Method and device for detecting permanent magnet mounting quality of permanent magnet synchronous motor

Abstract

The present disclosure provides a permanent magnet synchronous motor permanent magnet installation quality detection method and device. The device comprises a platform, a first stepper motor, a rotor fixing mechanism for fixing the rotor and operatively connected with the first stepper motor to enable the rotor to rotate, a sensor adjusting mechanism having a laser sensor, an acoustic sensor, a magnetic force sensor and a striking hammer mounted thereon, the laser sensor being used to detect the installation position of the permanent magnet on the rotor, the striking hammer being used to strike the pressing block between the permanent magnet on the rotor and the permanent magnet to emit a sound, the acoustic sensor being used to collect the sound, and the magnetic force sensor being used to detect the magnetic force strength and magnetic pole of the permanent magnet on the rotor, and a control system configured to control the rotation of the rotor and the striking operation of the striking hammer during detection, receive test data from the laser sensor, acoustic sensor and magnetic force sensor, and analyze the test data to output a test result.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of permanent magnet synchronous motor, more particularly, to a method and device for detecting installation quality of permanent magnet of permanent magnet synchronous motor. BACKGROUND

[0002] Permanent magnet synchronous motor has the advantages of simple structure, small size, high efficiency and high power factor, and is increasingly widely used in production and life. In the assembly process of the permanent magnet synchronous motor, the permanent magnet is usually pasted on the surface of the rotor by glue, and is positioned and fixed by the pressing block and the bolt. If the installation position of the permanent magnet is inconsistent, including the height difference and the spacing, it will cause vibration during the operation of the motor. The magnetic pole sequence of the permanent magnet should be N pole and S pole spaced from each other, but the two kinds of permanent magnets cannot be distinguished from the appearance, and if they are installed incorrectly, the motor will not work normally. The magnetic force strength of the permanent magnet is usually not detected one by one before and after installation, even if the workers use gauss meter to detect, it is difficult to ensure the consistency of the detection position, and the confidence of the data obtained is low. The permanent magnets with different magnetic force strength will affect the normal operation of the motor. If the pressing block is not tight enough, it will loosen during the long-term operation of the motor, not only losing the fixing effect, but also causing damage to the motor due to the loosened pressing block and bolt.

[0003] At present, after the installation of the permanent magnet, the key elements such as the installation position of the permanent magnet, the magnetic pole sequence, the magnetic force strength and the tightness of the pressing block need to be detected by manual method. This method has the following defects:

[0004] 1) Insufficient accuracy: the installation position of the permanent magnet depends on manual visual judgment, the magnetic force strength is detected manually by the gauss meter, and the tightness of the pressing block depends on manual operation based on experience, so the overall accuracy is low and is significantly affected by subjective factors.

[0005] 2) Low efficiency: the rotor usually needs to be installed with dozens of permanent magnets, and the key elements of each permanent magnet and pressing block are detected one by one manually, which is tedious, time-consuming and laborious, and the efficiency is low.

[0006] 3) Easy to miss: long-term repeated single detection operation is easy to cause fatigue and miss.

[0007] The above-mentioned deficiencies and problems of manual detection will directly lead to the fact that the installation quality of the permanent magnet cannot be effectively guaranteed, and thus adversely affect the overall performance and operation reliability of the motor. SUMMARY

[0008] The present disclosure provides a method and device for detecting installation quality of permanent magnet of permanent magnet synchronous motor, which uses an automatic device to efficiently detect the installation quality of the permanent magnet.

[0009] The embodiment of the present application provides a permanent magnet synchronous motor permanent magnet installation quality detection device, which comprises a platform, a first stepper motor installed on the platform, a rotor fixing mechanism located above the platform and used for fixing a rotor to be detected, and the rotor fixing mechanism is in operative connection with the first stepper motor to enable the rotor to be detected to rotate under the driving of the first stepper motor, a sensor adjusting mechanism installed on the platform, a laser sensor installed on the sensor adjusting mechanism and used for detecting the installation position of a permanent magnet on the rotor to be detected, a striking hammer installed on the sensor adjusting mechanism and used for striking a pressing block between the permanent magnets on the rotor to be detected to emit a sound, an acoustic sensor installed on the sensor adjusting mechanism and used for collecting the sound, a magnetic force sensor installed on the sensor adjusting mechanism and used for detecting the magnetic force strength and magnetic pole of the permanent magnet on the rotor to be detected, and a control system in communication connection with the first stepper motor, the sensor adjusting mechanism, the laser sensor, the acoustic sensor, the magnetic force sensor and the striking hammer, and configured to control the rotation of the rotor to be detected and the striking operation of the striking hammer during detection, receive test data from the laser sensor, the acoustic sensor and the magnetic force sensor, analyze the test data to output a test result.

[0010] In some embodiments, the rotor fixing mechanism comprises a rotating disc having a conical body for engaging with the rotor to be detected, a connecting rod rotatably supported on the platform through a bearing, one end of the connecting rod being fixedly connected to the center position of the planar side of the conical body, the other end being in operative connection with the first stepper motor, a threaded rod fixedly connected to the top of the conical body and extending from the top of the conical body, a fastening disc having a threaded hole in the center matched with the threaded rod, wherein the rotor to be detected is clamped between the fastening disc and the conical surface of the conical body, and a fastening nut engaged with the threaded rod to fix the fastening disc and the rotor to be detected on the conical body.

[0011] In some embodiments, the sensor adjusting mechanism comprises a base plate, a horizontal moving mechanism supported on the base plate and used for horizontally moving the laser sensor, the acoustic sensor, the magnetic force sensor and the striking hammer, a vertical lifting mechanism installed on the horizontal moving mechanism and used for moving the laser sensor, the acoustic sensor, the magnetic force sensor and the striking hammer up and down, a sensor mounting plate installed on the lifting mechanism to be able to move up and down according to the lifting mechanism, the striking hammer and the magnetic force sensor being installed on the sensor mounting plate, a first adjustable rod having one end installed on the horizontal moving mechanism and the other end installed with the laser sensor, and a second adjustable rod having one end installed on the horizontal moving mechanism and the other end installed with the acoustic sensor.

[0012] In some embodiments, the horizontal moving mechanism comprises two slide rails arranged on the base plate along the axial direction of the connecting rod; a moving base having two sliding blocks at the bottom thereof, the sliding blocks being respectively matched with the two slide rails, so that the moving base can move along the slide rails; and a horizontal driving mechanism operatively connected with the moving base to drive the moving base to move along the slide rails. The horizontal driving mechanism comprises a first screw rod arranged on the base plate in parallel with one of the two slide rails through two bearing seats; a first nut sleeved on the first screw rod and engaged with the first screw rod, and fixedly connected with the moving base; and a second stepper motor communicatively connected with the control system and operatively connected with the first screw rod, for driving the first screw rod to rotate under the control of the control system, so that the first nut moves along the first screw rod, thereby driving the moving base to move along the slide rails.

[0013] In some embodiments, the vertical lifting mechanism comprises two light rods, each having one end fixedly installed on the moving base at a predetermined distance from the other end, and each having the other end supporting and fixedly connected to a connecting plate; a second screw rod located between the two light rods, one end of the second screw rod being connected with a bearing installed on the moving base, and the other end of the second screw rod passing through a bearing installed on the connecting plate; a second nut sleeved on the second screw rod and engaged with the second screw rod; and a third stepper motor installed on the connecting plate and operatively connected with the other end of the second screw rod passing through the connecting plate.

[0014] In some embodiments, the sensor mounting plate has a base and an extension extending from the base. The base is provided with two light rod holes for the light rods to pass through, and a nut mounting hole located between the two light rod holes, the second screw rod passing through the nut mounting hole, and the second nut being fixed in the nut mounting hole. The striking hammer and the magnetic force sensor are installed at the end of the extension.

[0015] Furthermore, the embodiment of the application provides a permanent magnet synchronous motor permanent magnet installation quality detection method, which uses the permanent magnet synchronous motor permanent magnet installation quality detection device to perform the detection, and comprises the following steps: performing parameter configuration on a control system, wherein the parameters comprise a rotation speed of a rapping hammer internal rudder, a single indexing rotation angle, a rotation speed of a first stepper motor, a predetermined rotation number required for detecting a magnetic force, a second stepper motor axial movement step, a magnetic force deviation threshold value, a pressing block fastening degree threshold value and a displacement deviation threshold value; the control system controls the first stepper motor to drive the rotor to perform indexing rotation according to the configured parameters, the first stepper motor rotates by one step angle, and then laser distance test data of the permanent magnet is obtained through the laser sensor, and acoustic test data of the pressing block of the permanent magnet is obtained through the rapping hammer and the acoustic sensor after the rotor rotates by one single indexing rotation angle; the control system controls the first stepper motor to drive the rotor to continuously rotate by the predetermined rotation number according to the configured parameters, and the magnetic force test data of the permanent magnet is obtained through the magnetic force sensor while the rotor rotates; and the control system comprehensively evaluates the permanent magnet installation quality according to the laser test data, the acoustic test data and the magnetic force test data.

[0016] In some embodiments, the control system controls the first stepper motor to drive the rotor to perform indexing rotation according to the configured parameters, which comprises the following steps: S11, the control system controls the first stepper motor to rotate according to the configured rotation speed, and simultaneously counts the encoder pulses of the motor; S12, the current rotation angle of the rotor is obtained according to the counting of the encoder pulses; S13, whether the rotor completes the rotation of the configured single indexing rotation angle is determined according to the current rotation angle of the rotor, if not, the step S11 is executed, if yes, the rotor is stopped and the acoustic test is performed, and then the step S14 is executed; S14, whether the rotor rotates one round is determined according to the current rotation angle, if yes, the laser distance test and the acoustic test are ended, if not, the step S11 is executed.

[0017] In some embodiments, the excitation acoustic test comprises: S21, the control system controls the internal steering engine of the hammer to rotate according to the configured rotation speed, drives the hammer head to hit the pressing block surface of the permanent magnet, and collects the sound response signal generated by the hitting through the acoustic sensor; S22, pre-processes the sound response signal and screens out the effective frame; S23, calculates the envelope line of the effective frame signal; S24, judges whether the envelope line appears multi-peak rebound in the attenuation process, if yes, determines that it is continuous hitting and re-executes step S21, otherwise executes step S25; S25, performs Fourier transform on the effective frame signal of the sound response signal to obtain its frequency spectrum; S26, performs energy standardization on the frequency spectrum within the effective bandwidth to obtain the standardized frequency spectrum; S27, performs calculation based on the standardized frequency spectrum to extract the dynamic characteristic parameters including the natural frequency, the frequency spectrum energy distribution and the dynamic stiffness; S28, inputs the dynamic characteristic parameters into the trained CNN model, and outputs the pressing block fastening degree evaluation value of the permanent magnet by the model, and the acoustic test data comprises the pressing block fastening degree evaluation value.

[0018] In some embodiments, the real-time magnetic intensity and pole test of the permanent magnet through the magnetic force sensor while the rotor rotates comprises: S31, the control system rotates the first stepper motor according to the configured rotation speed, and counts the encoder pulses of the motor at the same time; S32, obtains the current rotation angle of the rotor according to the counting of the encoder pulses, and records the magnetic force intensity and pole information corresponding to the current rotation angle of the rotor measured by the magnetic force sensor; S33, judges whether the rotor rotates one revolution according to the current rotation angle, if no, continues to execute step S31, otherwise, increments the rotation count of the rotor by one; S34, judges whether the rotation count of the rotor reaches the predetermined rotation count, and executes step S35 when the judgment is no, otherwise, ends the processing; S35, adjusts the axial measurement point position of the rotor through the second stepper motor according to the configured axial movement step, and then re-executes step S31.

[0019] In some embodiments, the control system aggregates the laser test data, the acoustic test data and the magnetic force test data, which comprises: fitting the laser test data to generate the profile curve of the outer edge side surface of the permanent magnet; fitting the magnetic force test data to generate the magnetic intensity distribution space surface data; extracting the pole number and distribution sequence from the magnetic force test data; and obtaining the fastening degree evaluation value of each pressing block of the permanent magnet from the acoustic test data.

[0020] In some embodiments, the comprehensive evaluation of the mounting quality of the permanent magnet comprises: calculating the maximum displacement deviation of the outer edge side profile curve of the permanent magnet, and comparing with the displacement deviation threshold; calculating the maximum deviation of the measured value of the magnetic intensity distribution space curve from the standard value, and comparing with the magnetic intensity deviation threshold; comparing the fastening degree evaluation value of each pressing block with the pressing block fastening degree threshold; checking whether the magnetic pole number and distribution sequence are correct; outputting the results of the comparison and the checking as test results.

[0021] The application of the embodiments of the present application can achieve the following beneficial effects:

[0022] 1) Self-adapting structure, strong universality

[0023] In the device, the rotor fixing mechanism adopts a conical rotary disc, and the conical surface thereof can be compatible with rotors of different inner diameters; the adjustability of the sensor adjusting mechanism can ensure the consistency of the distance between the sensor and various permanent magnets and pressing blocks, and thus special equipment for specific models of rotors is not required, thereby covering the detection requirements of permanent synchronous motor rotors of multiple specifications and greatly improving the universality and reuse rate of the equipment.

[0024] 2) Automatic integration, efficient detection

[0025] Based on the multi-dimensional signal collaborative analysis technology, the integrated automatic detection of four key indicators is realized, the traditional manual detection mode is replaced, and the manual intervention link is reduced. At the same time, the time consumption for detecting a single rotor is shortened, and the detection efficiency is improved.

[0026] 3) Closed-loop control and detection, reliable results

[0027] The encoder of the stepper motor is used for indexing rotation control, so as to ensure the accuracy of the detection process. The abnormal item real-time marking mechanism can timely capture problems such as magnetic force drop, magnetic pole distribution abnormality, and permanent magnet pressing block loosening. Specifically, the maximum displacement deviation of the outer edge side profile curve of the permanent magnet is calculated, and compared with the displacement deviation threshold, and the abnormality is marked; the maximum deviation of the measured value of the magnetic intensity distribution space curve from the standard value is calculated, and compared with the magnetic intensity deviation threshold, and the abnormality is marked; the fastening degree evaluation value of each pressing block is compared with the pressing block fastening degree threshold, and the abnormality is marked; whether the magnetic pole number and distribution sequence are correct is checked, and the abnormality is marked; the results of the comparison and the checking are output as test results, for example, the abnormality is marked, so as to timely capture problems such as magnetic force drop, magnetic pole distribution abnormality, and permanent magnet pressing block loosening.

[0028] 4) Quantitative evaluation, standard unification

[0029] The permanent magnet mounting quality key index is converted into a quantitative parameter, digital judgment is realized, the dependence on artificial experience is eliminated, and the judgment deviation caused by experience differences of different detection personnel is eliminated.

[0030] 5) Detecting permanent magnet pressing block fastening degree based on incentive acoustic method

[0031] Based on the incentive acoustic method, the parameter change of the local mode of the mechanical structure can be accurately captured through standardized striking and acoustic measurement, and then the fastening state of the permanent magnet pressing block is reflected. Compared with the subjectivity of artificial judgment by hand feeling and the great influence of the torque wrench detection on the friction factor, the method can more comprehensively and accurately evaluate the loosening condition of the permanent magnet pressing block.

[0032] The various aspects, features, advantages and the like of the embodiments of the present application will be specifically described below in combination with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a perspective view schematically showing a permanent magnet mounting quality detection device of a permanent magnet synchronous motor according to an embodiment of the present application.

[0034] Figure 2A is a perspective view schematically showing a part of a rotor fixing mechanism according to an embodiment of the present application.

[0035] Figure 2B is a perspective view schematically showing a fastening disc according to an embodiment of the present application.

[0036] Figure 3A is a perspective view schematically showing a sensor adjusting mechanism according to an embodiment of the present application.

[0037] Figure 3B is Figure 3A a perspective view of the sensor adjusting mechanism of

[0038] Figure 4 is a left perspective view schematically showing a part of the device of Figure 1

[0039] Figure 5 is a perspective view schematically showing a rotor as a detection object according to an embodiment of the present application.

[0040] Figure 6 is a flowchart schematically showing control of rotor indexing rotation by a control system according to an embodiment of the present application.

[0041] Figure 7 is a flowchart schematically showing an incentive acoustic test according to an embodiment of the present application.

[0042] Figure 8 is a flowchart schematically showing a magnetic intensity and pole test according to an embodiment of the present application.​

[0043] Figures 9 to 12 The flowchart illustrates an example of a method for detecting the installation quality of permanent magnets in a permanent magnet synchronous motor according to an embodiment of the present invention. Detailed Implementation

[0044] The exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the present invention can be implemented in various ways and is not limited to the specific examples described herein or shown in the accompanying drawings.

[0045] The descriptions of element positions in this document (such as "top", "bottom", "above", "below", "left", "right", etc.) are used only to indicate the relative orientation of elements in the accompanying drawings. These descriptions are exemplary only and are not limiting. In other embodiments, the orientation of the elements may differ or vary, which is also included within the scope of this disclosure.

[0046] Furthermore, terms such as “substantially,” “about,” and “roughly” are used herein as descriptive terms rather than as limitations on precision. These terms are intended to cover a reasonable range of error in manufacturing, installation, measurement, or calculation that would be recognizable to a person skilled in the art. The terms “comprising,” “including,” and “having” are used herein to indicate the presence of certain features, steps, operations, elements, and / or components, but do not exclude the presence or addition of other features, steps, operations, elements, components, or combinations thereof. Unless explicitly stated in the context, terms such as “first,” “second,” and similar terms do not indicate any priority or order, but are used solely to distinguish different elements in the description.

[0047] To further clarify, the terms "connection," "link," and similar terms used herein refer to the direct or indirect connection between two components. This connection can be fixed (e.g., permanent or non-removable) or movable (e.g., detachable or releasable). Connection methods include, but are not limited to: direct connection between two components, indirect connection via an intermediate component, and connection via an intermediate component integrally formed with one of the components. Furthermore, such connections can be mechanical, electrical, etc.

[0048] Next, refer to Figures 1 to 5 An exemplary embodiment of the permanent magnet installation quality inspection device for permanent magnet synchronous motors will be described.

[0049] like Figure 1 As shown, the device generally includes at least a platform 100, a first stepper motor 200, a rotor fixing mechanism 300, a sensor adjusting mechanism 400, and a control system 500. The first stepper motor 200, the rotor fixing mechanism 300, the sensor adjusting mechanism 400, and the control system 500 are all mounted on the platform 100.

[0050] The rotor fixing mechanism 300 is used to fix the rotor 600 to be tested, and is operatively connected with the first stepper motor 200, for example, connected with the first stepper motor 200 through the coupling 102, so that the rotor 600 can rotate under the driving of the first stepper motor 200.

[0051] As shown in Figure 5 , the rotor 600 includes a plurality of permanent magnets 601, which are pasted on the rotor by glue, and the pressing blocks 602 are fixed between the permanent magnets by bolts 603, and the edges of the permanent magnets are provided with small bevels, so that the permanent magnets can be pressed and fixed.

[0052] The sensor adjusting mechanism 400 is provided with a laser sensor 701, an acoustic sensor 702, a magnetic force sensor 704, and a striking hammer 703 (refer to Figure 3A ). The laser sensor 701 is used to detect the installation position of the permanent magnets 601 on the rotor 600; the striking hammer 703 is used to strike the pressing blocks 602 between the permanent magnets on the rotor 600 to emit sound, and the acoustic sensor 702 is used to collect the sound; the magnetic force sensor 704 is used to detect the magnetic force and magnetic pole of the permanent magnets 601 on the rotor 600.

[0053] The control system 500 is in communication connection with the first stepper motor 200, the laser sensor 701, the acoustic sensor 702, the magnetic force sensor 704, and the striking hammer 703, and is configured to control the rotation of the rotor 600 and the striking operation of the striking hammer 703 when detecting, receive test data from the laser sensor 701, the acoustic sensor 702, and the magnetic force sensor 704, analyze the test data to output test results.

[0054] In some embodiments, referring to Figure 1 , Figure 2A and Figure 2B , the rotor fixing mechanism 300 includes a rotating disc 301, a connecting rod 302, a threaded rod 303, a fastening disc 304, and a fastening nut 305. The rotating disc 301 has a conical body to engage with the rotor 600 (refer to Figure 4 ). One end of the connecting rod 302 is fixedly connected to the center position of the planar side of the conical body, and the other end is operatively connected with the first stepper motor 200 through the coupling 102 (refer to Figure 1 ). The connecting rod 302 is rotatably supported on the platform 100 by the bearing of the first bearing seat 101 (refer to FIG. 2 and Figure 4A threaded rod 303 is fixedly connected to the top of the cone and extends from the top of the cone. A fastening disc 304 has a threaded through hole at its center that mates with the threaded rod 303. The rotor 600 is clamped between the fastening disc 304 and the conical surface of the rotating disc 301 (see reference). Figure 1 and Figure 4 The fastening disc 304 and the rotor 600 are fixed on the conical surface by engaging the threaded rod with a fastening nut 305. The embodiment employs a conical rotating disc, whose conical surface is compatible with rotors of different inner diameters, giving the device of the present invention strong versatility and compatibility. Furthermore, this method of fixing the rotor to be tested exhibits adaptive coaxiality.

[0055] In some implementations, such as Figure 3A As shown, the sensor adjustment mechanism includes at least a base plate 410, a horizontal moving mechanism 420, a vertical lifting mechanism 430, a sensor mounting plate 440, a first adjustable rod 450, and a second adjustable rod 460. The horizontal moving mechanism 420 is supported on the base plate 410 and is used to move the laser sensor 701, acoustic sensor 702, magnetic sensor 704, and impact hammer 703 horizontally. The vertical lifting mechanism 430 is mounted on the horizontal moving mechanism 420 and is used to move the laser sensor 701, acoustic sensor 702, magnetic sensor 704, and impact hammer 703 vertically. The sensor mounting plate 440 is mounted on the vertical lifting mechanism 430 and can move not only vertically according to the vertical lifting mechanism 430 but also move together with the vertical lifting mechanism 430. The impact hammer 703 and magnetic sensor 704 are mounted on the sensor mounting plate; one end of the first adjustable rod 450 is mounted on the horizontal moving mechanism, and the other end is mounted on the laser sensor 701; one end of the second adjustable rod 460 is mounted on the horizontal moving mechanism, and the other end is mounted on the acoustic sensor 702. The first and second adjustable rods are flexible rods, allowing for arbitrary adjustment of the positions of the mounted sensors. Thus, through the horizontal moving mechanism 420, the vertical lifting mechanism 430, and the adjustable rods, the positions of the sensors, impact hammer, and other detection components can be adjusted to a suitable location for detecting the permanent magnet of the rotor 600.

[0056] In some implementations, such as Figure 3B As shown, the horizontal moving mechanism 420 includes at least a slide rail 411, a moving base 412, and a horizontal drive mechanism. The moving base 412 is an approximately "U"-shaped frame structure, with a central space through which the connecting rod 302 passes (see reference). Figure 4Two slide rails 411 are mounted on the base plate 410 and extend parallel to the connecting rod 302. The bottom of the movable base 412 is provided with two sliders 413 that respectively engage with the two slide rails 411, allowing the movable base 412 to move horizontally along the slide rails 411. A horizontal drive mechanism is operatively connected to the movable base 412 to drive it to move along the slide rails 411. The horizontal drive mechanism includes a first lead screw 414, a first nut 416, and a second stepper motor 417. Specifically, the first lead screw 414 is rotatably supported on the base plate 410 by bearings in two second bearing seats 415 and is parallel to the two slide rails 411 or the connecting rod 302. The first nut 416 is fitted onto the first lead screw 414 and engages with it (or is screwed into) the first lead screw, and is fixedly connected to the movable base 412. The second stepper motor 417 is communicatively connected to the control system 500 and operably connected to the first lead screw 414. Under the control of the control system 500, it drives the first lead screw 414 to rotate, so that the first nut 416 moves to the left or right (horizontal movement) along the lead screw, thereby driving the movable base 412 (together with the first adjustable rod 450 and the second adjustable rod 460) to move along the slide rail 411.

[0057] In some implementations, such as Figure 3B As shown, the vertical lifting mechanism 430 includes at least: a guide rod 421, a connecting plate 422, a second lead screw 423, a bearing 424, a second nut 425, and a third stepper motor 426. The two guide rods 421 are parallel to each other and spaced a predetermined distance apart. One end of each guide rod is fixedly mounted on the movable base 412, and the other end is supported and fixedly connected to the connecting plate 422. The second lead screw 423 is located between the two guide rods 421 and is parallel to each other. One end of the second lead screw 423 is connected to the bearing 424 mounted on the movable base 412, and the other end passes through the bearing mounted on the connecting plate 422 and is operatively connected to the third stepper motor 426 mounted on the connecting plate 422. The second nut 425 is fitted onto and engages with the second lead screw 423 and is fixedly mounted in the sensor mounting plate 440. The sensor mounting plate 440 has a base 441 and an extension 442 extending from the base. The base 441 has two guide rod holes and a nut mounting hole between them. The guide rod holes allow the guide rod 421 to pass through, and the second lead screw 423 passes through the nut mounting hole, where the second nut 425 is fixed. The hammer and magnetic sensor are mounted at the end of the extension 442. Thus, when the third stepper motor 426 drives the second lead screw 423 to rotate, the second nut 425 moves upward or downward along the second lead screw 423, thereby causing the sensor mounting plate 440 to move upward or downward.

[0058] Thus, by driving the screw rod 414 in the forward direction or in the reverse direction by the second stepper motor 417, the vertical lifting mechanism 430 and the first adjustable rod 450 and the second adjustable rod 460 mounted on the moving base 412 can be moved horizontally to the left or to the right, so as to adjust the relative position (or distance) of the laser sensor 701, the acoustic sensor 702, the striking hammer 703 and the magnetic force sensor 704 with the rotor 600 in the horizontal direction. By driving the screw rod 423 in the forward direction or in the reverse direction by the third stepper motor 426, the sensor mounting plate 440 can be moved upward or downward, so as to adjust the relative position (or distance) of the striking hammer 703 and the magnetic force sensor 704 with the rotor 600 in the vertical direction. Furthermore, on this basis, the positions of the laser sensor 701 and the acoustic sensor 702 can be further adjusted by the first adjustable rod 450 and the second adjustable rod 460, for example, to adjust the angles thereof.

[0059] After the positions of the detection elements such as the sensors and the striking hammer are adjusted, the control system 500 can start the detection method process according to the embodiments of the present application.

[0060] In the exemplary embodiments, the control system 500 is realized by cooperation of hardware and software. As the hardware, the control system 500 includes a computer and corresponding driving devices, the computer being used for program control, display, input, etc., and the driving devices being used to drive the stepper motors. As the software, the control system 500 includes an operating system, application programs, etc. In some embodiments, the computer includes a memory and a processor, the memory storing a computer program or computer readable instructions, and the processor executing the computer program or computer readable instructions to realize the method according to any one of the embodiments of the present application.

[0061] In the exemplary embodiments, the method includes parameter configuration of the control system 500, the parameters including: the rotation speed of the rudder inside the striking hammer, the single indexing rotation angle, the rotation speed of the first stepper motor, the predetermined rotation number required for detecting the magnetic force, the axial movement step of the second stepper motor, the magnetic force deviation threshold, the pressing block fastening degree threshold, and the displacement deviation threshold.

[0062] After the control system 500 is configured, the method further includes: the control system 500 controls the first stepper motor 200 to drive the rotor 600 to rotate in an indexing manner according to the configured parameters. For each step angle rotated by the first stepper motor, the laser sensor 701 performs a real-time laser distance test on the permanent magnet 601 of the rotor 600 to obtain laser test data. After each single indexing rotation angle, the impact hammer 703 and acoustic sensor 702 excite the pressing block of the permanent magnet 601 to obtain acoustic test data. The control system 500 controls the first stepper motor 200 to drive the rotor 600 to rotate continuously for a predetermined number of rotations according to the configured parameters. Simultaneously with the rotor rotation, the magnetic force sensor 704 performs real-time magnetic strength and magnetic pole tests on the permanent magnet to obtain magnetic force test data. The control system 500 summarizes the laser test data, acoustic test data, and magnetic force test data to comprehensively evaluate the installation quality of the permanent magnet.

[0063] In some implementations, such as Figure 6 As shown, the control system 500 controls the first stepper motor 200 to drive the rotor to perform indexing rotation according to the configured parameters, including: S11, the control system 500 causes the first stepper motor 200 to rotate at a configured rotation speed, and simultaneously counts the encoder pulses of the motor; S12, the current rotation angle of the rotor 600 is obtained based on the count of the encoder pulses; S13, based on the current rotation angle of the rotor, it is determined whether the rotor has completed the configured single-stroke indexing rotation angle. If the determination is no, step S11 is continued; if the determination is yes, rotation is stopped and the excitation acoustic test is performed, and then step S14 is executed; S14, based on the current rotation angle, it is determined whether the rotor has rotated one revolution. If the determination is yes, the laser distance test and excitation acoustic test are terminated; otherwise, step S11 is executed. This embodiment of the invention constructs a closed-loop control logic for rotor indexing rotation based on the real-time feedback of the stepper motor encoder, which can dynamically correct rotation angle deviations.

[0064] In some implementations, such as Figure 7As shown, the excitation acoustic test includes: S21, the control system 500 controls the rotation of the rudder inside the hammer 703 according to the configured rotation speed, drives the hammer head of the hammer 703 to hit the surface of the pressing block 602 of the permanent magnet 601, and collects the sound response signal generated by the hitting through the acoustic sensor 702; S22, pre-processes the sound response signal, and screens out the effective frame; S23, calculates the envelope line of the effective frame signal; S24, judges whether the envelope line appears multi-peak rebound in the attenuation process, if yes, determines that it is continuous hitting and re-executes step S21, otherwise executes step S25; S25, performs Fourier transform on the effective frame signal of the sound response signal to obtain its frequency spectrum; S26, energy normalizes the frequency spectrum in the effective bandwidth to obtain the normalized frequency spectrum; S27, calculates based on the normalized frequency spectrum to extract the dynamic characteristic parameters including the natural frequency, the frequency spectrum energy distribution and the dynamic stiffness; S28, inputs the dynamic characteristic parameters into the trained CNN model, and outputs the pressing block tightness evaluation value of the permanent magnet from the model, and the acoustic test data includes the pressing block tightness evaluation value. The embodiment of the application adopts the hitting hammer with controllable force to standardize the excitation of the area near the pressing block, uses the acoustic sensor to test the sound response signal generated by the hitting, calculates and obtains the local modal parameters of the mechanical structure, and realizes the determination of the tightness state of the permanent magnet pressing block through the mapping curve relationship between the modal parameter change amount and the pressing block tightness degree.

[0065] In some embodiments, as Figure 8 As shown, the real-time magnetic intensity and pole test of the permanent magnet through the magnetic force sensor while the rotor rotates includes: S31, the control system makes the first stepper motor 200 rotate at a configured rotation speed, and counts the encoder pulses of the motor at the same time; S32, obtains the current rotation angle of the rotor 600 according to the counting of the encoder pulses, and records the magnetic force intensity and pole information corresponding to the current rotation angle of the rotor measured by the magnetic force sensor; S33, judges whether the rotor rotates one revolution according to the current rotation angle, if not, continues to execute step S31, otherwise, increments the rotation count of the rotor by one; S34, judges whether the rotation count value of the rotor reaches the predetermined rotation count, and executes step S35 when the judgment is no, otherwise, ends the processing; S35, adjusts the axial measurement point position of the rotor through the second stepper motor 417 according to the configured axial movement step length, and then re-executes step S31.

[0066] In some embodiments, the control system aggregates the laser test data, the acoustic test data and the magnetic force test data, including: fitting the laser test data to generate a permanent magnet outer edge side profile curve; fitting the magnetic force test data to generate magnetic intensity distribution spatial surface data; extracting the magnetic pole number and distribution order from the magnetic force test data; and obtaining the fastening degree evaluation value of each pressing block of the permanent magnet from the acoustic test data.

[0067] In some embodiments, the comprehensive evaluation of the permanent magnet installation quality includes: calculating the maximum displacement deviation of the permanent magnet outer edge side profile curve and comparing it with the displacement deviation threshold; calculating the maximum deviation of the measured value of the magnetic intensity distribution spatial surface from the standard value and comparing it with the magnetic force intensity deviation threshold; comparing the fastening degree evaluation value of each pressing block with the pressing block fastening degree threshold; checking whether the magnetic pole number and distribution order are correct; and outputting the results of the comparison and the checking as test results. In some embodiments, the number of magnetic pole reversals is counted through the test data of the magnetic force sensor, and the counted value is compared with a preset threshold (i.e., the set number of magnetic pole reversals) to determine whether the magnetic pole number and distribution order are accurate.

[0068] According to the above embodiments, the application constructs a multi-sensor linkage detection system, synchronously collects magnetic field intensity, laser displacement and acoustic signals, realizes real-time monitoring through multi-source data, achieves integrated automatic detection of four key indicators of permanent magnet magnetic force intensity, magnetic pole order, installation position and pressing block fastening degree, and comprehensively evaluates the installation quality of the permanent magnet.

[0069] The application will be further described below in combination with the drawings. Figures 9 to 12 The permanent magnet installation quality detection method of the permanent magnet synchronous motor according to the embodiments of the application includes the following steps.

[0070] Step S601, assembly and debugging Figure 1 The device shown in the figure ensures that each component is connected stably and functions normally. The rotor 600 with the assembled permanent magnet is sleeved into the conical surface structure of the rotating disc 301, and the coaxial fixation of the rotor is realized through the fastening disc 304 and the fastening nut 305, so that the rotor 600 does not deviate radially and axially during rotation.

[0071] Step S602, after the rotor 600 is installed, the position of the detection element needs to be adjusted. The control system controls the second stepper motor 417 to drive the first lead screw 414 to rotate, driving the moving base 412 to adjust the axial position relative to the rotor 600; the control system controls the third stepper motor 426 to drive the matched second lead screw 423 to rotate, driving the sensor mounting plate 440 to adjust the up-down position; the control system controls the first stepper motor 200 to drive the rotor 600 to rotate, adjusting the initial position of the test. Through the above operations, the relative position of the striking hammer 703 and the rotor 600 is adjusted, for example, the hammer head of the striking hammer 703 is located at a position 5 mm below a certain pressing block 601, and the magnetic force sensor 704 is located at a position about 10 mm below the pressing block. In addition, the positions of the laser sensor 701 and the acoustic sensor 702 are adjusted through the first adjustable rod 450 and the second adjustable rod 460. After adjustment, the acoustic sensor 702 is close to the striking hammer 703 and located in the effective acoustic detection area near the hammering point; the laser sensor 701 is parallel to the axial direction of the rotating disc 301, and the laser measuring point is adjusted to fall on the side surface of the outer edge of the permanent magnet, with a measuring distance of about 30 mm.

[0072] Then, the control system 500 is configured with parameters. The configured parameters include: the internal steering engine rotation speed v of the striking hammer (used to control the striking force); the single indexing rotation angle α=π / n (n is the number of permanent magnets, consistent with the number of fastened pressing blocks) (controls the hammering point of the striking hammer to always be on the pressing block); the rotation speed of the first stepper motor, the rotation number N of the detection magnetic force (controls the beat and total time length of the test); the axial movement step length of the second stepper motor; the magnetic force deviation threshold, the pressing block fastening degree threshold, the distance deviation threshold, etc. (used for permanent magnet installation quality index evaluation).

[0073] The test process is divided into two stages, i.e., test stage 1 and test stage 2. Among them, the test stage 1 performs laser distance test and excitation acoustic test, and the test stage 2 performs permanent magnet magnetic force and magnetic pole test. The laser distance test is used to detect whether there is an axial position deviation and a circumferential deflection in the permanent magnet installation. The excitation acoustic test is used to detect whether the fastening degree of each pressing block in the rotor is abnormal.

[0074] Step S603, first enter test stage 1, i.e., laser distance test and excitation acoustic test.

[0075] Step S604, according to the control of the control system 500, the first stepper motor 200 rotates at a set speed, driving the rotating disc 301 and the rotor 600 to rotate synchronously through the shaft coupling 102.

[0076] Step S605, real-time motor encoder pulse counting is performed to obtain the current rotation angle information of the rotor 600.

[0077] Step S606, it is confirmed whether the current is in test stage 1, if yes, step S607 is executed, otherwise, it jumps to step S611, that is, it enters test stage 2.

[0078] Step S607, the first stepper motor 200 rotates a step angle, and the laser distance test of the permanent magnet is carried out through the laser sensor, and the position profile information of the outer edge of the permanent magnet corresponding to the current rotation angle of the rotor is recorded.

[0079] Step S608, the current rotation angle information of the rotor is obtained through the motor encoder pulse counting, and it is judged whether the single division rotation angle a is completed, that is, whether it reaches the detection station of the adjacent pressing block. If not, it continues to jump to step S604; if yes, it enters step S609.

[0080] Step S609, the acoustic test is carried out, and the acoustic test data including the fastening degree of the permanent magnet pressing block is obtained.

[0081] Step S610, according to the current rotation angle information of the rotor, it is judged whether the test stage 1 has rotated one circle. If not, it continues to jump to step S604, drives the stepper motor, and the encoder pulse counting is carried out. The laser distance detection is carried out on the outer edge side of each permanent magnet, and the acoustic excitation test is carried out on each pressing block. If yes, step S611 is executed.

[0082] Step S611, it enters test stage 2, that is, it starts the magnetic intensity and magnetic pole test of the permanent magnet.

[0083] Step S612, the magnetic force sensor is used to measure and record the magnetic intensity and magnetic pole information corresponding to the current rotation angle of the rotor in real time while the rotor rotates, and the data is transmitted to the control system.

[0084] Step S613, according to the current rotation angle information of the rotor, it is judged whether the test stage 2 has rotated one circle. If not, it jumps to step S604, drives the first stepper motor, and the encoder pulse counting is carried out, and then it jumps to step S611 through step S606 and continues to execute. If yes, step S614 is executed.

[0085] Step S614, according to the parameter of the axial movement step length of the second stepper motor, the second stepper motor 417 is controlled to adjust the axial position of the test point through the second stepper motor 417, so that the movement step length dX is obtained, and the rotation number n of test stage 2 is increased by 1.

[0086] Step S615, it is judged whether the rotation number n is greater than N, if not, it jumps to step S604, if yes, it ends the test stage 2. Thus, N circle magnetic force sensor data is obtained, which contains the spatial magnetic field intensity distribution and magnetic pole information of the permanent magnet.

[0087] Step S616: After the completion of test phase 2, the calculation of test index evaluation begins.

[0088] refer to Figure 11 The calculation of the test index evaluation includes:

[0089] In steps S801 to S802, the control system 500 summarizes all test data, fits the laser distance test data and magnetic force test data, generates the side profile curve of the outer edge of the permanent magnet, the spatial surface data of the magnetic intensity distribution, and the magnetic pole information, and summarizes the quantitative evaluation value of the permanent magnet clamping block generated by the excitation acoustic test.

[0090] Steps S803 to S805: Calculate the maximum deviation δ of the side profile curve of the outer edge of the permanent magnet. 位移 The maximum deviation δ between the measured value and the standard value of the magnetic intensity distribution spatial surface 磁强 Magnetic pole number N 磁强翻转 And the order of distribution.

[0091] Steps S806 to S809, evaluation of test indicators: δ 位移 δ 磁强 N 磁强翻转 The results are compared with their respective preset thresholds (including the preset thresholds corresponding to an excellent rating, and the thresholds corresponding to a qualified or unqualified rating) and recorded.

[0092] Step S810: Combining the measurement results and indicators such as permanent magnet installation dimensions, magnetic intensity fluctuation deviation, magnetic pole number distribution, and permanent magnet clamping tightness, complete the comprehensive evaluation of installation quality and output the test results.

[0093] In some implementations, the comprehensive evaluation of permanent magnet installation quality adopts a percentage system, with weights allocated to permanent magnet installation dimensions (20 points), magnetic intensity fluctuation deviation (20 points), magnetic pole number distribution (30 points), and permanent magnet clamping block tightness (30 points). Each indicator is scored in conjunction with the comparison results of steps S806-S809. If there are any veto items such as excessive permanent magnet installation dimension deviation, excessive magnetic intensity deviation, incorrect magnetic pole number distribution, or insufficient clamping block tightness, the result is directly judged as unqualified. Finally, the total score is divided into four levels: excellent (90-100 points), qualified (70-89 points), requiring rectification (50-69 points), and unqualified (<50 points), and detailed indicator information and rectification suggestions are output simultaneously.

[0094] Among them, such as Figure 10 As shown, the excitation acoustic test performed in step S609 includes:

[0095] Step S701, the control system 500 controls the rudder inside the hammer 703 to rotate at a set speed, drives the hammer head to extend, and hits the surface of the pressing block 601. In the latter half of the rudder rotation, the hammer head is retracted.

[0096] Step S702, after the local mechanical structure of the pressing block is hit, the acoustic response signal generated is acquired and collected by the acoustic sensor.

[0097] Step S703, the acoustic response signal is preprocessed by triggering, truncation and windowing, and the effective frame of the acoustic response signal is screened out for subsequent analysis. The triggering includes determining the starting point of the acoustic response signal by threshold to avoid collecting background noise before excitation, and taking a certain time length forward at the point to prevent missing initial response information. The truncation and windowing include truncating a fixed length time domain segment in the acoustic response signal after triggering to contain sufficient effective acoustic response time domain information, and multiplying the truncated time domain signal by an exponential window function point by point to reduce energy leakage phenomenon in Fourier transformation, that is, adding an exponential window.

[0098] Step S704, envelope calculation is performed on the effective frame of the acoustic response signal, and the envelope is an exponential curve of attenuation.

[0099] Step S705, whether it is a continuous hit is judged according to the envelope. If multiple peak rebounds appear in the attenuation process, it means that the excitation hammer appears continuous hitting phenomenon, at this time, step S706 is entered, the rudder turning angle is reset, and then the step S701 is jumped to repeat the hitting action. If there is no continuous hitting, the subsequent data processing is continued. The subsequent data processing includes Fourier transformation, characteristic frequency band standardization, dynamic characteristic parameter extraction, AI model-state recognition.

[0100] Step S707, Fourier transformation: the acoustic response signal is converted from time domain to frequency domain spectrum form.

[0101] Step S708, characteristic frequency band standardization: energy standardization is performed on the spectrum within the effective bandwidth (for example, the bandwidth 500Hz-5kHz in the modal characteristic frequency set) to obtain the standardized spectrum.

[0102] Step S709, dynamic characteristic parameter extraction: the standardized spectrum is calculated to obtain the natural frequency, spectral energy distribution, dynamic stiffness and other dynamic characteristic parameters.

[0103] Step S710, AI Model - State Recognition: Based on a machine learning CNN model, the dynamic characteristic parameters of the pressed block and permanent magnet structure are used as input, including key indicators reflecting the compaction state of the pressed block such as natural frequency, spectral energy distribution, and dynamic stiffness. The model deeply extracts and analyzes these characteristic parameters to ultimately output a quantitative evaluation value of the compaction degree of the permanent magnet pressed block. In some implementations, the evaluation of the compaction degree of the permanent magnet pressed block using machine learning methods (CNN model) is divided into two parts: laboratory model construction and field measurement. For example, as... Figure 12 As shown, in the laboratory model construction stage, permanent magnet clamping test samples were first prepared and grouped according to four target clamping states: "loose, slightly loose, normal, and abnormal characteristics." Then, a standardized excitation was applied to each group of samples using mechanical tapping, and acoustic response signals were simultaneously acquired. Wavelet threshold denoising and signal averaging were performed on the original signals to reduce random interference. Subsequent signal preprocessing included: triggering truncation to obtain complete and valid acoustic response time-domain data segments; applying an exponential window to suppress spectral leakage; calculating the natural frequencies and frequency intervals between natural frequencies based on the spectral data of the acoustic response signal through peak finding; calculating the damping coefficient based on the spectral shape at the natural frequencies; and calculating the 1 / 3 octave band normalized spectrum of the acoustic response signal within the bandwidth based on the normalized spectrum. Next, these dynamic feature parameters reflecting the tightness are divided into training and validation sets according to the CNN model adaptation format (such as 1D feature vectors or 2D spectrograms). These sets are then input into the CNN model for iterative training. Simultaneously, the model performance is evaluated using metrics such as accuracy, precision, and recall, calculated using the confusion matrix. Parameters such as convolutional kernel size and the number of nodes in fully connected layers are continuously optimized until the model accuracy meets the evaluation requirements. In the field testing phase, the permanent magnet compact structure to be evaluated is first excited, and acoustic response signals are simultaneously acquired. The measured data undergoes the processing described in S707 to S709 above to extract dynamic feature parameters, which are then input into the trained CNN model. The model outputs corresponding state labels from "loose," "slightly loose," "normal," and "feature abnormality" through deep feature matching and classification, ultimately completing the quantitative evaluation of the permanent magnet compact's tightness.

[0104] Step S711: After the data analysis is completed, the servo motor is reset, completing the single-excitation acoustic test.

[0105] This invention, based on excitation acoustics, accurately captures parameter changes in local modes of a mechanical structure through standardized impact and acoustic measurement, thereby reflecting the tightness of the permanent magnet clamping block. Compared to the inherent subjectivity of manual judgment by touch and the significant influence of friction factors on torque wrench detection, this method can more comprehensively and accurately assess the looseness of the permanent magnet clamping block.

[0106] Those skilled in the art should understand that the above disclosed content is only an example of the embodiments of the present application, and the scope of the patent protection right claimed in the present application is not limited thereto. Various modifications, changes, replacements and other changes can be made to the embodiments disclosed herein without departing from the spirit and essence of the present application, and these changes are within the scope covered by the claims of the present application.

Claims

1. A device for detecting the installation quality of permanent magnets in a permanent magnet synchronous motor, characterized in that, include: platform; A first stepper motor is mounted on the platform; A rotor fixing mechanism, located on the platform, is used to fix the rotor to be tested, and the rotor fixing mechanism is operatively connected to the first stepper motor so that the rotor to be tested can rotate under the drive of the first stepper motor; A sensor adjustment mechanism is mounted on the platform. The sensor adjustment mechanism is equipped with a laser sensor, an acoustic sensor, a magnetic sensor, and a hammer. The laser sensor is used to detect the installation position of the permanent magnet on the rotor under test. The hammer is used to strike the pressure block between the permanent magnets on the rotor under test to produce sound. The acoustic sensor is used to collect the sound. The magnetic sensor is used to detect the magnetic strength and magnetic poles of the permanent magnet on the rotor under test. as well as The control system is communicatively connected to the first stepper motor, sensor adjustment mechanism, laser sensor, acoustic sensor, magnetic sensor, and impact hammer, and is configured to: control the rotation of the rotor under test and the striking operation of the impact hammer during testing; receive test data from the laser sensor, acoustic sensor, and magnetic sensor; and analyze the test data to output test results. The rotor fixing mechanism includes: A rotating disk having a cone shape for engaging with the rotor to be tested; A connecting rod, which is rotatably supported on the platform by bearings, has one end fixedly connected to the center position of the plane side of the cone, and the other end operatively connected to the first stepper motor; A threaded rod, which is fixedly connected to the top of the cone and extends from the top of the cone; A fastening disc having a threaded hole at its center that mates with the threaded rod, wherein the rotor to be tested is clamped between the fastening disc and the conical surface of the cone; and A fastening nut engages with the threaded rod to secure the fastening disc and the rotor to be tested onto the cone.

2. The permanent magnet synchronous motor permanent magnet installation quality detection device according to claim 1, characterized in that, The sensor adjustment mechanism includes: substrate; A horizontal moving mechanism, supported on the base plate, is used to move the laser sensor, acoustic sensor, magnetic sensor, and hammer horizontally. A vertical lifting mechanism, which is mounted on the horizontal moving mechanism, is used to move the laser sensor, acoustic sensor, magnetic sensor and impact hammer up and down; A sensor mounting plate is mounted on the lifting mechanism, and the hammer and magnetic sensor are mounted on the sensor mounting plate. A first adjustable rod, one end of which is mounted on the horizontal moving mechanism, and the other end of which is mounted on the laser sensor; and The second adjustable rod has one end mounted on the horizontal moving mechanism and the other end mounted on an acoustic sensor.

3. The permanent magnet synchronous motor permanent magnet installation quality detection device according to claim 2, characterized in that, The horizontal movement mechanism includes: Two slide rails extending axially along the connecting rod are disposed on the base plate. A movable base, with two sliders at its bottom that respectively cooperate with the two slide rails, allowing the movable base to move along the slide rails; and A horizontal drive mechanism, operatively connected to the movable base, drives the movable base to move along the slide rail; The horizontal drive mechanism includes: The first lead screw is arranged on the base plate parallel to one of the two slide rails via two bearing seats; The first nut is fitted onto and engages with the first lead screw, and is fixedly connected to the movable base; The second stepper motor is communicatively connected to the control system and operably connected to the first lead screw. Under the control of the control system, it drives the first lead screw to rotate, so that the first nut moves along the first lead screw, thereby driving the movable base to move along the slide rail.

4. The permanent magnet synchronous motor permanent magnet installation quality detection device according to claim 3, characterized in that, The vertical lifting mechanism includes: Two optical rods are fixedly installed on the movable base with one end of each rod spaced a predetermined distance apart, and the other end of each rod is supported and fixedly connected to the connecting plate. The second lead screw is located between the two optical rods, with one end connected to the bearing mounted on the movable base and the other end passing through the bearing mounted on the connecting plate. A second nut, which is fitted onto and engages with the second lead screw; and A third stepper motor is mounted on the connecting plate and is operatively connected to one end of the second lead screw that passes through the connecting plate.

5. The permanent magnet synchronous motor permanent magnet installation quality detection device according to claim 4, characterized in that, The sensor mounting plate has a base and an extension extending from the base; The base is provided with two optical rod holes and a nut mounting hole located between them. The optical rod holes are for the optical rod to pass through, the second lead screw passes through the nut mounting hole, and the second nut is fixed in the nut mounting hole. The hammer and magnetic sensor are mounted at the end of the extension.

6. A method for detecting the installation quality of permanent magnets in a permanent magnet synchronous motor, comprising using the permanent magnet installation quality detection device for a permanent magnet synchronous motor as described in any one of claims 1 to 5, characterized in that... The method includes: The control system is configured with parameters including: the rotation speed of the internal servo motor of the hammer, the single indexing rotation angle, the rotation speed of the first stepper motor, the predetermined number of rotations required to detect the magnetic force intensity, the axial movement step length of the second stepper motor, the magnetic force intensity deviation threshold, the pressure block tightness threshold, and the displacement deviation threshold. The control system controls the first stepper motor to drive the rotor to perform indexing rotation according to the configured parameters. Each time the first stepper motor rotates by one step angle, the laser sensor performs laser distance testing on the permanent magnet to obtain laser test data. After each single indexing rotation angle, the hammer and acoustic sensor perform excitation acoustic testing on the pressing block of the permanent magnet to obtain acoustic test data. The control system controls the first stepper motor to drive the rotor to rotate continuously a predetermined number of revolutions according to the configured parameters. Simultaneously, the magnetic sensor performs real-time magnetic strength and pole measurements on the permanent magnet to obtain magnetic test data. The control system summarizes the laser test data, acoustic test data, and magnetic force test data to comprehensively evaluate the installation quality of the permanent magnet.

7. The method for detecting the installation quality of permanent magnets in a permanent magnet synchronous motor according to claim 6, characterized in that, The control system controls the first stepper motor to drive the rotor to perform indexing rotation according to the configured parameters, including: S11, the control system causes the first stepper motor to rotate at a configured rotational speed, and simultaneously counts the encoder pulses of the motor. S12, the current rotation angle of the rotor is obtained based on the count of the encoder pulses; S13, determine whether the rotor has completed the configured single-index rotation angle based on the current rotation angle of the rotor. If the determination is no, continue to execute step S11. If the determination is yes, stop the rotor from rotating and execute the excitation acoustic test, and then execute step S14. S14. Determine whether the rotor has rotated one revolution based on the current rotation angle. If yes, end the laser distance test and excitation acoustic test; otherwise, proceed to step S11.

8. The method for detecting the installation quality of permanent magnets in a permanent magnet synchronous motor according to claim 7, characterized in that, The excitation acoustic test includes: S21, the control system controls the internal servo motor of the hammer to rotate according to the configured rotation speed, which drives the hammer head to strike the surface of the permanent magnet pressing block, and the acoustic response signal generated by the strike is collected by the acoustic sensor; S22, preprocess the acoustic response signal and filter out valid frames; S23, Calculate the envelope of the valid frame signal; S24, determine whether the envelope exhibits multi-peak rebound during the attenuation process; if so, determine it as continuous hitting and re-execute step S21; otherwise, execute step S25. S25, Perform a Fourier transform on the effective frame signal of the acoustic response signal to obtain its spectrum; S26, Energy normalize the spectrum within the effective bandwidth to obtain a normalized spectrum; S27, based on the standardized spectrum, is used to extract dynamic characteristic parameters including natural frequency, spectral energy distribution, and dynamic stiffness; S28, the dynamic characteristic parameters are input into the trained CNN model, and the model outputs the compaction tightness evaluation value of the permanent magnet. The acoustic test data includes the compaction tightness evaluation value.

9. The method for detecting the installation quality of permanent magnets in a permanent magnet synchronous motor according to claim 8, characterized in that, While the rotor is rotating, the magnetic sensor performs real-time tests on the magnetic strength and magnetic poles of the permanent magnet, including: S31, the control system causes the first stepper motor to rotate at a configured rotational speed, and simultaneously counts the encoder pulses of the motor; S32, the current rotation angle of the rotor is obtained according to the count of the encoder pulses, and the magnetic intensity and magnetic pole information corresponding to the current rotation angle of the rotor measured by the magnetic sensor are recorded; S33, determine whether the rotor has rotated one revolution based on the current rotation angle. If it is determined that it has not rotated one revolution, continue to execute step S31; otherwise, increment the count of the number of rotor revolutions by one. S34, determine whether the count value of the rotor rotation revolutions has reached the predetermined number of rotation revolutions, and if the determination is no, execute step S35, otherwise end the process; S35, by using the second stepper motor to adjust the axial measuring point position of the rotor according to the configured axial movement step size, and then restarting the execution of step S31.

10. The method for detecting the installation quality of permanent magnets in a permanent magnet synchronous motor according to claim 9, characterized in that, The control system aggregates the laser test data, acoustic test data, and magnetic test data, including: The laser test data is fitted to generate the outer edge side profile curve of the permanent magnet; The magnetic force test data is fitted to generate magnetic intensity distribution spatial surface data; Extract the number and distribution order of magnetic poles from the magnetic test data; and The tightness assessment value of each pressing block of the permanent magnet is obtained from the acoustic test data.

11. The method for detecting the installation quality of permanent magnets in a permanent magnet synchronous motor according to claim 10, characterized in that, The comprehensive evaluation of the permanent magnet installation quality includes: Calculate the maximum displacement deviation of the side profile curve of the outer edge of the permanent magnet and compare it with the displacement deviation threshold. Calculate the maximum deviation between the measured value and the standard value of the magnetic intensity distribution spatial surface, and compare it with the magnetic intensity deviation threshold. Compare the tightness assessment value of each pressure block with the tightness threshold value of the pressure block; Verify that the number and distribution order of the magnetic poles are correct; and The results of the comparison and the results of the verification are output as test results.

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