounting platform 130. The telescopic ends of the telescopic cylinders face downward and can extend and retract downward to contact the movable platform 120, thereby lifting the mounting platform 130 upward along the second direction. In this embodiment, the first and second directions intersect perpendicularly, and the second direction is configured as a height direction.

[0053] like Figure 5 As shown, mounting platform 130 is provided with a first center hole 130a, which is configured as a through-hole extending in the second direction. Positioning pins 130b are provided on the upper surface of mounting platform 130, extending upward. The housing 410 of stepper motor 400 is inserted downwardly into first center hole 130a along the second direction. Positioning pins 130b are provided in a one-to-one correspondence with positioning holes 410b in housing 410. Positioning pins 130b limit the rotational freedom of housing 410 relative to mounting platform 130, thereby ensuring that housing 410 remains stable during the debugging process. In some preferred embodiments, the mounting platform 130 includes an upper mounting platform 131 and a lower mounting platform 132. The upper mounting platform 131 and the lower mounting platform 132 are spaced apart in the second direction (i.e., the height direction). The upper mounting platform 131 and the lower mounting platform 132 are fixedly connected as a whole. The upper mounting platform 131 is provided with a first center hole 130a and a positioning pin 130b; the lower mounting platform 132 is slidably connected to the movable platform 120, and the jacking assembly 140 is provided on the lower mounting platform 132.

[0054] like Figure 6As shown, the rotating platform 150 is cylindrical in shape. At least a portion of the rotating platform 150 is rotatably connected to the mounting platform 130 (specifically, the upper mounting platform 131). The rotating platform 150 is located below the first center hole 130a and is provided with a mounting hole 150a, which is coaxial with the first center hole 130a. To mount the stepper motor 400 on the mounting platform 130, the housing 410 of the stepper motor 400 is sequentially inserted into the first center hole 130a and the mounting hole 150a.

[0055] like Figure 5 and Figure 6 As shown, the magnetic component 160 is arranged on the rotating table 150, and the magnetic component 160 can be magnetically connected to the magnetic ring 420 inside the housing 410. The magnetic connection here is not a direct contact connection, but the magnetic component 160 attracts the magnetic ring 420 through magnetic attraction to achieve synchronous rotation. In this embodiment, the magnetic component 160 includes a plurality of magnets 161, and the plurality of magnets 161 are arranged on the rotating table 150 at equal intervals around the second direction, and are magnetically connected to the magnetic ring 420 in the housing 410 through the magnets 161. In some preferred embodiments, a lateral groove recessed along the second direction is provided on the rotating table 150, and one radial end of the lateral groove is connected to the mounting hole 150a, and the magnets 161 are arranged in the lateral groove in a one-to-one correspondence.

[0056] like Figure 6 As shown, the first driving assembly 170 includes a first pulley 171, a second pulley 172, a first belt 173 and a first motor 174; the first pulley 171 and the second pulley 172 are both rotatably connected to the mounting platform 130, specifically, rotatably connected to the lower mounting platform 132, and the axial directions of the first pulley 171 and the second pulley 172 are both configured in the second direction, the first pulley 171 is located at the lower end of the rotating platform 150, and the first pulley 171 is coaxially fixedly connected to the rotating platform 150; the first belt 173 is wrapped around the outer circumference of the first pulley 171 and the second pulley 172 to realize transmission between the first pulley 171 and the second pulley 172; the first motor 174 is arranged on the mounting platform 130, specifically, it is rotatably connected to the lower mounting platform 132, and the output end of the first motor 174 is coaxially connected to the second pulley 172.

[0057] like Figure 7 As shown, the extended position debugging assembly 200 includes a first bracket 210, a positioning plate 220, a second driving assembly 230, a transmission column 240, a displacement sensor 250, a bracket plate 260, a sliding guide column 270, a clamping finger 280, a first elastic member 290 and a first telescopic member 2100, as follows:

[0058] like Figure 1 and Figure 7As shown, along the first direction, the first bracket 210 is disposed on one side of the in-situ debugging assembly 100 , and the first bracket 210 is located at the upper end of the transverse movement assembly 110 .

[0059] like Figure 7 and Figure 8 As shown, the positioning plate 220 is connected to the first bracket 210 and is located at the lower end of the first bracket 210. The positioning plate 220 is also located at the upper end of the traverse assembly 110. When the stepper motor 400 is lifted upward by the lifting assembly 140, the lower surface of the positioning plate 220 can be in contact with the upper surface 410a of the housing of the stepper motor 400, and the lifting assembly 140 stops working. In this embodiment, the positioning plate 220 is provided with an avoidance hole 220a and a second center hole 220b. Both the avoidance hole 220a and the second center hole 220b are connected to the positioning plate 220 along the second direction. The longitudinal direction of the avoidance hole 220a is configured in the first direction. One end of the avoidance hole 220a is open, and the other end is connected to the second center hole 220b. When the stepper motor 400 is driven by the transverse movement assembly 110 to move laterally along the first direction to the lower end of the first bracket 210, the avoidance hole 220a can prevent the output shaft 440 of the stepper motor 400 from interfering with the positioning plate 220. The second center hole 220b is a circular hole. When the lifting assembly 140 lifts the housing 410 of the stepper motor 400 upward, the cylindrical portion 412 at the upper end of the housing 410 passes upward through the second center hole 220b, and the upper surface 410a of the housing is in contact with the lower surface of the positioning plate 220.

[0060] like Figure 9 As shown, the second drive assembly 230 includes a third pulley 231, a fourth pulley 232, a second belt 233 and a second motor 234; the third pulley 231 and the fourth pulley 232 are both rotatably connected to the first bracket 210, and the axial directions of the third pulley 231 and the fourth pulley 232 are both configured in the second direction. The third pulley 231 is coaxially fixedly connected to the transmission column 240, and the second belt 233 is wrapped around the outer circumference of the third pulley 231 and the fourth pulley 232, so as to realize transmission between the third pulley 231 and the fourth pulley 232; the second motor 234 is arranged on the first bracket 210, and the output shaft 440 of the second motor 234 is coaxially fixedly connected to the fourth pulley 232.

[0061] like Figure 9As shown, the transmission column 240 is rotatably connected to the first bracket 210 and has a cylindrical outer shape. The upper end of the transmission column 240 is coaxially fixedly connected to the third pulley 231, and the transmission column 240 is coaxially connected to the displacement sensor 250. In some preferred embodiments, to facilitate pneumatic and electrical wiring, a pneumatic and electrical slip ring 241 is sleeved on the outer circumference of the transmission column 240. The pneumatic and electrical slip ring 241 includes a movable ring 2412 and a fixed ring 2411. The movable ring 2412 is coaxially fixedly connected to the transmission column 240, and the fixed ring 2411 is coaxially sleeved on the outer circumference of the movable ring 2412. The movable ring 2412 is rotatable relative to the fixed ring 2411, and the fixed ring 2411 is connected to an external system.

[0062] like Figure 9 As shown, the displacement sensor 250 is configured as a telescopic displacement sensor. The displacement sensor 250 is coaxially arranged inside the transmission column 240, and the telescopic end of the displacement sensor 250 extends downward to the lower side of the transmission column 240. The telescopic direction of the displacement sensor 250 is configured as the second direction.

[0063] like Figure 8 As shown, the support plate 260 is connected to the transmission column 240, and the support plate 260 extends horizontally. The support plate 260 can be directly connected to the lower end of the transmission column 240, or it can be connected to the movable ring 2412 of the slip ring to achieve an indirect connection with the transmission column 240. Any connection method that can ensure the synchronous rotation of the support plate 260 and the transmission column 240 is acceptable. A sliding hole that mates with the sliding guide column 270 is provided at one end of the support plate 260 that is horizontally away from the transmission column 240.

[0064] like Figure 8 As shown, the sliding guide post 270 slides through the sliding hole along the second direction, and the axial direction of the sliding guide post 270 is configured in the second direction. The sliding guide post 270 can slide in the second direction relative to the bracket plate 260. The lower end of the sliding guide post 270 is connected to the clamping finger 280.

[0065] like Figure 8 As shown, the clamping finger 280 is located at the lower end of the transmission column 240, and the clamping finger 280 is also located above the positioning plate 220. The clamping finger 280 can clamp the output shaft 440 of the stepper motor 400 in the horizontal direction so that the output shaft 440 can rotate with the transmission column 240.

[0066] like Figure 8As shown, the first elastic member 290 is configured as a spring and is coaxially sleeved on the outer circumference of the sliding guide post 270. The upper and lower ends of the first elastic member 290 respectively abut against the sliding guide post 270 and the bracket plate 260. The first elastic member 290 is configured to extend and retract in the second direction, which is the sliding direction of the sliding guide post 270. In some preferred embodiments, there are multiple sliding guide posts 270, and the multiple sliding guide posts 270 are distributed horizontally on the bracket plate 260. The first elastic member 290 is arranged in a one-to-one correspondence with the sliding guide posts 270. A pressure plate (not shown) is connected to the upper ends of all the sliding guide posts 270 to facilitate the first telescopic member 2100 to simultaneously press down all the sliding guide posts 270 and the first elastic member 290.

[0067] like Figure 8 As shown, the first telescopic member 2100 includes a telescopic cylinder. The first telescopic member 2100 is arranged on the first bracket 210. The telescopic end of the first telescopic member 2100 corresponds to the upper end of the sliding guide column 270. In this embodiment, the telescopic end of the first telescopic member 2100 corresponds to the pressure plate. The sliding guide column 270 is pushed downward by the telescopic end of the first telescopic member 2100, causing the first elastic member 290 to deform.

[0068] like Figure 8 As shown, in some preferred embodiments, the extended position debugging assembly 200 also includes a baffle 2110 and a photoelectric sensor 2120. The baffle 2110 is arranged on the bracket plate 260, and at least a portion of the baffle 2110 extends outward away from the bracket plate 260 in a horizontal direction. The photoelectric sensor 2120 is connected to the horizontal side of the baffle 2110 through a mounting bracket (not shown). The baffle 2110 can rotate with the transmission column 240 and the bracket plate 260. When the baffle 2110 rotates about the second direction to block the photoelectric sensor 2120, the photoelectric sensor 2120 can generate a sensing signal. The sensing signal is used to feedback that the bracket plate 260 is in the initial position, so that the first telescopic member 2100 can smoothly push the sliding guide column 270 on the bracket plate 260 downward.

[0069] like Figure 1 and Figure 10 As shown, in some preferred embodiments, after the output shaft 440 of the stepper motor 400 is debugged, the limit cover 450 and the housing 410 of the stepper motor 400 need to be riveted together, so the debugging equipment of this embodiment also includes a riveting assembly 300.

[0070] like Figure 10As shown, the riveting assembly 300 includes a second bracket 310, a riveting slide 320, a second telescopic member 330 and a riveting head 340; the second bracket 310 is mounted above the transverse movement assembly 110; the riveting slide 320 is slidably connected to the second bracket 310, and the riveting slide 320 can slide in the second direction relative to the second bracket 310; the second telescopic member 330 is disposed on the second bracket 310, and the telescopic end of the second telescopic member 330 is connected to the riveting slide 320. The telescopic direction of the second telescopic member 330 is configured to be the second direction, and the riveting slide 320 is driven by the second telescopic member 330 to move in the second direction. The second telescopic member 330 includes an actuator with linear drive capability, such as a telescopic cylinder;

[0071] like Figure 11 As shown, the riveting head 340 includes an outer sleeve 341, a rivet cutter 342, a center sleeve 343, a limit pin 345 and a second elastic member 346; the outer sleeve 341 is set on the riveting slide 320, and when riveting is required, the outer sleeve 341 can correspond coaxially with the housing 410 of the stepping motor 400; the rivet cutter 342 is cylindrical in shape and is coaxially arranged on the lower surface of the outer sleeve 341. The rivet cutter 342 is provided with a plurality of riveting cutting portions 3421 at equal intervals along its circumference, and the riveting cutting portions 3421 are aligned with the cylindrical top of the housing 410. The upper edge of the cylindrical portion 412 is aligned in the height direction. When the rivet cutter 342 moves downward, the rivet cutting portion 3421 can rivet the upper edge of the cylindrical portion 412 and the limit cover 450 together, so that the limit cover 450 is connected to the housing 410 to form a whole; the center sleeve 343 is coaxially and slidably arranged inside the outer sleeve 341, and the lower end of the center sleeve 343 extends downward to the outer sleeve 341 and the lower end of the rivet cutter 342. The center sleeve 343 is provided with a third center hole 343a that is conductive along the second direction. The inner diameter of the third center hole 343a is larger than The outer diameter of the output shaft 440 is such that when the rivet head 340 is lowered, the output shaft 440 can be inserted into the third center hole 343a; the outer sleeve 341 is provided with a sliding groove 341a, and the length direction of the sliding groove 341a is configured as the second direction; one end of the limit pin 345 is connected to the outer periphery of the center sleeve 343, and the other end extends radially (horizontally) and passes through the sliding groove 341a, and the second elastic member 346 is configured as a spring. The second elastic member 346 is arranged inside the outer sleeve 341, and one end of the second elastic member 346 is connected to the center sleeve 343. The center sleeve 343 is abutted against the center sleeve 343, and the other end of the second elastic member 346 can be abutted against the inner wall of the outer sleeve 341, or against the riveting slide 320. The telescopic direction of the second elastic member 346 is configured as the second direction. The second elastic member 346 is used to provide a downward pushing force for the center sleeve 343, so as to press the limit cover 450 of the stepper motor 400 into the housing 410 of the stepper motor 400 during riveting. After the riveting is completed, the second elastic member 346 drives the center sleeve 343 to push the stepper motor 400 out of the riveted head 340.

[0072] Among them, each component in this embodiment is controlled by a central control system (not shown) to achieve coordinated work of each part. Specifically, the transverse drive member 112, the lifting assembly 140, the first motor 174, the second motor 234, the displacement sensor 250, the clamping finger 280, the first telescopic member 2100, the photoelectric sensor 2120 and the second telescopic member 330 in this embodiment are all directly or indirectly connected to the central control system.

[0073] This embodiment also discloses a stepper motor debugging method, which uses a stepper motor debugging device. The debugging method includes:

[0074] Step S100: Install the stepper motor 400 on the mounting platform 130;

[0075] Specifically, a worker or a robot lowers the housing 410 of the stepper motor 400 into the first center hole 130a along the second direction, and then inserts the housing 410 through the first center hole 130a into the mounting hole 150a of the rotating platform 150. During the process of inserting the housing 410 into the first center hole 130a, the positioning pins 130b on the mounting platform 130 engage with the positioning holes 410b on the housing 410 to prevent the housing 410 from rotating.

[0076] In step S200, the magnetic assembly 160 is magnetically connected to the magnetic ring 420 of the stepping motor 400, and the first driving assembly 170 drives the rotating platform 150 and the magnetic assembly 160 to rotate in the second direction. The magnetic assembly 160 drives the magnetic ring 420 and the nut 430 to rotate. When the nut 430 and the in-situ block 431 on the nut 430 rotate in the second direction until they abut against the in-situ stop 411 inside the housing 410, the in-situ commissioning is in place.

[0077] Specifically, when the housing 410 of the stepper motor 400 is inserted into the mounting hole 150a of the rotating platform 150, since the magnetic component 160 is arranged on the rotating platform 150, the magnetic component 160 can generate a magnetic attraction effect with the magnetic ring 420 located inside the housing 410, thereby realizing the magnetic connection between the magnetic component 160 and the magnetic ring 420, and then the first motor 174 drives the first pulley 171 to rotate, and the first pulley 171 drives the rotating platform 150 and the magnetic component 160 to rotate. 0 rotates in the second direction. Since the magnetic assembly 160 is magnetically connected to the magnetic ring 420, the magnetic ring 420 and the nut 430 connected to the magnetic ring 420 also rotate accordingly, thereby causing the in-situ block 431 on the upper end of the nut 430 to rotate relative to the housing 410 until the in-situ block 431 abuts against the in-situ stopper 411 inside the housing 410. At this time, the in-situ debugging is completed. Even if the rotating platform 150 and the magnetic assembly 160 rotate subsequently, the in-situ block 431 cannot rotate anymore.

[0078] In step S300, the traverse assembly 110 drives the movable platform 120 and the stepper motor 400 to move transversely in a first direction to below the first bracket 210, and the lifting assembly 140 drives the mounting platform 130 and the stepper motor 400 to move upward in a second direction. When the output shaft 440 of the stepper motor 400 abuts against the displacement sensor 250 and the upper surface of the stepper motor 400 abuts against the lower surface of the positioning plate 220, the lifting assembly 140 stops lifting.

[0079] Specifically, after the in-situ debugging is completed, the transverse driving member 112 drives the movable platform 120 and the mounting platform 130, the rotating platform 150, the magnetic attraction assembly 160 and the stepping motor 400 to move transversely to the lower end of the first bracket 210 along the first direction. After the transverse movement is in place, the housing 410 of the stepping motor 400 is just in a coaxial alignment with the second center hole 220b on the positioning plate 220. Then, the lifting assembly 140 lifts the mounting platform 130 and the mounting platform 130. 0 is lifted upward. During the upward movement of the stepper motor 400, the upper end surface of the output shaft 440 of the stepper motor 400 abuts against the telescopic end of the displacement sensor 250 and pushes the telescopic end of the displacement sensor 250 to retract upward. The cylindrical portion 412 of the housing 410 passes through the second center hole 220b until the upper surface 410a of the housing is in contact with the lower surface of the positioning plate 220. At this time, the lifting of the stepper motor 400 is in place, and the lifting assembly 140 stops lifting and maintains this state.

[0080] Step S400: The first telescopic member 2100 drives the sliding guide post 270 to move downward, causing the first elastic member 290 to deform. The first telescopic member 2100 stops pressing downward, and the clamping fingers 280 clamp the output shaft 440 of the stepping motor 400.

[0081] Specifically, the telescopic end of the first telescopic member 2100 pushes the sliding guide post 270 downward, and the first elastic member 290 is gradually deformed under pressure. When the sliding guide post 270 is pressed down into place, the first telescopic member 2100 stops extending, and the clamping fingers 280 clamp the outer circumference of the output shaft 440 from both horizontal sides.

[0082] In step S500, the second driving assembly 230 drives the transmission column 240, the displacement sensor 250, and the clamping finger 280 to rotate in the second direction, and at the same time, the second telescopic member 330 retracts upward, so that the clamping finger 280 drives the output shaft 440 of the stepping motor 400 to rotate. At the same time, the first elastic member 290 drives the clamping finger 280 to pull the output shaft 440 of the stepping motor 400 upward, so that the output shaft 440 of the stepping motor 400 rotates and extends. The extension amount of the output shaft 440 is measured by the displacement sensor 250. When the extension amount reaches a predetermined value, the second driving assembly 230 stops driving and the clamping finger 280 releases the output shaft 440. The stepping motor 400 falls back onto the movable platform 120, and the extended position debugging of the output shaft 440 is completed.

[0083] Specifically, the second motor 234 drives the third pulley 231 to rotate, and the third pulley 231 drives the transmission column 240, the displacement sensor 250 and the clamping finger 280 to rotate around the second direction. When the second motor 234 is started, the second telescopic member 330 retracts upward synchronously. In the process of the first elastic member 290 recovering its deformation, it drives the sliding guide column 270 and the clamping finger 280 to pull the output shaft 440 upward along the second direction. Therefore, the output shaft 440 can be rotated and stretched out. As the output shaft 440 gradually extends, the telescopic end of the displacement sensor 250 retracts upward accordingly. When the displacement sensor 250 measures that the extension of the output shaft 440 of the stepper motor 400 reaches a predetermined value (the predetermined value is set according to actual needs), the second motor 234 stops driving, and at the same time, the clamping finger 280 releases the output shaft 440. The jacking assembly 140 drives the mounting platform 130 and the stepper motor 400 to fall back downward onto the moving platform 120. At this time, the extended position debugging of the output shaft 440 is completed. It should be noted that during the debugging of the output shaft 410 , the magnetic ring 420 and the nut 430 inside the stepper motor 400 are attracted by the magnetic attraction component 160 and thus do not rotate.

[0084] In some preferred embodiments, the stepper motor debugging method further includes a step S600 for riveting the housing 410 and the limiting cover 450 of the stepper motor 400 together;

[0085] After the extended position of the output shaft 440 is debugged in step S600, the transverse driving member 112 drives the movable platform 120 and the stepper motor 400 disposed on the movable platform 120 to transversely move to a predetermined position along the first direction. The predetermined position may be the debugging home position or another position. When in the predetermined position, the housing 410 of the stepper motor 400 and the riveting head 340 are coaxially aligned with each other in the upper and lower directions.

[0086] The second telescopic member 330 extends downward, so that the riveting slide 320 drives the riveting head 340 to move downward. During the downward movement of the riveting head 340, the output shaft 440 of the stepping motor 400 is inserted into the third center hole 343a of the center sleeve 343. When the lower end surface of the center sleeve 343 contacts the upper surface of the limiting cover 450, the center sleeve 343 retracts inward and compresses the second elastic member 346. The cooperation between the limiting pin 345 and the sliding groove 341a determines the maximum inward retraction range of the center sleeve 343. When the riveting cutting portion 3421 on the lower surface of the rivet cutter 342 contacts the upper edge of the cylindrical portion 412 of the housing 410, the riveting cutting portion 3421 cuts a riveting point on the upper edge of the cylindrical portion 412 and presses the riveting point onto the limiting cover 450, thereby fixing the housing 410 and the limiting cover 450 as a whole.

[0087] After the connection between the riveting point and the limit cover 450 is completed, during the upward retraction process of the second telescopic member 330, the center sleeve 343 pushes the limit cover 450 and the housing 410 downward under the action of the second elastic member 346, so that the limit cover 450 and the housing 410 are pressed against the mounting table 130, and the rivet cutter 342 is retracted upward under the drive of the riveting slide 320, thereby realizing the separation of the rivet cutter 342 and the limit cover 450, preventing the rivet cutter 342 from lifting the limit cover 450 and the housing 410 upward. When the rivet head 340 is reset to its initial height, the riveting is completed.

[0088] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A stepper motor debugging device, characterized in that: include: In-situ debugging assembly, including a traverse assembly, a moving platform, a mounting platform, a lifting assembly, a rotating platform, a magnetic attraction assembly and a first drive assembly; The transverse moving assembly is arranged along the first direction and is used to drive the moving platform to move in the first direction; the moving platform is arranged on the transverse moving assembly; The mounting platform is slidably connected to the moving platform along the second direction; the lifting assembly is respectively connected to the moving platform and the mounting platform, and is used to drive the mounting platform to move in the second direction; the stepping motor to be debugged is mounted on the mounting platform; the rotating platform is rotatably arranged on the mounting platform around the second direction, and the rotating platform is provided with a mounting hole sleeved on the outer periphery of the stepping motor; the magnetic attraction assembly is provided on the rotating platform, and is used to attract the magnetic ring of the stepping motor; the first driving assembly is provided on the mounting platform, and the first driving assembly is connected to the rotating platform, and is used to drive the rotating platform to rotate; The extended position debugging assembly includes a first bracket, a positioning plate, a second drive component, a transmission column, a displacement sensor, a bracket plate, a sliding guide column, a clamping finger, a first elastic member and a first telescopic member; the first bracket is arranged at one end of the transverse movement component along the first direction; the positioning plate is connected to the first bracket for fitting and positioning with the upper surface of the stepper motor; the second drive component is arranged on the first bracket; the transmission column is connected to the output end of the second drive component, and the transmission column is driven to rotate around the second direction through the second drive component; one end of the displacement sensor is connected to the transmission column, and the telescopic end of the displacement sensor extends downward; one end of the bracket plate is connected to the transmission column, and the other end is provided with a guide hole; the sliding guide column passes through the guide hole along the second direction, and one end of the sliding guide column is connected to the clamping finger; the clamping finger is used to clamp the output shaft of the stepper motor; the first elastic member is arranged between the sliding guide column and the bracket plate, and the telescopic direction of the first elastic member is consistent with the sliding direction of the sliding guide column; one end of the first telescopic member is arranged on the first bracket, and the other end of the first telescopic member is used to push the sliding guide column to slide so that the first elastic member is deformed.

2. The debugging device according to claim 1, characterized in that The transverse movement assembly includes a slide rail and a transverse movement driving member; the slide rail is arranged along a first direction; the movable platform is slidably connected to the slide rail; the transverse movement driving member is connected to the movable platform and is used to drive the movable platform to slide in the first direction.

3. The debugging device according to claim 1, characterized in that The mounting platform is provided with a first central hole for the housing of the stepping motor to pass through, and the mounting platform is provided with a positioning pin; the housing is provided with a positioning hole matched with the positioning pin.

4. The debugging device according to any one of claims 1 to 3, characterized in that: The housing of the stepping motor is coaxially arranged in the mounting hole of the rotating platform; the magnetic attraction component comprises a plurality of magnets arranged on the rotating platform around the second direction.

5. The debugging device according to claim 4, characterized in that: The first drive assembly includes a first pulley, a second pulley, a first belt and a first motor; the first pulley and the second pulley are both rotatably connected to the mounting platform; the first pulley is coaxially connected to the rotating platform; the first belt is respectively connected to the first pulley and the second pulley; the first motor is arranged on the mounting platform, and the output end of the first motor is connected to the second pulley.

6. The debugging device according to claim 1, characterized in that: The positioning plate of the extended position debugging assembly is arranged above the transverse movement component, and the lower surface of the positioning plate is configured as a horizontal positioning surface; the positioning plate is provided with an avoidance hole and a second center hole, the avoidance hole is used to avoid the output shaft of the stepper motor in the first direction, and one end of the avoidance hole is connected to the second center hole; the second center hole is coaxially arranged with the transmission column.

7. The debugging device according to claim 1, characterized in that: The second drive assembly includes a third pulley, a fourth pulley, a second belt and a second motor; the third pulley and the fourth pulley are both rotatably connected to the first bracket; the third pulley is coaxially connected to the transmission column; the second belt is respectively connected to the third pulley and the fourth pulley; the second motor is arranged on the first bracket, and the output end of the second motor is connected to the fourth pulley.

8. The debugging device according to claim 6 or 7, characterized in that: The extended position debugging assembly also includes a baffle and a photoelectric sensor; the baffle is arranged on the bracket plate; the photoelectric sensor is arranged on the first bracket, and when the baffle rotates around the second direction to block the photoelectric sensor, the photoelectric sensor generates an induction signal.

9. The debugging device according to claim 1, characterized in that: The device further includes a riveting assembly; the riveting assembly includes a second bracket, a riveting slide, a second telescopic member, and a riveting head; the second bracket is disposed above the transverse movement assembly; the riveting slide is slidably connected to the second bracket along the second direction; the second telescopic member is disposed on the second bracket for driving the riveting slide to move in the second direction; The rivet head includes an outer sleeve, a rivet cutter, a center sleeve, a limit pin and a second elastic member; the outer sleeve is arranged on the riveting slide; the rivet cutter is coaxially arranged on the lower surface of the outer sleeve, and the lower surface of the rivet cutter is provided with multiple riveting cutting parts along its circumference, and the riveting cutting parts are used to rivet the upper edge of the casing and the limit cover of the stepper motor together; the center sleeve is coaxially slidably connected to the outer sleeve; the center sleeve is coaxially provided with a third center hole; the outer sleeve is provided with a sliding groove, and the length direction of the sliding groove is configured as the second direction, one end of the limit pin is connected to the center sleeve, and the other end passes through the sliding groove; the two ends of the second elastic member are respectively connected to the center sleeve and the outer sleeve, and the telescopic direction of the second elastic member is consistent with the axial direction of the center sleeve.

10. A stepper motor debugging method, characterized in that: Using the debugging device according to any one of claims 1 to 9, the debugging method includes: Step S100: Install the stepper motor on the mounting platform; Step S200: The magnetic assembly is magnetically connected to the magnetic ring of the stepping motor. The first driving assembly drives the rotating platform and the magnetic assembly to rotate in the second direction. The magnetic assembly drives the magnetic ring and the nut to rotate. When the nut and the in-situ block on the nut rotate in the second direction until they abut against the in-situ stop inside the housing, the in-situ commissioning is completed. Step S300: The traverse assembly drives the movable platform and the stepper motor to move transversely in a first direction to below the first bracket, and the lifting assembly drives the mounting platform and the stepper motor to move upward in a second direction. When the output shaft of the stepper motor abuts against the displacement sensor and the upper surface of the stepper motor abuts against the lower surface of the positioning plate, the lifting assembly stops lifting. Step S400: The first telescopic member drives the sliding guide post to move downward, causing the first elastic member to deform. The first telescopic member stops pressing downward, and the clamping fingers clamp the output shaft of the stepping motor. In step S500, the second driving component drives the transmission column, the displacement sensor and the clamping fingers to rotate in the second direction, and at the same time the second telescopic member retracts upward, so that the clamping fingers drive the output shaft of the stepper motor to rotate, and at the same time the first elastic member drives the clamping fingers to pull the output shaft of the stepper motor upward, so that the output shaft of the stepper motor rotates and extends, and the extension amount of the output shaft is measured by the displacement sensor. When the extension amount reaches a predetermined value, the second driving component stops driving and the clamping fingers release the output shaft, and the stepper motor falls back to the moving platform, and the extension position debugging of the output shaft is completed.

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