Automatic production line for ball motor

Abstract

The invention relates to the technical field of motor machining, and discloses an automatic production line for ball motors, which comprises a feeding unit, an assembling unit, a monitoring unit and a warehousing unit, the feeding unit is configured to automatically supply various raw materials required by the assembling unit, and the assembling unit is used for dividing the production line into a plurality of independent modules for parallel operation. All the modules are coordinated in real time through the central control system, it is ensured that the production speed of all the assembly modules is consistent, and therefore the production efficiency is remarkably improved. In addition, when a certain module breaks down, the buffer module is arranged to store semi-finished products, the whole production line can be prevented from being stopped, and it is ensured that other modules continue to produce. The monitoring unit can dynamically adjust the production speed and frequency of each module according to data collected in real time. And the warehousing unit is configured to perform automatic detection, packaging and warehousing treatment on the finished product ball motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motor processing, and in particular to an automated production line for ball motors. Background Art

[0002] With the rapid development of modern manufacturing and the continuous advancement of automation technology, ball motors, as high-precision, high-efficiency drive components, are widely used in various precision equipment such as automotive cameras, industrial robots, and automated control systems. The production of ball motors requires high-precision assembly processes and efficient automated production lines to ensure stable performance and consistent quality. However, in traditional production lines, due to the lack of intelligent management strategies, unexpected equipment failures or insufficient supply of raw materials due to untimely replenishment can reduce overall production efficiency. Summary of the Invention

[0003] In view of this, the present invention proposes an automated production line for ball motors, aiming to solve the problem of lack of intelligent management strategies for production lines in current technology.

[0004] The present invention proposes an automated production line for ball motors, comprising: a loading unit, an assembly unit, a monitoring unit, and a warehousing unit, wherein:

[0005] The loading unit is configured to supply the raw materials required by the assembly unit, including the rotor assembly, the stator assembly, and the housing assembly; the loading unit includes an automatic conveyor belt and a robotic arm, which are used to deliver the rotor assembly, the stator assembly, and the housing assembly to the positions of the various modules of the assembly unit; the loading unit also includes a material detection sensor, which is used to monitor the remaining quantity and status of the material in real time and trigger an automatic replenishment request when the material exceeds a preset value;

[0006] The assembly unit includes a rotor assembly module, a stator assembly module, and a housing assembly module; the rotor assembly module is configured to assemble and fix the rotor assembly; the stator assembly module is configured to assemble and fix the stator assembly; the housing assembly module is configured to seal and fix the stator, rotor, and housing to form a finished ball motor;

[0007] The monitoring unit is configured to collect the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module and the gap distance between the stator and the rotor, and determine whether the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are consistent. When the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are inconsistent, frequency modulation is performed on them. The monitoring unit is also configured to determine whether the gap distance between the stator and the rotor exceeds a standard value. When the gap distance between the stator and the rotor exceeds the standard value, the stator assembly module is adjusted so that the gap distance between the stator and the rotor does not exceed the standard value.

[0008] The warehousing unit is configured to inspect, package and warehouse the finished ball motors; the warehousing unit is configured to perform performance testing, dimension measurement and appearance inspection on the completed motors; products that pass the inspection are conveyed to the packaging module for automated packaging and label printing, and are placed in the storage area according to product specifications.

[0009] Optionally, the assembly unit further includes a buffer module, which is configured to store semi-finished products. When one or more of the rotor assembly module, the stator assembly module and the housing assembly module are damaged, the semi-finished products are stored in the buffer module. The buffer module is also configured to collect semi-finished product data and send the semi-finished product data to the monitoring unit. The monitoring unit determines whether production needs to be stopped based on the semi-finished product data.

[0010] Optionally, collecting the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module and the gap distance between the stator and the rotor, and determining whether the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are consistent, and performing frequency modulation processing on them when the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are inconsistent specifically includes:

[0011] The target production speed is set and the production speeds of the rotor assembly module, the stator assembly module and the housing assembly module are collected, the speed deviation between the modules is calculated, and the proportional coefficient, integral coefficient and differential coefficient are set. The adjusted production speed is calculated using the proportional coefficient, integral coefficient, differential coefficient and speed deviation.

[0012] Optionally, the speed deviation is determined by:

[0013] ΔV i =V t -V i ;

[0014] Where, ΔV i Indicates speed deviation, V t Indicates the target production speed, V iIndicates the production speed of different modules; i is the module number.

[0015] Optionally, the adjusted production speed is calculated as follows:

[0016]

[0017] Among them, C i Indicates the adjusted speed; K p Represents the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient.

[0018] Optionally, the determining whether the gap distance between the stator and the rotor exceeds a standard value, and when the gap distance between the stator and the rotor exceeds the standard value, adjusting the stator assembly module so that the gap distance between the stator and the rotor meets the standard specifically includes:

[0019] A gap error offset threshold is preset, and the stator position offset is compared with the error offset threshold to determine the actual offset degree; the stator position offset represents the distance the stator moves when it is displaced to the standard position.

[0020] Optionally, the calculation formula for the position offset of the stator is:

[0021]

[0022] Among them, ΔP represents the position offset of the stator, E represents the current gap error, K p Represents the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient.

[0023] Optionally, adjusting the stator assembly module so that the gap distance between the stator and the rotor does not exceed a standard value specifically includes:

[0024] A first error offset threshold, a second error offset threshold, and a third error offset threshold are pre-set, wherein the first error offset threshold is smaller than the second error offset threshold and smaller than the third error offset threshold. When the position offset of the stator is greater than the first error offset threshold and smaller than the second error offset threshold, it is determined to be a slight offset, and the pressure of the robotic arm at the stator assembly module is adjusted; when the position offset of the stator is greater than the second error offset threshold and smaller than the third error offset threshold, it is determined to be a moderate offset, and the installation speed of the stator assembly module is reduced and monitored in real time. After the offset is reduced to a slight offset, the installation speed of the stator assembly module is frequency-modulated; when the position offset of the stator is greater than the third error offset threshold, it is determined to be a severe offset, and a report is sent to the monitoring unit to determine whether an equipment failure occurs, and a signal is sent to remind manual adjustment.

[0025] Optionally, triggering an automatic replenishment request when the material exceeds a preset value specifically includes:

[0026] The loading unit automatically obtains inventory data and adjusts the replenishment strategy according to the production plan. When it detects that the consumption rate of a certain material exceeds the predetermined rate, the monitoring unit generates an early warning signal and triggers an automatic replenishment request to purchase and replenish materials in advance.

[0027] Optionally, after determining that the deviation is severe, the method further includes: performing two repeated comparisons to determine whether the deviation is severe due to a system error, and when the deviation is not severe due to a system error, sending a signal to remind manual adjustment.

[0028] Compared to the prior art, the present invention offers the following advantages: It includes a loading unit, an assembly unit, a monitoring unit, and a storage unit, achieving a fully automated process from raw material loading to finished product testing and storage. By dividing the production line into multiple independent modules (such as the rotor assembly module, stator assembly module, and housing assembly module) operating in parallel, these modules are coordinated in real time by a central control system, ensuring consistent production speeds across all modules, significantly improving production efficiency. Furthermore, when a module malfunctions, a buffer module is provided to store semi-finished products, preventing the entire production line from stalling and ensuring continued production in other modules. The loading unit is equipped with material detection sensors and an automatic conveyor belt, enabling real-time monitoring of the remaining levels of various materials. When a material is nearing depletion, the monitoring unit automatically generates a warning signal and triggers an automatic replenishment request, ensuring continuous production line operation while maintaining sufficient material availability and avoiding production halts due to material shortages. The monitoring unit collects real-time data on the assembly speed of each module within the assembly unit, as well as the gap distance between the stator and rotor, and determines whether these meet standards. If the gap distance exceeds a preset range, the monitoring unit automatically adjusts the parameters of the stator assembly module to meet standard requirements, thereby ensuring product assembly accuracy and finished product quality. Moreover, the monitoring unit can dynamically adjust the production speed and frequency of each module based on the data collected in real time. For example, when it is detected that the speed of the stator assembly module is lower than that of other modules, the pressure or assembly speed of the robotic arm can be automatically adjusted to ensure that the production process is always carried out at a synchronized rhythm. The warehousing unit is equipped with automatic detection equipment to perform multiple performance tests and appearance inspections on the finished ball motors. Through the automated detection and data recording system, not only can unqualified products be screened out, but a production data chain can also be formed to facilitate subsequent product quality tracing and analysis. In summary, the present invention has achieved a comprehensive improvement in production efficiency, product quality and material management through refined division of labor and intelligent management of each module of the ball motor production line, providing an efficient, stable and intelligent solution for the automated production of ball motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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 invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0030] Figure 1 This is a schematic diagram of an automated production line for ball motors according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0032] See Figure 1 As shown, an embodiment of the present invention provides an automated production line for ball motors, comprising: a loading unit, an assembly unit, a monitoring unit, and a warehousing unit, wherein:

[0033] The loading unit is configured to automatically supply various raw materials required by the assembly unit, including rotor assemblies, stator assemblies, and housing assemblies; the loading unit includes an automatic conveyor belt and a robotic arm for delivering the rotor assemblies, stator assemblies, and housing assemblies to various module positions of the assembly unit; the loading unit also includes a material detection sensor for monitoring the remaining amount and status of the materials in real time and triggering an automatic replenishment request when the materials are about to be depleted;

[0034] The assembly unit includes a rotor assembly module, a stator assembly module, and a housing assembly module; the rotor assembly module is configured to assemble and fix the rotor assembly; the stator assembly module is configured to assemble and fix the stator assembly; the housing assembly module is configured to seal and fix the stator, rotor, and housing to form a finished ball motor;

[0035] The monitoring unit is configured to collect the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module and the gap distance between the stator and the rotor, and determine whether the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are consistent. When the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are inconsistent, frequency modulation is performed on them; and determine whether the gap distance between the stator and the rotor exceeds a standard value. When the gap distance between the stator and the rotor exceeds the standard value, the stator assembly module is adjusted so that the gap distance between the stator and the rotor meets the standard.

[0036] The warehousing unit is configured to automatically inspect, package and warehouse finished ball motors; the warehousing unit includes automatic inspection equipment for performance testing, dimensional measurement and appearance inspection of completed motors; qualified products are conveyed to the packaging module for automated packaging and label printing, and are placed in the storage area according to product specifications.

[0037] It is understandable that by dividing the production line into multiple independent modules (such as the rotor assembly module, the stator assembly module, and the housing assembly module) and running them in parallel, the modules are coordinated in real time through a central control system to ensure that the production speed of each assembly module is consistent, thereby significantly improving production efficiency. The monitoring unit is responsible for collecting the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module, as well as the gap distance between the stator and the rotor. Its purpose is to ensure the synchronization of the assembly process and product quality. The monitoring unit will determine whether the speeds of the three assembly modules are consistent. If not, the monitoring unit will automatically perform frequency modulation and adjust the assembly speed to maintain synchronous operation of the production line. The monitoring unit will also check whether the gap distance between the stator and the rotor is within the standard range. If the gap distance exceeds the standard value, the monitoring unit will instruct the stator assembly module to be adjusted to ensure that the gap distance meets the specified standard.

[0038] The incoming unit is responsible for final quality inspection, packaging, and storage of finished ball motors. It ensures that finished products meet all quality requirements before leaving the production line. Automated inspection equipment in the incoming unit performs performance tests, dimensional measurements, and visual inspections on the motors, ensuring that each motor meets design specifications. Motors that pass inspection are transferred to the packaging module for automated packaging and labeling. The packaged products are sorted by specification and placed in the appropriate storage area for subsequent logistics and sales.

[0039] In this preferred embodiment, the assembly unit also includes a buffer module, which is configured to store semi-finished products. When one or more of the rotor assembly module, the stator assembly module and the housing assembly module are damaged, the semi-finished products are stored in the buffer module. The buffer module is also configured to collect semi-finished product data and send the semi-finished product data to the monitoring unit. The monitoring unit determines whether production needs to be stopped based on the semi-finished product data.

[0040] As you can understand, the buffer module is part of the assembly cell, and its primary function is to temporarily store semi-finished products. This module is designed to handle unexpected situations that may arise during the assembly process, such as equipment failure. If one or more of the rotor, stator, or housing assembly modules fails, the semi-finished products are not directly scrapped or accumulated at the fault point. Instead, they are transferred to the buffer module. This ensures that even if a problem occurs on a part of the assembly line, the entire production process is not immediately impacted. The buffer module not only stores semi-finished products but also collects relevant data about them. This data may include information such as quantity, status, and storage time. The buffer module transmits this collected semi-finished product data to the monitoring unit, which serves as the control center for the entire system and is responsible for analyzing and processing this data. Based on the received semi-finished product data, the monitoring unit determines whether the production line needs to be stopped. If the number of semi-finished products in the buffer module is excessive or they have been stored for an extended period of time, this may indicate a serious problem on the assembly line, requiring shutdown for repairs to avoid further quality issues or production delays.

[0041] In this preferred embodiment, collecting the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module and the gap distance between the stator and the rotor, and determining whether the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are consistent, and performing frequency modulation processing on them when the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are inconsistent specifically includes:

[0042] The target production speed is set and the production speed of each module is collected, and the speed deviation between different modules is calculated. The proportional coefficient, integral coefficient and differential coefficient are set, and the adjusted production speed is calculated by the proportional coefficient, integral coefficient, differential coefficient and speed deviation.

[0043] In this preferred embodiment, the speed deviation is determined by:

[0044] ΔV i =V t -V i ;

[0045] Where, ΔV i Indicates speed deviation, V t Indicates the target production speed, V i represents the production speed of different modules; i is the module number. Specifically, if the rotor assembly module is numbered 1, ΔV1 represents the speed deviation of the rotor assembly module.

[0046] In this preferred embodiment, the adjusted production speed is calculated as follows:

[0047]

[0048] Among them, C i Indicates the adjusted speed; K p Represents the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient.

[0049] It is understandable that when determining to turn off the integral (Ki) and differential (Kd): First, set the PID controller to include only proportional control, that is, Kp is non-zero, Ki = 0, Kd = 0. Gradually increase Kp; slowly increase the proportional coefficient until the system begins to produce continuous and stable oscillations around the set value. Kp at this time is called the critical proportional gain (Ku), and the period of oscillation is called the critical period (Tu). Calculate Kp, Ki, and Kd; according to the empirical formula of the Ziegler-Nichols method, the initial values ​​of each coefficient can be determined;

[0050] K p =0.6·K u ;

[0051] K i =2·K p / T u ;

[0052] K d =K p ·T u / 8;

[0053] In this preferred embodiment, the determining whether the gap distance between the stator and the rotor exceeds a standard value, and when the gap distance between the stator and the rotor exceeds the standard value, adjusting the stator assembly module so that the gap distance between the stator and the rotor meets the standard specifically includes:

[0054] A gap error offset threshold is preset, and the stator position offset is compared with the error offset threshold to determine the actual offset degree; the stator position offset represents the distance the stator moves when it is displaced to the standard position.

[0055] In this preferred embodiment, the calculation formula for the position offset of the stator is:

[0056]

[0057] Among them, ΔP represents the position offset of the stator, E represents the current gap error, K p Represents the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient.

[0058] In this preferred embodiment, adjusting the stator assembly module so that the gap distance between the stator and the rotor meets the standard specifically includes: presetting a first error offset threshold, a second error offset threshold, and a third error offset threshold, wherein the first error offset threshold is less than the second error offset threshold and less than the third error offset threshold; when the position offset of the stator is greater than the first error offset threshold and less than the second error offset threshold, it is determined to be a mild offset, and the pressure of the robotic arm at the stator assembly module is adjusted; when the position offset of the stator is greater than the second error offset threshold and less than the third error offset threshold, it is determined to be a moderate offset, the installation speed of the stator assembly module is reduced and monitored in real time, and the installation speed of the stator assembly module is frequency-adjusted after the offset condition improves; when the position offset of the stator is greater than the third error offset threshold, it is determined to be a severe offset, a report is sent to the monitoring unit, and it is determined whether an equipment failure occurs, and manual adjustment is performed.

[0059] As you can understand, to ensure accurate stator-rotor gap distances, the system presets three different error offset thresholds (first, second, and third). These thresholds represent the acceptable range of stator position offset. These three thresholds are arranged in increasing order of severity to distinguish between different degrees of stator offset issues. When the stator position offset falls between the first and second error offset thresholds, the system determines it as mild offset. In response, the system adjusts the pressure of the robotic arm at the stator assembly module to fine-tune the stator position to the correct gap distance. If the stator position offset exceeds the second error offset threshold but does not reach the third error offset threshold, the system determines it as moderate offset. In this case, the system reduces the installation speed of the stator assembly module and monitors the offset in real time. Once the offset improves, the system adjusts the installation speed to stabilize the stator position. When the stator position offset exceeds the third error offset threshold, the system determines it as severe offset. In this case, the system sends a report to the monitoring unit to indicate a possible equipment failure. Subsequently, the system performs manual adjustments to ensure proper stator assembly and gap accuracy.

[0060] By setting different levels of error offset thresholds, the gap between the stator and rotor is precisely controlled. Based on the degree of stator position offset, the system automatically takes appropriate adjustments, ranging from slight pressure adjustments to reduced installation speeds to reporting equipment failures and initiating manual intervention, ensuring assembly process accuracy and stable production line operation. This approach improves the efficiency and reliability of automated assembly and reduces the defective rate caused by assembly errors.

[0061] In this preferred embodiment, triggering an automatic replenishment request when the material is about to be depleted specifically includes:

[0062] The loading unit automatically obtains inventory data and adjusts the replenishment strategy according to the production plan. When it detects that the consumption rate of a certain material exceeds the predetermined rate, the monitoring unit generates an early warning signal and triggers an automatic replenishment request to purchase and replenish materials in advance.

[0063] As you can understand, the loading unit uses integrated, efficient sensors and data processing systems to monitor material inventory in real time. This data includes the current material quantity, consumption rate, and remaining available time. Based on production plan requirements, the loading unit dynamically adjusts its replenishment strategy. This means the system considers production task priorities, projected output, and material demand to develop a reasonable replenishment plan. The system sets a predetermined material consumption rate to determine whether material consumption is normal. If the actual consumption rate exceeds the predetermined rate, it indicates excessive material consumption, potentially impacting production progress. Upon detecting abnormal material consumption, the monitoring unit immediately generates a warning signal. This signal can be an audible or visual alert, a text message notification, or a direct display on the monitoring system interface, allowing personnel to take timely action. Once the warning signal is generated, the system automatically triggers a replenishment request. This process requires no human intervention, significantly improving response speed and accuracy. By monitoring material consumption in real time and automatically adjusting the replenishment strategy based on the production plan, automatic replenishment requests are implemented when materials are nearing depletion. This intelligent management approach effectively improves production line efficiency, reduces the risk of production interruptions due to material shortages, and ensures smooth production.

[0064] In this preferred embodiment, after determining that the deviation is severe, the method further includes: performing two repeated comparisons to determine whether the deviation is severe due to a system error; if the deviation is severe due to a system error, sending a signal to remind manual adjustment.

[0065] In summary, the present invention provides a system for an automated production line for ball motors, comprising a loading unit, an assembly unit, a monitoring unit, and a warehousing unit, achieving a fully automated process from raw material loading to finished product testing and warehousing. By dividing the production line into multiple independent modules (such as a rotor assembly module, a stator assembly module, and a housing assembly module) that operate in parallel, the modules are coordinated in real time by a central control system to ensure that the production speeds of each assembly module are consistent, thereby significantly improving production efficiency. In addition, when a module fails, a buffer module is provided to store semi-finished products, which can prevent the entire production line from stagnating and ensure that other modules continue to produce. The loading unit is equipped with a material detection sensor and an automatic conveyor belt, which can monitor the remaining amount of various materials in real time. When a certain material is about to run out, the monitoring unit automatically generates an early warning signal and triggers an automatic replenishment request, ensuring that the production line can continue to operate when there is sufficient material, avoiding production stagnation caused by insufficient materials. The monitoring unit collects the assembly speed of each module in the assembly unit and the gap distance between the stator and the rotor in real time, and determines whether they meet the standards. When the gap distance exceeds the preset range, the monitoring unit can automatically adjust the parameters of the stator assembly module to meet the standard requirements, thereby ensuring the assembly accuracy and finished product quality of the product. Through the central control system, the monitoring unit can dynamically adjust the production speed and frequency of each module based on the real-time collected data. For example, when it is detected that the speed of the stator assembly module is lower than that of other modules, the pressure or assembly speed of the robotic arm can be automatically adjusted to ensure that the production process is always carried out at a synchronized rhythm. The warehousing unit is equipped with automatic detection equipment to perform multiple performance tests and appearance inspections on the finished ball motors. Through the automated detection and data recording system, not only can unqualified products be screened out, but a production data chain can also be formed to facilitate subsequent product quality tracing and analysis. In summary, the present invention achieves a comprehensive improvement in production efficiency, product quality and material management through refined division of labor and intelligent management of each module of the ball motor production line, providing an efficient, stable and intelligent solution for the automated production of ball motors.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A ball motor automated production line, characterized in that: include: Loading unit, assembly unit, monitoring unit and warehousing unit, including: The loading unit is configured to supply the raw materials required by the assembly unit, including the rotor assembly, the stator assembly, and the housing assembly; the loading unit includes an automatic conveyor belt and a robotic arm, which are used to deliver the rotor assembly, the stator assembly, and the housing assembly to the positions of the various modules of the assembly unit; the loading unit also includes a material detection sensor, which is used to monitor the remaining quantity and status of the material in real time and trigger an automatic replenishment request when the material exceeds a preset value; The assembly unit includes a rotor assembly module, a stator assembly module, and a housing assembly module; the rotor assembly module is configured to assemble and fix the rotor assembly; the stator assembly module is configured to assemble and fix the stator assembly; the housing assembly module is configured to seal and fix the stator, rotor, and housing to form a finished ball motor; The monitoring unit is configured to collect the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module and the gap distance between the stator and the rotor, and determine whether the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are consistent. When the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are inconsistent, frequency modulation is performed on them. The monitoring unit is also configured to determine whether the gap distance between the stator and the rotor exceeds a standard value. When the gap distance between the stator and the rotor exceeds the standard value, the stator assembly module is adjusted so that the gap distance between the stator and the rotor does not exceed the standard value. The warehousing unit is configured to inspect, package and warehouse the finished ball motors; the warehousing unit is configured to perform performance testing, dimension measurement and appearance inspection on the completed motors; products that pass the inspection are conveyed to the packaging module for automated packaging and label printing, and are placed in the storage area according to product specifications.

2. The ball motor automated production line according to claim 1, characterized in that: The assembly unit also includes a buffer module, which is configured to store semi-finished products. When one or more of the rotor assembly module, the stator assembly module and the housing assembly module are damaged, the semi-finished products are stored in the buffer module. The buffer module is also configured to collect semi-finished product data and send the semi-finished product data to the monitoring unit. The monitoring unit determines whether production needs to be stopped based on the semi-finished product data.

3. The ball motor automated production line according to claim 1, characterized in that: The collecting of the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module and the gap distance between the stator and the rotor, and determining whether the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module are consistent, and performing frequency modulation processing on the assembly speeds of the rotor assembly module, the stator assembly module, and the housing assembly module when the assembly speeds are inconsistent specifically includes: The target production speed is set and the production speeds of the rotor assembly module, the stator assembly module and the housing assembly module are collected, the speed deviation between the modules is calculated, and the proportional coefficient, integral coefficient and differential coefficient are set. The adjusted production speed is calculated using the proportional coefficient, integral coefficient, differential coefficient and speed deviation.

4. The ball motor automated production line according to claim 3, characterized in that: The speed deviation is determined as follows: ΔV i =V t -V i ; Where, ΔV i Indicates speed deviation, V t Indicates the target production speed, V i Indicates the production speed of different modules; i is the module number.

5. The ball motor automated production line according to claim 4, characterized in that: The calculation method of the adjusted production speed is: Among them, C i Indicates the adjusted speed; K p Represents the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient.

6. The ball motor automated production line according to claim 5, characterized in that: The determining whether the gap distance between the stator and the rotor exceeds a standard value, and when the gap distance between the stator and the rotor exceeds the standard value, adjusting the stator assembly module so that the gap distance between the stator and the rotor meets the standard specifically includes: A gap error offset threshold is preset, and the stator position offset is compared with the error offset threshold to determine the actual offset degree; the stator position offset represents the distance the stator moves when it is displaced to the standard position.

7. The ball motor automated production line according to claim 6, characterized in that: The calculation formula of the stator position offset is: Among them, ΔP represents the position offset of the stator, E represents the current gap error, K p Represents the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient.

8. The ball motor automated production line according to claim 7, characterized in that: Adjusting the stator assembly module so that the gap distance between the stator and the rotor does not exceed the standard value specifically includes: A first error offset threshold, a second error offset threshold, and a third error offset threshold are pre-set, wherein the first error offset threshold is smaller than the second error offset threshold and smaller than the third error offset threshold. When the position offset of the stator is greater than the first error offset threshold and smaller than the second error offset threshold, it is determined to be a slight offset, and the pressure of the robotic arm at the stator assembly module is adjusted; when the position offset of the stator is greater than the second error offset threshold and smaller than the third error offset threshold, it is determined to be a moderate offset, and the installation speed of the stator assembly module is reduced and monitored in real time. After the offset is reduced to a slight offset, the installation speed of the stator assembly module is frequency-modulated; when the position offset of the stator is greater than the third error offset threshold, it is determined to be a severe offset, and a report is sent to the monitoring unit to determine whether an equipment failure occurs, and a signal is sent to remind manual adjustment.

9. The ball motor automated production line according to claim 8, characterized in that: When the material exceeds the preset value, triggering the automatic replenishment request specifically includes: The loading unit automatically obtains inventory data and adjusts the replenishment strategy according to the production plan. When it detects that the consumption rate of a certain material exceeds the predetermined rate, the monitoring unit generates an early warning signal and triggers an automatic replenishment request to purchase and replenish materials in advance.

10. The ball motor automated production line according to claim 8, characterized in that: After determining that the deviation is severe, the method further includes: performing two repeated comparisons to determine whether the deviation is severe due to a system error; and when the deviation is severe due to a system error, sending a signal to remind manual adjustment.

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