Motor assembling equipment and motor assembling method

Abstract

The invention provides motor assembling equipment and a motor assembling method. The motor assembling equipment comprises a turnover displacement device, an assembling device and a rotor supporting device, and the turnover displacement device is used for clamping and displacement of a stator; the assembling device comprises a clamping module and an ejector pin module, wherein the clamping module comprises a chuck and a yoke part mounting part which can be close to or far away from each other; the ejector pin module comprises two ejector pins which are oppositely arranged and can be close to or far away from each other, and the two ejector pins are coaxial with the chuck; the rotor supporting device is used for supporting the rotor, is arranged below the assembling area and can move horizontally, and the rotor supporting device can move up and down to achieve adjustment and avoidance. According to the motor assembly equipment and the motor assembly method, high-efficiency and high-precision automatic assembly of the rotor module and the stator can be realized, so that the problems of low manual assembly efficiency, poor safety and unstable assembly quality in the prior art are solved.

Description

Technical Field

[0001] This invention relates to an assembly device, and more particularly to a motor assembly device and a motor assembly method. Background Technology

[0002] See Figures 15-16 An electric motor includes a stator 92 and a rotor module 91. The stator 92 is the motor housing. The rotor module 91 includes a P-end magnetic bearing 911, a rotor 912, and a yoke assembly 913. An annular protrusion is provided at one end of the rotor 912, which serves as a mounting position. The P-end magnetic bearing 911 and the yoke assembly 913 are respectively fitted into the mounting position from both ends of the rotor 912. The yoke assembly 913 is fixed to the P-end magnetic bearing 911 by bolts to form the rotor module 91.

[0003] In the current assembly process of motors, especially in the assembly of medium and large-sized motors, the rotor is mainly hoisted and assembled manually. Manually hoisting the rotor is not only time-consuming and labor-intensive, but also prone to improper operation due to its weight and size, increasing the difficulty and risk of assembly. Therefore, the existing manual assembly method is not only inefficient, but also cannot fully guarantee safety, limiting further improvements in production efficiency.

[0004] Furthermore, the manual assembly process relies on the operator's experience and skill level, making it difficult to achieve standardization and consistency in the context of multi-batch, large-scale production. Therefore, to ensure the quality and performance of the motor, frequent manual adjustments and calibrations are required, increasing the assembly cycle and consequently impacting the product's market competitiveness.

[0005] To address the aforementioned issues, the applicant developed an automatic motor assembly machine that can automatically assemble the rotor module 91 and the stator 92, significantly improving assembly efficiency and accuracy. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a motor assembly equipment and a motor assembly method that can realize efficient and high-precision automatic assembly of rotor modules and stators, thereby overcoming the problems of low efficiency, poor safety and unstable assembly quality of manual assembly in the prior art.

[0007] This invention provides a motor assembly device, comprising: A flipping and repositioning device is used for clamping and repositioning the stator. The flipping and repositioning device can move horizontally along the Y-axis and is used to move the stator from the first station to the assembly area of ​​the second station. An assembly device, located at the second station, includes a clamping module and an ejector pin module. The clamping module includes a chuck and a yoke mounting part that are arranged facing each other and can move horizontally along the X-axis to move closer or further apart. The ejector pin module includes two ejector pins that are arranged facing each other and can move horizontally along the X-axis to move closer or further apart. The two ejector pins are coaxial with the chuck. An assembly area is formed between the chuck and the yoke mounting part. The chuck and the yoke mounting part have holes for the ejector pins to pass through. A rotor support device, used to support the rotor, is located below the assembly area and can move horizontally along the X-axis. The rotor support device can move up and down to achieve adjustment and avoidance. The detection device is located on the movement path of the flipping and positioning device and is used to detect the positional accuracy of the stator. The detection device includes a detection head that can move along the X-axis and can extend into the stator. Multiple detection sensors for detecting distance are evenly distributed around the reference axis on the detection head. The reference axis is parallel to the axis of the ejector pin and is located on the same horizontal plane.

[0008] The flipping and repositioning device in this application integrates clamping and repositioning functions. It can not only fix the stator, but also flip and move the stator horizontally, which facilitates the feeding and precision adjustment of the stator. It can also accurately transport the stator from one station to the next, simplifying the process. The flipping and repositioning function enables it to adapt to different assembly process requirements. For example, it may be necessary to adjust the angle of the stator to facilitate the lead-out of the wire harness or docking with other components, which increases the process adaptability of the equipment. The chuck and two ejector pins of the assembly device are coaxially designed, and axial movement is not interfered with, enabling the assembly of rotor modules and the assembly of the whole machine. The center line of the rotor pushed by the ejector pin, the center line of the chuck, and the center line of the fixed stator are completely aligned. When assembling the rotor module, it can avoid collisions and friction between the yoke components, the P-end magnetic bearing and the rotor. At the same time, during the assembly of the whole machine, it ensures the centering of the rotor module when it is inserted into the stator cavity, fundamentally avoiding the problem of scraping ("steering") between the rotor module and the stator inner wall, greatly improving product quality and yield. As a support carrier for the rotor, the rotor support device can achieve precise support and positioning. Before assembly begins, the rotor support device is located below the assembly area and can be raised to a precise height to support the rotor, ensuring that the center height of the rotor is consistent with the center height of the ejector pin and chuck, providing an initial guarantee for perfect alignment. At the same time, it has a clearance function, which can allow the stator to enter in the early stage of the whole machine assembly. During the whole machine assembly process, it provides clearance space for the rotor module to be completely inserted into the stator. The liftable design solves the contradiction of supporting the initial position without interfering with subsequent movement. It has high flexibility of use and occupies little space.

[0009] This application employs a collaborative working method among various devices, which has the following advantages: Extremely high assembly precision and quality; the three major devices work together to ensure alignment accuracy, reduce or eliminate damage to components during assembly, and guarantee the electromagnetic performance and noise level of the motor.

[0010] With high production efficiency and automation, the entire process, from stator conveying, clamping, rotor support, and centering insertion, is completed automatically without human intervention. It is fast-paced and highly consistent, making it very suitable for mass production.

[0011] The process is highly reliable. The combination of double-pin push-in and rotor support avoidance solves the problem of rotors with large length-to-diameter ratios being prone to bending and tilting during assembly, making the process stable and reliable.

[0012] The equipment's flexibility and adjustability, along with its multi-axis movable design, allow it to adapt to the production of different motor models within a certain size range through program adjustments, reducing the difficulty and cost of model changeover and providing high flexibility in use.

[0013] By reducing reliance on operator skills, high-precision assembly work that heavily depends on experienced workers' expertise and feel is transformed into a standardized process guaranteed by equipment, thus reducing dependence on manual labor and training costs.

[0014] Furthermore, the detection sensor is a laser displacement sensor.

[0015] Furthermore, the detection device is located at the feed end of the assembly area.

[0016] Furthermore, the detection device also includes a detection bracket and at least two horizontal guide rods parallel to the ejector pin and horizontally slidable on the upper end of the detection bracket. The ends of the horizontal guide rods are provided with mounting seats, the detection head is mounted on the ends of the mounting seats, and the detection bracket is provided with a detection cylinder connected to the mounting seats and used to drive its horizontal movement.

[0017] Furthermore, the detection sensors are multiple sets located on different radial surfaces.

[0018] Furthermore, there are four detection sensors located on the same radial plane.

[0019] Furthermore, adjacent sets of detection sensors are staggered.

[0020] Furthermore, the flipping and repositioning device includes a first base, a first slide block horizontally slidable on the first base along the Y-axis, a lifting seat vertically slidable on the first slide block, a first rotating seat rotatably mounted on the lifting seat about the Y-axis, and a second rotating seat rotatably mounted on the first rotating seat. The rotation axis of the second rotating seat is perpendicular to the rotation axis of the first rotating seat, and the second rotating seat is provided with a mounting platform surface for mounting the stator.

[0021] Furthermore, the first slide, the lifting seat, and the first rotating seat are arranged sequentially along the direction in which the flipping and positioning device approaches the second work station.

[0022] Furthermore, the rotation axis of the second rotating seat is perpendicular to and intersects with the rotation axis of the first rotating seat.

[0023] Furthermore, the first rotating seat has a rotation angle of ±90° and can rotate the stator from a vertical state to a horizontal state.

[0024] Furthermore, the first rotating seat includes a rotating seat body rotatably mounted on the lifting seat and a flipping platform fixed to the end of the rotating seat body, and the second rotating seat is rotatably mounted on the flipping platform, with the mounting platform surface at the end of the second rotating seat parallel to the rotation axis of the rotating seat body.

[0025] Furthermore, the driving mechanism for the first slide and the lifting seat is a lead screw and nut assembly, and the driving assembly for the first rotating seat and the second rotating seat is a worm gear assembly.

[0026] Furthermore, the assembly device also includes a second base and a first assembly platform and a second assembly platform that are horizontally slidable on the second base along the X-axis direction and can move closer or further away from each other. The chuck and yoke mounting parts are respectively mounted on the first assembly platform and the second assembly platform and are arranged facing each other.

[0027] Furthermore, it also includes a force detection device for detecting the clamping force between the two pins.

[0028] Furthermore, the second base is provided with a fourth drive mechanism for driving the first assembly platform to slide and a fifth drive mechanism for driving the second assembly platform to slide. The fourth drive mechanism and / or the fifth drive mechanism are lead screw and nut assemblies, and at least one lead screw and nut assembly is provided with a torque sensor.

[0029] Furthermore, the first assembly table is equipped with a gripper motor for driving the grippers on the chuck to clamp and a chuck rotation motor for driving the chuck to rotate to achieve hole position adjustment.

[0030] Furthermore, the first assembly table is provided with a first ejector slide and a first slide drive mechanism for driving the first ejector slide to move horizontally along the X-axis direction. The first ejector slide is provided with a first ejector pin coaxial with the chuck, and the chuck is provided with a hole for the first ejector pin to pass through.

[0031] Furthermore, the second base is also slidably equipped with a second ejector slide and a second slide drive mechanism for driving the second ejector slide to move horizontally along the X-axis. The second ejector slide is provided with a second ejector pin facing the chuck and coaxial with it. The second assembly table and the yoke mounting part are respectively provided with holes for the second ejector slide and the second ejector pin to pass through.

[0032] Furthermore, the first slide drive mechanism is a lead screw and nut assembly.

[0033] Furthermore, the rotor support device is provided with a support block for supporting the rotor, enabling lifting and lowering, and ensuring that the rotor is coaxial with the ejector pin during assembly.

[0034] Furthermore, the rotor support device also includes a second slide block disposed in the assembly area and capable of horizontal movement along the X-axis direction. A first support seat and a second support seat are vertically mounted on the second slide block. A first support block is provided on the top of the first support seat, and a second support block is provided on the top of the second support seat. The first support block and the second support block are provided with slots with open upper ends. The axis of the slots is parallel to the sliding direction of the slide block, and the axes of the two slots are located in the same vertical plane.

[0035] Furthermore, the first support block and / or the second support block can move horizontally along the X-axis and adjust the distance between the two brackets.

[0036] Furthermore, the groove is a V-shaped groove.

[0037] Furthermore, a support plate for mounting a second support block is slidably fitted onto the upper end of the second support base. The sliding direction of the support plate is parallel to the sliding direction of the second slide block. A limiting block is provided on the support plate, and a fixing hole is formed on the limiting block. One or more bolts pass through the fixing hole and connect to the positioning hole on the second support base for fixation. There are multiple positioning holes, which are equidistantly arranged along the sliding direction of the support plate. Furthermore, the yoke mounting part is provided with a mounting groove for positioning and mounting the yoke assembly and a fixing mechanism for fixing the yoke assembly. Both ends of the mounting groove have mounting windows that allow bolts to pass through as a whole.

[0038] Furthermore, the fixing mechanism is a quick-locking or quick-clamping mechanism.

[0039] Furthermore, the yoke mounting part includes a plate, on which a positioning seat is detachably mounted, the mounting groove is disposed on the positioning seat, and the plate and the positioning seat are provided with holes for the pin to pass through.

[0040] Furthermore, the first assembly platform 22 is provided with a hole for accommodating the rotor support device 26 in the avoidance state or for accommodating the rotor support device 26 in the avoidance state to pass horizontally along the X-axis.

[0041] Furthermore, the second base 21 is provided with a first slide rail group, a second slide rail group and a third slide rail group that are parallel to each other. The second slide rail group and the third slide rail group are located inside the first slide rail group. The first assembly platform and the second assembly platform are slidably fitted on the first slide rail group. The rotor support device 26 is slidably fitted on the second slide rail group. The second ejector pin slide 251 is slidably fitted on the third slide rail group.

[0042] In addition, the present invention also provides a motor assembly method, comprising the following steps: S1. Stator loading and position adjustment; S2. Rotor module assembly: S201. Clamp the P-end magnetic bearing onto the chuck, install the yoke assembly onto the yoke mounting part, place the rotor in the slot of the rotor support device and adjust the height to make the rotor coaxial with the P-end magnetic bearing and the yoke assembly. S202, The two ejector pins move toward each other and press against the rotor; S203, the rotor support device moves down and makes way, while the chuck and yoke mounting part move towards each other until the P-end magnetic bearing and yoke assembly move to the rotor mounting position. S204. Rotate the chuck and align it with the hole. S205. The bolt passes through the yoke mounting part and fixes the yoke assembly to the magnetic bearing at the P end. S206. Disconnect the yoke assembly from the yoke mounting part; S207, The yoke mounting part is reset outwards; S208, the two ejector pins and chuck move toward the end away from the yoke mounting part to avoid the rotor support device moving upward and the stator feeding; S209. The rotor support device rises and supports the assembled rotor module. S210, The second ejector pin moves outward and resets, providing space for the stator to be fed; S3. The flipping and positioning device moves horizontally and moves the stator to the inspection station at the feeding end of the assembly area; S4. The detection device is activated, causing the detection head to extend into the stator to detect the positional accuracy of the stator. The flipping and repositioning device adjusts the position of the stator according to the detection results, so that the axis of the stator is coaxial with the reference axis, that is, parallel to the axis of the ejector pin and located on the same horizontal plane. S5. Reset the detection device; S6. Complete machine assembly: S61, The flipping and repositioning device moves the stator into the assembly area and makes the stator coaxial with the ejector pin; S62, the chuck and rotor support device move synchronously towards the second ejector pin, so that the end of the rotor module enters the stator and meets the clamping condition; S63, The second ejector pin moves toward the first ejector pin and presses against the end of the rotor module; S64. The rotor support device is moved downwards to avoid obstruction; S65, the chuck and two ejector pins move synchronously, and the rotor module is moved into the stator until it is in place; S66, the chuck and two ejector pins are reset outwards respectively; S67. Secure the P-end magnetic bearing to the stator with bolts; S68, The flipping and repositioning device resets to its rearward position; S69, motor discharge.

[0043] Furthermore, steps S1 and S2 can be performed simultaneously without any order.

[0044] Furthermore, step S1 includes: S11. Rotate the mounting platform to a vertical or near-vertical position; S12. Hoist the stator to the vicinity of the installation platform surface; S13. Adjust the height and angle of the mounting platform surface so that the mounting holes on the stator are aligned with the fixing holes on the mounting platform surface; S14. Secure the stator to the mounting platform surface with bolts and loosen the lifting device; S15. Adjust the height and angle of the installation platform so that the axis direction and height of the stator are close to the height and direction required during assembly.

[0045] Furthermore, step S14 also includes: S141. Install other accessories on the stator.

[0046] Furthermore, in step S4, the detection device detects at least two different radial surfaces within the stator.

[0047] The motor assembly equipment and method of the present invention have the following advantages: Extremely high assembly precision and quality; the three major devices work together to ensure alignment accuracy, reduce or eliminate damage to components during assembly, and guarantee the electromagnetic performance and noise level of the motor.

[0048] With high production efficiency and automation, the entire process, from stator conveying, clamping, rotor support, and centering insertion, is completed automatically without human intervention. It is fast-paced and highly consistent, making it very suitable for mass production.

[0049] The process is highly reliable. The combination of double-pin push-in and rotor support avoidance solves the problem of rotors with large length-to-diameter ratios being prone to bending and tilting during assembly, making the process stable and reliable.

[0050] The equipment's flexibility and adjustability, along with its multi-axis movable design, allow it to adapt to the production of different motor models within a certain size range through program adjustments, reducing the difficulty and cost of model changeover and providing high flexibility in use.

[0051] By reducing reliance on operator skills, high-precision assembly work that heavily depends on experienced workers' expertise and feel is transformed into a standardized process guaranteed by equipment, thus reducing dependence on manual labor and training costs. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the motor assembly equipment of the present invention in use; Figure 2 This is a schematic diagram of the motor assembly equipment of the present invention; Figure 3 This is a schematic diagram of the flipping and repositioning device of the motor assembly equipment of the present invention; Figure 4 This is a schematic diagram of the assembly device of the motor assembly equipment of the present invention; Figure 5 This is a schematic diagram of the installation of the rotor support device of the motor assembly equipment of the present invention; Figure 6 This is a schematic diagram of the structure of the first assembly table of the motor assembly equipment of the present invention; Figure 7 This is a schematic diagram of the first assembly table of the motor assembly equipment of the present invention from another angle. Figure 8 This is a schematic diagram of the structure of the yoke mounting part of the motor assembly equipment of the present invention; Figure 9 This is a schematic diagram of the rotor support device of the motor assembly equipment of the present invention; Figure 10 This is a schematic diagram of the rotor support device of the motor assembly equipment of the present invention from another angle; Figure 11 This is a cross-sectional view of the rotor support device of the motor assembly equipment of the present invention; Figure 12 This is a schematic diagram of the installation of the limiting block of the rotor support device of the motor assembly equipment of the present invention. Figure 13 for Figure 11 Enlarged view of section A in the middle; Figure 14 This is a schematic diagram of the testing device of the motor assembly equipment of the present invention; Figure 15 This is a schematic diagram of the rotor module assembly. Figure 16 This is an assembly diagram of the entire machine; Figure 17 Simulation of deformation when a 50kg workpiece is clamped; Figure 18 Simulation of deformation when a 100kg workpiece is clamped; Figure 19 Simulation of deformation when a 150kg workpiece is clamped.

[0053] In the diagram: 1. Flipping and positioning device; 11. First base; 12. First slide; 13. Lifting seat; 14. Rotary seat body; 15. Flipping platform; 16. Second rotary seat; 17. Tooling plate; 18. Handwheel; 114. First drive mechanism; 123. Second drive mechanism; 2. Assembly device; 2a. Assembly area; 21. Second base; 22. First assembly table; 222. Chuck; 2221. Gripper motor; 2222. Chuck rotation motor; 223. Fourth drive mechanism; 23. Second assembly table; 232. Yoke mounting part; 2321. Mounting window; 2322. Positioning seat; 233. Fifth drive mechanism; 2231. Torque sensor; 241. First ejector pin slide; 242. First ejector pin; 243. First slide drive mechanism; 251. Second ejector pin slide. 252. Second ejector pin; 253. Second slide drive mechanism; 26. Rotor support device; 261. Third base; 2611. Rack; 262. Second slide; 2621. Sixth drive mechanism; 263. First support seat; 2631. Seventh drive mechanism; 264. First support block; 265. Second support seat; 2650. Positioning hole; 2651. Eighth drive mechanism; 266. Second support block; 267. Limiting block; 2670. Fixing hole; 268. Support plate; 27. Detection device; 271. Mounting seat; 2711. Detection head; 272. Detection cylinder; 273. Detection sensor; 91. Rotor module; 911. P-end magnetic bearing; 912. Rotor; 913. Yoke assembly; 92. Stator; OP10. First station; OP20. Second station. Detailed Implementation

[0054] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0055] See Figures 1-16 The present invention provides a motor assembly equipment for assembling a rotor module 91 and automatically assembling a complete motor (including a rotor module 91 and a stator 92), wherein the stator 92 is the motor housing.

[0056] It mainly includes a flipping and repositioning device 1, an assembly device 2, and a rotor support device 26.

[0057] The flipping and repositioning device 1 is used for loading, clamping and repositioning the stator 92. The flipping and repositioning device 1 can move horizontally along the Y-axis direction to move the stator 92 from the first station OP10 to the assembly area 2a of the second station OP20. The first station OP10 serves as the loading and adjustment station for the stator 92, and is also used to install other accessories on the stator 92.

[0058] Assembly device 2 is located at the second station OP20, which is mainly used for assembly processes. Assembly device 2 includes a clamping module and an ejector module. The clamping module includes a chuck 222 and a yoke mounting part 232 that are arranged facing each other and can move horizontally along the X-axis to move closer or further away from each other. The ejector module includes two ejector pins that are arranged facing each other and can move horizontally along the X-axis to move closer or further away from each other. The two ejector pins are coaxially arranged with the chuck 222, forming an assembly area 2a between the chuck 222 and the yoke mounting part 232. The entire assembly process is carried out in the assembly area 2a. Holes for the ejector pins to pass through are provided on the chuck 222 and the yoke mounting part 232, so that the movement of the chuck 222, the yoke mounting part 232 and the ejector pins will not interfere with each other during the entire assembly process.

[0059] The rotor support device 26 is used to support the rotor 912 and the rotor module 91. The rotor support device 26 is located below the assembly area 2a. It can move horizontally along the X-axis and can move up and down, thereby realizing the height adjustment of the rotor 912 or the rotor module 91 to meet the assembly requirements. At the same time, it can avoid interference or collision with other components during the assembly process.

[0060] The flipping and repositioning device 1 in this application integrates clamping and repositioning functions. It not only fixes the stator but also flips and moves the stator horizontally, facilitating stator loading and precision adjustment. It can also accurately transport the stator from one station to the next, simplifying the process. The flipping and repositioning function allows it to adapt to different assembly process requirements; for example, it may require adjusting the stator angle to facilitate wire harness lead-out or installation with other components, increasing the equipment's process adaptability. The chuck and two ejector pins of the assembly device are coaxially designed, and axial movement is uninterrupted, enabling the assembly of the rotor module and the entire machine. The ejector pins push the centerline of the rotor, the centerline of the chuck, and the centerline of the fixed stator to coincide, preventing collisions and friction between the yoke components, the P-end magnetic bearing, and the rotor during rotor module assembly. Simultaneously, in the overall machine... During assembly, the centering of the rotor module is ensured when it is inserted into the stator cavity, fundamentally avoiding the problem of scraping (rubbing) between the rotor module and the stator inner wall, greatly improving product quality and yield. As a support carrier for the rotor, the rotor support device can achieve precise support and positioning. Before assembly begins, the rotor support device is located below the assembly area and can be raised to a precise height to support the rotor, ensuring that the center height of the rotor is consistent with the center height of the ejector pin and chuck, providing an initial guarantee for perfect centering. At the same time, it has a clearance function, which can clear the way for the stator to enter in the early stage of the whole machine assembly. During the whole machine assembly process, it provides clearance space for the rotor module to be completely inserted into the stator. The height-adjustable design solves the contradiction of supporting the initial position without interfering with subsequent movement. It has high flexibility of use and occupies little space.

[0061] This application employs the coordinated operation of various devices, which has the following advantages: Extremely high assembly precision and quality; the three major devices work together to ensure alignment accuracy, reduce or eliminate damage to components during assembly, and guarantee the electromagnetic performance and noise level of the motor.

[0062] With high production efficiency and automation, the entire process, from stator conveying, clamping, rotor support, and centering insertion, is completed automatically without human intervention. It is fast-paced and highly consistent, making it very suitable for mass production.

[0063] The process is highly reliable. The combination of double-pin push-in and rotor support avoidance solves the problem of rotors with large length-to-diameter ratios being prone to bending and tilting during assembly, making the process stable and reliable.

[0064] The equipment's flexibility and adjustability, along with its multi-axis movable design, allow it to adapt to the production of different motor models within a certain size range through program adjustments, reducing the difficulty and cost of model changeover and providing high flexibility in use.

[0065] By reducing reliance on operator skills, high-precision assembly work that heavily depends on experienced workers' expertise and feel is transformed into a standardized process guaranteed by equipment, thus reducing dependence on manual labor and training costs.

[0066] To further improve assembly accuracy, this application also includes a detection device 27 located on the movement path of the flipping and positioning device 1. This detection device 27 is used to detect the positional accuracy of the stator 92. The detection device 27 includes a detection head 2711, which can move along the X-axis and extend into the shaft hole of the stator 92. Multiple detection sensors 273 are evenly distributed around the detection head 2711 around a reference axis. These sensors 273 are used to detect distance, and thus to detect the coaxiality between the stator 92 and the reference axis. The reference axis is a predefined virtual axis parallel to the axis of the ejector pin and located on the same horizontal plane as the axis of the ejector pin. Even a slight positional deviation or tilt of the stator during clamping will significantly reduce the final assembly accuracy. This deviation may originate from errors in the stator blank itself, positioning errors in the flipping and repositioning device 1, or clamping errors in the clamping module. In this application, the detection device is located on the flipping and repositioning path and performs in-situ measurements on the stator before it enters the final assembly station. It directly detects the coaxiality of the stator's inner hole with the ideal reference shaft, rather than assuming that the clamping position is absolutely correct. It can promptly detect and quantify the stator's clamping error, providing a data basis for subsequent compensation and ensuring that only stators with qualified positions will proceed to the next assembly step, thus eliminating batch defects caused by errors in the preceding process.

[0067] Meanwhile, this application employs a detection sensor, i.e., a non-contact measurement method, which will not cause any scratches or damage to the inner wall of the stator, thus ensuring product quality. Multiple sensors are evenly distributed circumferentially on the detection head, which can simultaneously collect data from multiple points on the circumference of the inner hole. This not only calculates the coaxiality but also assesses whether the roundness and diameter of the hole meet the requirements. This is a multi-dimensional and comprehensive quality inspection. The reference axis is defined as parallel and coplanar with the ejector pin axis, which means that the detection benchmark and the assembly benchmark are a unified, virtual, ideal axis. The measurement results directly reflect the fit between the inner hole of the stator and the future rotor motion trajectory, and the data is of great guiding significance.

[0068] Preferably, the detection device 27 is located at the feeding end of the assembly area 2a. Its layout is compact and saves space. There is no need to set up a separate workstation with additional mechanisms for the detection process. The detection device 27 directly uses the moving path of the flipping and positioning device 1 as the conveyor line. Only the detection head and its driving mechanism need to be installed on the side of the path. This makes the layout of the whole equipment very compact and highly integrated, reducing the equipment footprint and overall complexity.

[0069] In this embodiment, the detection sensor 273 is a laser displacement sensor. The laser displacement sensor has measurement accuracy and resolution at the micron or even sub-micron level, which is crucial for the precision assembly of the stator and rotor. The laser sensor can accurately capture minute deviations and provide extremely accurate feedback data to the system, which is the basis for achieving ultra-high precision assembly. At the same time, the laser measurement is performed at the speed of light, and the sensor has a very high response frequency, capable of performing tens of thousands or even millions of measurements per second. This allows the detection head to collect a massive amount of data points in a very short time during the process of extending into the inner hole of the stator 92 and moving to scan, thus achieving a balance between detection efficiency and production efficiency.

[0070] Specifically, the detection device 27 also includes a detection bracket and horizontal guide rods parallel to the ejector pin and horizontally slidable on the upper end of the detection bracket. There are at least two horizontal guide rods, and the ends of the horizontal guide rods are provided with mounting seats 271. The detection head 2711 is installed at the end of the mounting seat 271. The detection bracket is provided with a detection cylinder 272 connected to the mounting seat 271 and used to drive its horizontal movement. At least two horizontal guide rods parallel to the ejector pin axis form a high-rigidity kinematic pair. The multi-guide rod design can effectively resist the bending moment and torque generated by the self-weight or inertia of the detection head and its mounting seat during the extension process, preventing its front end from drooping or swinging. The constraint of the guide rods ensures that the mounting seat can only move horizontally along the strict X-axis, eliminating slight deflection and pitch, which is crucial for the detection head. It can ensure that the relative position and angle of multiple laser sensors remain unchanged during the process of extending into the inner hole of the stator 92, ensuring measurement accuracy.

[0071] In this application, the detection sensors 273 are multiple sets located on different radial surfaces (with the direction of movement of the detection head as the axis). They can detect geometric parameters such as coaxiality and roundness at multiple positions along the axial direction (X-axis) of the inner hole of the stator 92. The multiple sets of sensors arranged along different radial surfaces are equivalent to establishing multiple measuring stations in the inner hole of the stator 92. When the detection head 2711 extends into the hole, it can simultaneously acquire data from multiple continuous cross-sections inside the hole. It can comprehensively evaluate the spatial geometry of the entire inner hole cavity, ensuring that it is a perfect straight line from the entrance to the depth, and not just aligned at the entrance. This method improves detection efficiency. In this embodiment, four detection sensors 273 are located on the same radial plane, and the detection sensors 273 in adjacent groups are staggered. Theoretically, at least three points are needed to determine the position of a circle's center. Using four sensors (evenly distributed at 90°) represents the optimal balance between accuracy and reliability. Data from these four points allows for the precise fitting of the actual center coordinates of the cross-section using algorithms such as the least squares method. The calculation results are far more stable and accurate than those from three points. Furthermore, four points can efficiently evaluate the roundness and diameter of a hole; if only two or three points are available... The sensor cannot effectively determine whether the hole is perfectly round or elliptical (or other irregular shapes); however, if one sensor experiences data anomalies due to contamination or a brief malfunction, the system can still calculate a valid result using data from the other three sensors, ensuring the robustness and continuity of the detection process and preventing downtime due to a single point of failure; furthermore, the staggered arrangement design enables full-circumferential scanning of the stator's inner hole without blind spots, capturing all defects; if all sensors on the radial surfaces are aligned (co-located), then all measuring points will be concentrated on the four generatrices of the inner wall, meaning that the generatrices... The area between the points was completely unmeasured, resulting in a huge detection blind zone. Dents, scratches, and protrusions on the inner wall would be missed if they were not on these generatrices. By using staggered settings (e.g., if the installation angles of one group of sensors are 0°, 90°, 180°, and 270°, then the installation angles of adjacent groups of sensors would become 45°, 135°, 225°, and 315°), it is equivalent to scanning in the circumferential direction while moving axially. This allows the detection points to cover the entire inner hole surface, forming a dense measurement point cloud, achieving full surface scanning and eliminating blind zones.

[0072] The structure of each device is described in detail below: The flipping and repositioning device 1 includes a first base 11, a first slide 12, a lifting seat 13, a first rotating seat, and a second rotating seat 16.

[0073] The first base 11 serves as the installation carrier, placed on the ground to provide a stable support foundation, and is fixedly connected to the ground by anchor bolts to ensure the stability and safety of the equipment during operation.

[0074] The first slide block 12 is horizontally slidably mounted on the first base 11 along the Y-axis (i.e., perpendicular to the X-axis direction), and is connected to the first drive mechanism 114. In this embodiment, the first drive mechanism 114 is mounted on the first base 11 and is used to drive the first slide block 12 to move horizontally between the first station OP10 and the second station OP20.

[0075] The lifting seat 13 is vertically slidably mounted on the first slide 12 and is connected to the second drive mechanism 123. In this embodiment, the second drive mechanism 123 is mounted on the first slide 12 and is used to drive the lifting seat 13 to move up and down in the vertical direction (i.e., the Z-axis) to achieve lifting.

[0076] The first rotating seat is rotatably mounted on the lifting seat 13, and the rotation axis of the first rotating seat is parallel to the sliding direction of the first slide 12, that is, it rotates around the Y-axis. It is connected to the first rotating drive mechanism. In this embodiment, the first rotating drive mechanism is mounted on the lifting seat 13 and is used to drive the first rotating seat to rotate around its rotation axis (Y-axis).

[0077] The second rotating seat 16 is rotatably mounted on the first rotating seat, and the rotation axis of the second rotating seat 16 is perpendicular to the rotation axis of the first rotating seat. Preferably, the rotation axis of the second rotating seat 16 is perpendicular to and intersects the rotation axis of the first rotating seat. A mounting platform surface is formed at the end of the second rotating seat 16 for mounting the stator (i.e., motor housing) to be assembled. The second rotating seat 16 is connected to the second rotary drive mechanism. In this embodiment, the second rotary drive mechanism is mounted on the first rotating seat and is used to drive the second rotating seat 16 to rotate around its rotation axis.

[0078] In this application, the installation platform has a degree of freedom in vertical lifting and two rotational directions, which enables the stator to achieve almost any desired posture in space, realizing rapid installation and precise positioning of the stator; The vertical lifting mechanism allows for precise adjustment of the stator 92's height, perfectly adapting to the working habits of operators of different heights, reducing labor intensity, and seamlessly integrating with subsequent assembly processes, significantly improving assembly efficiency and precision. The dual-rotation-axis design enables flipping and repositioning. The rotation of the first rotating seat easily changes the motor from a vertical to a horizontal position or allows for turning, facilitating the quick and effortless installation of the hoisted stator onto the mounting platform. The second rotating seat 16 allows for precise angle adjustments, facilitating work on the motor housing and ensuring precision for subsequent assembly. Simultaneously, the first slide 12 enables horizontal sliding along the Y-axis, allowing it to move between the first station OP10 and the second station OP20. The first station OP10 serves as the loading, installation, and alignment station for the stator 92, and can also be used for installing other accessories besides the rotor. The second station OP20 serves as the assembly station for the entire motor, enabling switching between the two stations for streamlined production line operations.

[0079] In this application, the first slide 12, the lifting seat 13, and the first rotating seat are arranged sequentially along the sliding direction of the first slide 12. For ease of explanation, the first station OP10 is taken as the front end and the second station OP20 as the rear end. The lifting seat 13 is located at the rear end of the first slide 12, and the first rotating seat is installed at the rear end of the lifting seat 13. When it moves to the second station OP20, the second rotating seat 16 and part of the first rotating seat can be located in the assembly area 2a of the second station OP20, avoiding interference with the assembly device 2 at the rear end, thereby ensuring the stability and safety of the assembly process.

[0080] In this embodiment, when the second rotating seat 16 is in a horizontal state, the first rotating seat, the lifting seat 13 and the first sliding seat 12 form a symmetrical structure, and the rotation axes of the first rotating seat and the second rotating seat 16 are located on their symmetrical plane.

[0081] In this embodiment, a tooling plate 17 for mounting the motor housing is detachably mounted on the mounting platform. The tooling plate 17 serves as the mounting carrier for the stator. It has a detachable structure and can be replaced with different types of tooling plates 17 to adapt to the installation requirements of different stator models, thereby improving the versatility and flexibility of the equipment.

[0082] In this application, the first drive mechanism 114 and the second drive mechanism 123 are both lead screw and nut assemblies. The lead screw and nut assembly includes a lead screw and a nut that mesh with each other. At the same time, the lead screw is connected to a motor and serves as the power end to drive the lead screw to rotate, thereby achieving relative sliding between the lead screw and the nut. The motor in this application is a servo motor, which can achieve precise displacement control of the first slide 12 and the lifting seat 13, ensuring the movement accuracy of the first slide 12 in the horizontal direction and the lifting seat 13 in the vertical direction, and providing a strong guarantee for the rapid and precise assembly of the motor.

[0083] Furthermore, the first and second rotary drive mechanisms are worm gear assemblies, which include a meshing worm wheel and a worm. The worm is connected to a power end for rotation, which is a servo motor for precise control. In this application, to improve work efficiency, the end of the worm on the second rotary drive mechanism is connected to a handwheel 18 for manual adjustment. The worm gear design creates a large reduction ratio, allowing a servo motor with a small torque and high speed to output extremely high torque and extremely low speed motion. This is ideal for positioners that require low-speed, smooth, and high-torque rotation and flipping, easily driving the heavy motor housing to rotate smoothly without jerking. Simultaneously, the worm gear assembly also has a self-locking function, maintaining its current position when power is off or drive stops, preventing accidental displacement due to gravity or other external forces, thus improving the safety and reliability of equipment operation.

[0084] The first rotating seat has a rotation angle of ±90°, which can rotate the motor housing from a vertical state to a horizontal state. In this application, the horizontal state is taken as 0° and ±90°, that is, it can rotate 90 degrees to both sides and can switch between vertical and horizontal states. In the vertical state, the motor housing can be hoisted, loaded and fixed, which greatly improves the assembly efficiency and ease of operation.

[0085] The first rotating seat in this application includes a rotating seat body 14 rotatably mounted on a lifting seat 13 and a flipping platform 15 fixed to the end of the rotating seat body 14. The flipping platform 15 and the rotating seat body 14 form an L-shaped structure. The second rotating seat 16 is rotatably mounted on the flipping platform 15. The mounting platform surface at the end of the second rotating seat 16 is parallel to the rotation axis of the rotating seat body 14. After the motor housing (i.e., the stator) is installed, the overall center of gravity is brought close to the rotation axis of the rotating seat body 14, thereby improving the stability and rotation accuracy of the structure. At the same time, during the rotation process, whether it is the first rotating seat or the second rotating seat 16, the rotation axis is brought close to the center of gravity of the motor housing, providing an unobstructed working space for the rotation of the motor housing and avoiding interference or collision during the rotation process.

[0086] To enhance operational safety, a safety fence is installed outside the flipping and repositioning device 1. The safety fence is equipped with sliding doors, including an entrance and exit door for personnel and an electrically controlled partition door between the first workstation OP10 and the second workstation OP20. This is to improve operational safety and prevent unauthorized personnel from entering during the assembly process and causing safety hazards.

[0087] The flipping and repositioning device in this application integrates all actions into one unit, saving a significant amount of non-value-added time and reducing repetitive hoisting and handling. After the stator is installed on the mounting platform, all-directional operations can be completed through the movement of the equipment, avoiding accuracy errors and product surface scratches caused by multiple re-clamping, and achieving multi-faceted operation with a single clamping. Furthermore, the machine-driven flipping and movement are smooth and precise, avoiding component damage or assembly defects that may be caused by fatigue or uneven force during manual operation, thus improving the consistency of assembly quality. This invention's motor assembly flipping and repositioning machine frees manpower from heavy, repetitive, and risky handling and posture adjustment work. Through precise control of mechatronics, it achieves precision, efficiency, and programmability in the motor assembly process, improving production efficiency and product quality, as well as the working environment, operational safety, and automation level. It is suitable for the flexible assembly needs of various motor models and offers high flexibility in use.

[0088] Assembly device 2 also includes a second base 21, on which a first assembly platform 22 and a second assembly platform 23 are horizontally slidably mounted along the X-axis (i.e., perpendicular to the Y-axis). The first assembly platform 22 and the second assembly platform 23 can move closer to or further away from each other. A chuck 222 and a yoke mounting part 232 are respectively mounted on the first assembly platform 22 and the second assembly platform 23, and are arranged facing each other. Specifically, the chuck 222 is a three-jaw chuck, which is mounted on the first assembly platform 22, and the yoke mounting part 232 is mounted on the second assembly platform 23. 3. In this embodiment, the axis of the chuck 222 is parallel to the X-axis and is used to clamp the P-end magnetic bearing 911. The yoke mounting part 232 is used to mount the yoke assembly 913. The first assembly platform 22 and the second assembly platform 23 serve as mounting carriers for mounting the chuck 222 and the yoke mounting part 232, providing horizontal power to achieve horizontal movement in opposite or opposite directions, while also being able to withstand the gravity of the rotor 912 or the rotor module 91. In this embodiment, the first assembly platform 22 also serves as a mounting carrier for one of the ejector pins, improving the structural compactness.

[0089] This application also includes a force detection device for detecting the clamping force between the two ejector pins. Specifically, a fourth drive mechanism 223 and a fifth drive mechanism 233 are provided on the second base 21. The fourth drive mechanism 223 is used to drive the first assembly platform 22 to move horizontally in the X-axis direction, and the fifth drive mechanism 233 is used to drive the second assembly platform 23 to move horizontally in the X-axis direction, thereby controlling the different positions and distances of the first assembly platform 22 and the second assembly platform 23 in the X-axis direction. In this application, the fourth drive mechanism 223 and / or the fifth drive mechanism 233 are screw and nut assemblies, and at least one screw and nut assembly is provided with a torque sensor 2231 for detecting the force between the first assembly platform 22 and the second assembly platform 23 when clamping. In this application, one ejector pin is set on the first assembly platform 22, so it is mainly used to detect and control the force of the two ejector pins when clamping the rotor, so as to avoid the clamping force between the ejector pins being too large or too small.

[0090] The first assembly table 22 is equipped with a gripper motor 2221 and a chuck rotation motor 2222. The gripper motor 2221 is used to drive the gripper on the chuck 222 to open or close, and the chuck rotation motor 2222 is used to drive the chuck 222 to rotate. This allows for the alignment of the holes (P-end magnetic bearing 911 and stator 92 end) during assembly, facilitating the fixing with bolts.

[0091] In this embodiment, a first ejector pin slide 241 and a first slide drive mechanism 243 for driving the first ejector pin slide 241 to move horizontally along the X-axis are provided on the first assembly platform 22. The first ejector pin slide 241 is provided with a first ejector pin 242 coaxial with the chuck 222. At the same time, a hole for the first ejector pin 242 to pass through is opened on the chuck 222. The first slide drive mechanism 243 is a lead screw and nut assembly. A second ejector pin slide 251 and a second slide drive mechanism for driving the second ejector pin slide 251 to move horizontally along the X-axis are also slidably mounted on the second base 21. The driving mechanism 253 has a second ejector pin 252 on the second ejector pin slide 251. The second ejector pin 252 faces the chuck 222 and is coaxial with the chuck 222 (or the first ejector pin 242). The second assembly table 23 and the yoke mounting part 232 are respectively provided with holes for the second ejector pin slide 251 and the second ejector pin 252 to pass through, so that the yoke mounting part 232 (or the second assembly table 23) and the second ejector pin 252 (or the second ejector pin slide 251) can move independently and avoid interference. In this embodiment, the first slide drive mechanism 243 is a lead screw and nut assembly.

[0092] The first assembly table 22 is provided with a rotor support device 26 in a clearance state or a hole through which the rotor support device 26 in a clearance state passes horizontally along the X-axis. The clearance state refers to the rotor support device 26 being in a lowered position.

[0093] In this application, a first slide rail group, a second slide rail group, and a third slide rail group are provided on the second base 21. Each slide rail group includes two slide rails or guide rails that are parallel to each other. The second slide rail group and the third slide rail group are located inside the first slide rail group. The first assembly platform 22 and the second assembly platform 23 are slidably fitted on the first slide rail group. The second slide rail group is located at one end near the first assembly platform 22. The rotor support device 26 is slidably fitted on the second slide rail group. The third slide rail group is located at one end near the second assembly platform 23. The second ejector pin slide 251 is slidably fitted on the third slide rail group.

[0094] The first assembly platform 22 includes two first side plates. In this embodiment, the two first side plates are parallel to each other and perpendicular to the horizontal plane. An upper base plate and a lower base plate are respectively provided at the upper and lower ends of the two first side plates. A plurality of first sliders are provided at the lower end of the lower base plate and slide on the first slide rail assembly through the first sliders. The upper base plate serves as the mounting carrier, and the chuck 222 and the first ejector pin slide 241 are mounted on the upper base plate. A hole structure is formed between the upper base plate, the lower base plate, and the two first side plates. The opening direction of the hole structure is parallel to the sliding direction of the first assembly platform 22, which is used to accommodate the rotor support device 26 in the avoidance state or to allow the rotor support device 26 in the avoidance state to pass horizontally along the X-axis. This can ensure that there is no interference in the assembly process. Specifically, it can increase the distance that the first assembly platform 22 can move inward and the distance that the rotor support device 26 can move outward, avoiding the interference of the rotor support device 26 with the chuck 222 and the first ejector pin 242. This ensures smooth assembly while improving the compactness and complexity of the structure.

[0095] The second assembly platform 23 includes two second side plates. In this embodiment, the two second side plates are parallel to each other and perpendicular to the horizontal plane. The lower ends of the two side plates are provided with a plurality of second sliders, which slide onto the first slide rail assembly. A plate body is fixedly connected to the upper ends of the two second side plates. The yoke mounting part 232 (positioning seat 2322) is set on the plate body. The plate body is perpendicular to the sliding direction of the second assembly platform 23. A hole is opened on the plate body to allow the second ejector slide 251 (including the second ejector 252 at its upper end) to pass horizontally through. This can ensure that there is no interference in the assembly process. Specifically, it can increase the distance that the second assembly platform 23 can move inward and the distance that the second ejector slide 251 can move outward, thus avoiding interference between the second ejector slide 251 and the second assembly platform 23. This ensures smooth assembly while improving the compactness and complexity of the structure. The second assembly platform 23 in this application is mainly used for the assembly of the yoke assembly and bears relatively small forces.

[0096] The second ejector slide 251 is slidably mounted on the third slide rail assembly. The width of the second ejector slide 251 is smaller than the width of the second assembly platform 23. It can pass through the second assembly platform 23 as a whole in the horizontal direction of the X-axis. The second ejector 252 is fixed at the upper end of the second ejector slide 251. The second ejector 252 can pass through the yoke mounting part on the second assembly platform 23. When moving horizontally in the X-axis direction, the second ejector slide 251 and the second assembly platform 23 do not interfere with each other.

[0097] The first ejector pin 242 and the second ejector pin 252 in this application are made of 60Si2Mn (spring steel).

[0098] The rotor support device 26 includes a third base 261, a second slide 262, a first support 263, a second support 265, a sixth drive mechanism 2621, a seventh drive mechanism 2631, and an eighth drive mechanism 2651.

[0099] The third base 261 serves as a mounting carrier for mounting the second slide 262. The third base 261 is installed within the assembly area 2a, providing a mounting carrier for the second slide 262 and space for lifting. The third base 261 is positioned above the lower base plate of the first assembly platform 22 and fixed to the second base 21, without affecting the horizontal movement of the first assembly platform 22. The second slide 262 slides horizontally along the X-axis onto the third base 261. A support assembly is installed on the second slide 262, comprising a first support base 263 and a second support base 265. The line connecting the first support base 263 and the second support base 265 is parallel to the second slide 262. The sliding direction of 2 is set along the X-axis. Specifically, the first support 263 and the second support 265 are vertically slidably mounted on the second slide block 262 via guide rods, thereby enabling them to lift independently. A first support block 264 is provided on the top of the first support 263, and a second support block 266 is provided on the top of the second support 265. The first support block 264 and the second support block 266 are provided with slots with open upper ends for lifting the rotor. In this application, the axis of the slot is parallel to the X-axis, and the axes of the two slots are located in the same vertical plane to ensure the axial direction of the rotor. A lifting space is formed between the two slots for lifting the rotor.

[0100] The sixth drive mechanism 2621 is connected to the second slide 262 and is used to drive the second slide 262 to move horizontally; the seventh drive mechanism 2631 is connected to the first support 263 and is used to drive the first support 263 to rise and fall; the eighth drive mechanism 2651 is connected to the second support 265 and is used to drive the second support 265 to rise and fall.

[0101] This application features a first support 263 and a second support 265 capable of independent lifting and lowering, allowing for individual height adjustment of the two support blocks to adapt to the assembly requirements of rotors of different specifications and types, offering high flexibility. Simultaneously, the entire block can be lowered, creating clearance space above and preventing interference during rotor module and overall machine assembly, thus improving assembly efficiency and safety, and reducing the overall space occupied by the equipment. The groove design on the support blocks effectively wraps around and confines the rotor journal, preventing it from rolling or slipping, providing stable radial support. The two groove axes being located in the same vertical plane ensures the coaxiality of the support, avoiding additional stress caused by support misalignment. The second slide adopts a horizontal sliding structure, enabling horizontal sliding and axial movement of the rotor, facilitating collaborative operation with other workstations on the assembly line and achieving continuous and automated assembly.

[0102] The rotor support device in this application achieves precise, flexible, and automated adjustment of the rotor position through horizontal movement and independent lifting in two vertical directions. It perfectly solves the problems of supporting, centering, leveling, and axial movement of different rotor models, and provides a reliable guarantee for the efficient and coordinated operation of the rotor in the overall assembly process.

[0103] In this application, guide rod assemblies are provided on the side walls or lower ends of the first support base 263 and the second support base 265. The guide rod assemblies are vertically slidably mounted on the second slide block 262, thereby enabling the lifting and lowering of the first support base 263 and the second support base 265. The guide rod assemblies consist of multiple guide rods, which are symmetrically arranged on both sides of the first support base 263 or the second support base 265 to achieve stable support and lifting and lowering of the first support base 263 and the second support base 265. A certain height space is provided at the lower end of the second slide block 262 to provide space for the guide rods to move downward. When the first support base 263 and the second support base 265 are lowered to a low position, they are in a avoidance state. At this time, when the rotor support device 26 and the first assembly platform 22 move closer to each other (such as the rotor support device 26 moving inward and / or the first assembly platform 22 moving outward), the rotor support device 26 can move or pass through the hole of the first assembly platform 22 without affecting the movement path of the first assembly platform 22.

[0104] The slot in this application is a V-groove. When the cylindrical rotor journal is placed into the V-groove, under the action of gravity, the journal will naturally slide towards the bottom of the included angle of the V-groove and eventually stabilize on the center line. This greatly simplifies the operation process, quickly achieves the initial alignment of the rotor, lays a good foundation for subsequent precision leveling, and improves work efficiency. It can greatly improve the versatility of the device. Different models of motors may have different rotor journal diameters, and the V-groove, through its inclined sidewalls, can well adapt to shaft diameters that are too large or too small within a certain range, reducing equipment costs and tooling change time, and has strong dimensional adaptability. At the same time, the two inclined sides of the V-groove form a natural confining space, which can effectively prevent the rotor from axially rolling or laterally sliding under the support state, providing a stable and safe foundation for subsequent assembly operations and preventing accidents.

[0105] To reduce friction between the rotor and the mounting bracket, two sets of support rollers are provided on both sides of the mounting bracket. The rotation axis of the support rollers is parallel to the axis of the mounting bracket, and a support space is formed between the support rollers. When the rotor needs to be moved radially, the traditional V-groove and rotor journal experience sliding friction, which results in high resistance and may cause crawling. However, in this application, the design of the support rollers changes the contact between the rotor journal and the support point to rolling friction. In the final step of assembly, when it is necessary to align the mounting holes at the end of the rotor module with the mounting holes at the end of the motor housing, the rolling action of the support rollers can easily achieve a small rotation of the rotor module. This is convenient and labor-saving, and can effectively avoid damage to the rotor surface caused by sliding friction, thus improving assembly quality and efficiency. The support rollers not only reduce the labor intensity of operators, but also reduce equipment wear caused by excessive friction, ensure assembly accuracy, and extend the service life of the device.

[0106] In order to adapt to the assembly of motors of different specifications, in this application, the first support block 264 or the second support block 266 can be horizontally slidable, thereby adjusting the distance between the two brackets. The rotor lengths of motors of different specifications are different, and the span (distance between support points) of the bearing positions at both ends of the rotor varies greatly. By adopting an adjustable support structure, the distance between the two support points can be adjusted by sliding the support block. There is no need to replace the entire support structure or prepare multiple sets of special equipment, which realizes multi-purpose use, good versatility and high flexibility.

[0107] In this embodiment, the second support block 266 adopts a sliding structure. Specifically, a support plate 268 is slidably mounted on the upper end of the second support base 265. The second support block 266 is fixedly installed on the support plate 268. The sliding direction of the support plate 268 is parallel to the sliding direction of the second slide block 262. A limiting block 267 is provided on the support plate 268, and a fixing hole 2670 is provided on the limiting block 267. One or more bolts pass through the fixing hole 2670 and connect with the positioning hole 2650 on the second support base 265, thereby fixing the support plate 268. Multiple positioning holes 2650 are provided, equidistantly arranged along the sliding direction of the support plate 268. When adjustment is required, the bolts on the limiting block 267 are loosened, the position of the support plate is adjusted along the sliding direction, and then the bolts are tightened to fix it when the desired position is reached. By setting multiple fixing holes, the support plate can be accurately positioned at different positions, thereby adapting to the assembly requirements of rotors of different lengths. It can achieve fast, reliable, and wide-range position adjustment. Although it is not fully automated, it perfectly solves the need to adjust the support distance through an extremely ingenious and simple mechanical structure.

[0108] Specifically, the limiting block 267 is set on the top surface of the second support 265, and the upper end of the limiting block 267 is provided with a limiting groove, which can accommodate the partial embedding of the tray 268, thereby achieving precise positioning of the tray 268; its structure is compact, its manufacturing cost is low, and its assembly is convenient.

[0109] In this application, the sixth drive mechanism 2621 includes a rack 2611 mounted on the third base 261 and a first drive motor mounted on the second slide 262. The length direction of the rack 2611 is parallel to the sliding direction of the second slide 262. A drive gear is provided at the output end of the first drive motor. The drive gear meshes with the rack 2611. The first drive motor drives the drive gear to rotate, and the drive gear meshes with the rack 2611, thereby driving the second slide 262 to move along the length direction of the rack 2611. For the assembly of the rotor yoke assembly 913, high precision is not required in the axial direction. The gear and rack transmission method can meet the needs of rapid adjustment, thereby reducing the overall manufacturing cost.

[0110] In this application, both the seventh drive mechanism 2631 and the eighth drive mechanism 2651 adopt a screw and nut structure. Specifically, it includes a second drive motor, a synchronous pulley, and a screw. The synchronous pulley is rotatably mounted on the second slide 262, and its rotation axis is perpendicular to the horizontal plane. A nut is provided inside the synchronous pulley. The screw is vertically fixed to the lower end of the first support 263 or the second support 265. The screw is sleeved in the nut and meshes with the nut (or is threadedly connected). By rotating the nut, the relative movement of the two on the axis can be realized. The second drive motor is connected to the synchronous pulley through a synchronous belt. Specifically, a synchronous pulley is provided at the output end of the second drive motor, and it is connected to another synchronous pulley through a synchronous belt. Finally, the vertical movement of the first support 263 or the second support 265 is realized, that is, lifting is achieved. In this embodiment, the second drive motor is a servo motor, which is used to precisely adjust the height of the first support 263 and the second support 265.

[0111] The yoke mounting portion 232 is provided with a mounting groove for positioning and mounting the yoke assembly 913 and a fixing mechanism for fixing the yoke assembly 913. Simultaneously, mounting windows 2321 corresponding to the mounting holes on the yoke assembly 913 penetrate both ends of the mounting groove. These mounting windows 2321 allow bolts to pass through completely, enabling manual insertion of the bolts. One end of the bolt passes through the yoke assembly 913 and is threadedly connected to the P-end magnetic bearing, thus achieving a fixed connection between the yoke assembly 913 and the P-end magnetic bearing 911. To achieve rapid assembly and disassembly of the yoke assembly 913, in this embodiment, the fixing mechanism is a quick-locking or quick-clamping mechanism, enabling rapid clamping or loosening of the yoke assembly 913 and improving assembly efficiency.

[0112] The yoke mounting part 232 in this application includes a plate facing the chuck 222, i.e., perpendicular to the X-axis. A positioning seat 2322 is detachably mounted on the plate, facing the chuck. A mounting groove is provided on the positioning seat 2322, and a positioning pin is provided on the positioning seat 2322 for quick positioning of the yoke assembly 913, improving the assembly efficiency and accuracy of the yoke assembly 913. The detachable structure allows for the replacement of different positioning seats 2322 according to different specifications of the yoke assembly 913, offering wide applicability and high flexibility. Holes for a top pin to pass through are provided on the plate and the positioning seat 2322. Due to the relative movement of the second top pin 252 and the yoke mounting part 232... To prevent the second ejector pin 252 from being too long and deforming during tightening due to its large movement distance, this application provides a hole on the yoke mounting part 232 to allow the upper end of the second ejector pin slide 251 to pass through. That is, an inverted U-shaped hole is provided on the plate and the positioning seat 2322 to form a horseshoe structure, which allows the upper end of the second ejector pin slide 251 and the second ejector pin 252 at the upper end of the second ejector pin slide 251 to pass through. The second ejector pin slide 251 can pass through the second assembly table as a whole. Therefore, relative movement between the second ejector pin slide 251 and the yoke mounting part 232 can be realized without interference. Furthermore, the axial length of the second ejector pin 252 can be reduced, avoiding the problem of excessive deformation during tightening and ensuring rigidity and accuracy during tightening.

[0113] This rotor support device achieves precise, flexible, and automated adjustment of the rotor position through horizontal movement and independent lifting in two vertical directions. It perfectly solves the problems of supporting, centering, leveling, and axial movement of different rotor models, providing a reliable guarantee for the efficient and coordinated operation of the rotor in the overall assembly process.

[0114] To improve operational safety, a light grating is installed along the edge of assembly area 2a to detect whether personnel are approaching during the assembly process, thereby improving safety and preventing accidents. When personnel are detected approaching, an emergency stop or audible and visual alarm is triggered.

[0115] In addition, the present invention also provides a motor assembly method, comprising the following steps: S1, Stator 92 feeding and position adjustment: S11. Rotate the mounting platform to a vertical or near-vertical position; S12. Hoist the stator 92 to the vicinity of the installation platform surface; S13. Adjust the height and angle of the mounting platform so that the mounting holes on the stator 92 are aligned with the fixing holes on the mounting platform. S14. Secure the stator 92 to the mounting platform surface with bolts and loosen the lifting device; S15. Adjust the height and angle of the installation platform so that the axis direction and height of stator 92 are close to the height and direction required during assembly; After the stator is loaded, other accessories can be installed on stator 92; S2. Rotor module assembly: S201. Clamp the P-end magnetic bearing 911 onto the chuck 222, install the yoke assembly 913 onto the yoke mounting part 232, place the rotor 912 into the slot of the rotor support device 26 and adjust the height so that the rotor 912 is coaxial with the P-end magnetic bearing 911 and the yoke assembly 913. Since absolute coaxiality cannot be guaranteed in actual processes, a threshold can be set so that the deviation between the axis of the rotor and the axis of the P-end magnetic bearing is within the threshold. S202, The two ejector pins move toward each other and press against the rotor 912; S203, the rotor support device 26 moves down and makes way, while the chuck 222 and the yoke mounting part 232 move towards each other until the P-end magnetic bearing 911 and the yoke assembly 913 move to the mounting position of the rotor 912. S204. Rotate chuck 222 and align it with the hole; S205. The bolt passes through the yoke mounting part 232 and fixes the yoke assembly 913 to the P-end magnetic bearing 911. S206. Disconnect the yoke assembly 913 from the yoke mounting part 232; S207, the yoke mounting part 232 is reset outward; S208, ejector pin and chuck 222 move toward the end away from yoke mounting part 232 to avoid the upward movement of rotor support device 26 and the feeding of stator 92; S209, Rotor support device 26 rises and supports the assembled rotor module 91; S210, the second ejector pin 252 moves outward and resets, providing space for the stator 92 to feed; Steps S1 and S2 can be performed simultaneously without any order, which can improve assembly efficiency and reduce idle travel time.

[0116] S3. The flipping and repositioning device 1 moves horizontally and moves the stator 92 to the inspection station at the feeding end of the assembly area 2a; S4. The detection device 27 is activated, causing the detection head 2711 to extend into the stator 92 to detect the positional accuracy of the stator 92. The flipping and repositioning device 1 adjusts the position of the stator according to the detection results, so that the axis of the stator 92 is coaxial with the reference axis, that is, the axis of the stator 92 is parallel to the axis of the ejector pin and is located on the same horizontal plane. In the actual assembly process, due to the influence of the process, it is impossible to ensure that the axis of the stator is absolutely coaxial with the reference axis. Therefore, a threshold can be set, which is the deviation between the actual axis of the stator and the reference axis. When the deviation is less than the threshold, they are considered to be coaxial. In order to improve detection efficiency and accuracy, the detection device 27 detects at least two different radial surfaces inside the stator 92. S5, Detection device 27 is reset; S6. Complete machine assembly: S61, The flipping and repositioning device 1 moves the stator 92 into the assembly area 2a and makes the stator 92 coaxial with the ejector pin; S62, chuck 222 and rotor support device 26 move synchronously toward the second ejector pin 252, so that the end of rotor module 91 enters into stator 92 and meets the clamping condition. S63, the second ejector pin 252 moves toward the first ejector pin 242 and presses against the end of the rotor module 91; S64, Rotor support device 26 moves downward to avoid obstruction; S65, chuck 222 and ejector pin move synchronously, moving rotor module 91 into stator 92 until it is in place; S66, chuck 222 and two ejector pins are reset outwards respectively; S67. Secure the P-end magnetic bearing 911 to the stator 92 with bolts; S68, The flipping and repositioning device 1 is reset to its rearward position; S69. Motor unloading: The motor that is about to be assembled is unloaded from the flipping and repositioning device 1.

[0117] Since the ejector pin and the workpiece (rotor or rotor module) have a certain length and weight, a certain elastic deformation will occur when clamped. If the deformation is large, the side wall of the rotor will come into contact or rub against the inner wall of the stator, which will affect the assembly of the rotor module and the stator. In this application, the deformation of workpieces (including rotors or rotor modules) of different weights when clamped (by ejector pin) is simulated and analyzed. Taking the minimum diameter of the first ejector pin as 300mm and the minimum diameter of the second ejector pin as 550mm, and the weights of the clamped workpieces as 50kg, 100kg and 150kg respectively as examples.

[0118] See Figure 17 When clamping a 50kg workpiece, the sinking at both ends of the workpiece is about 0.048mm, and the sinking at the middle of the workpiece is about 0.06mm.

[0119] See Figure 18 When clamping a 100kg workpiece, the sinking at both ends of the workpiece is about 0.095mm, and the sinking at the middle of the workpiece is about 0.12mm.

[0120] See Figure 19 When clamping a 150kg workpiece, the sinking amount at both ends of the workpiece is about 0.14mm, and the sinking amount at the middle of the workpiece is about 0.18mm.

[0121] Its deformation meets the design requirements of the assembly.

[0122] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A motor assembly device, characterized in that, include: A flipping and repositioning device is used for clamping and repositioning the stator. The flipping and repositioning device can move horizontally along the Y-axis and is used to move the stator from the first station to the assembly area of ​​the second station. An assembly device, located at the second station, includes a clamping module and an ejector pin module. The clamping module includes a chuck and a yoke mounting part that are arranged facing each other and can move horizontally along the X-axis to move closer or further apart. The ejector pin module includes two ejector pins that are arranged facing each other and can move horizontally along the X-axis to move closer or further apart. The two ejector pins are coaxial with the chuck. The assembly area is formed between the chuck and the yoke mounting part. The chuck and the yoke mounting part have holes for the ejector pins to pass through. A rotor support device, used to support the rotor, is located below the assembly area and can move horizontally along the X-axis. The rotor support device can move up and down to achieve adjustment and avoidance. The detection device is located on the movement path of the flipping and positioning device and is used to detect the positional accuracy of the stator. The detection device includes a detection head that can move along the X-axis and can extend into the stator. Multiple detection sensors for detecting distance are evenly distributed around the reference axis on the detection head. The reference axis is parallel to the axis of the ejector pin and is located on the same horizontal plane.

2. The motor assembly equipment as described in claim 1, characterized in that: The detection device includes a detection bracket and at least two horizontal guide rods that are parallel to the pin and horizontally slidable on the upper end of the detection bracket. The ends of the horizontal guide rods are provided with mounting seats. The detection head is installed at the end of the mounting seat. The detection bracket is provided with a detection cylinder that is connected to the mounting seat and used to drive its horizontal movement.

3. The motor assembly equipment as described in claim 1, characterized in that: The detection sensors are in multiple sets and located on different radial surfaces.

4. The motor assembly equipment as described in claim 3, characterized in that: Adjacent groups of detection sensors are set up alternately.

5. The motor assembly equipment as described in claim 1, characterized in that: The flipping and repositioning device includes a first base, a first slide block horizontally slidable on the first base along the Y-axis, a lifting seat vertically slidable on the first slide block, a first rotating seat rotatably mounted on the lifting seat about the Y-axis, and a second rotating seat rotatably mounted on the first rotating seat. The rotation axis of the second rotating seat is perpendicular to the rotation axis of the first rotating seat, and the second rotating seat is provided with a mounting platform surface for mounting the stator.

6. The motor assembly equipment as described in claim 1, characterized in that: The assembly device further includes a second base and a first assembly platform and a second assembly platform that are horizontally slidable on the second base along the X-axis and can move closer or further away from each other. The chuck and yoke mounting parts are respectively mounted on the first assembly platform and the second assembly platform and are arranged facing each other.

7. The motor assembly equipment as described in claim 1, characterized in that: The ejector pin includes a first ejector pin and a second ejector pin, and the first ejector pin or the second ejector pin is provided with a force detection device for detecting the tightening force.

8. The motor assembly equipment as described in claim 6, characterized in that: The first assembly table is equipped with a gripper motor for driving the grippers on the chuck to clamp and a chuck rotation motor for driving the chuck to rotate to achieve hole position adjustment.

9. A method for assembling a motor using the motor assembly equipment as described in any one of claims 1-8, characterized in that, Includes the following steps: S1. Stator loading and position adjustment; S2. Rotor module assembly: S201. Clamp the P-end magnetic bearing onto the chuck, install the yoke assembly onto the yoke mounting part, place the rotor in the slot of the rotor support device and adjust the height to make the rotor coaxial with the P-end magnetic bearing and the yoke assembly. S202, The two ejector pins move toward each other and press against the rotor; S203, the rotor support device moves down and makes way, while the chuck and yoke mounting part move towards each other until the P-end magnetic bearing and yoke assembly move to the rotor mounting position. S204. Rotate the chuck and align it with the hole. S205. The bolt passes through the mounting window on the yoke mounting section and fixes the yoke assembly to the magnetic bearing at the P end. S206. Disconnect the yoke assembly from the yoke mounting part; S207, The yoke mounting part is reset outwards; S208, the two ejector pins and chuck move toward the end away from the yoke mounting part to avoid the rotor support device moving upward and the stator feeding; S209. The rotor support device rises and supports the assembled rotor module. S210, The second ejector pin moves outward and resets, providing space for the stator to be fed; S3. The flipping and positioning device moves horizontally and moves the stator to the inspection station at the feeding end of the assembly area; S4. The detection device operates, causing the detection head to extend into the stator to detect the positional accuracy of the stator. The flipping and repositioning device adjusts the position of the stator according to the detection results, so that the axis of the stator is coaxial with the reference axis. S5. Reset the detection device; S6. Complete machine assembly: S61, The flipping and repositioning device moves the stator into the assembly area and makes the stator coaxial with the two ejector pins; S62, the chuck and rotor support device move synchronously towards the second ejector pin, so that the end of the rotor module enters the stator and meets the clamping condition; S63, The second ejector pin moves toward the first ejector pin and presses against the end of the rotor module; S64. The rotor support device is moved downwards to avoid obstruction; S65, the chuck and two ejector pins move synchronously, and the rotor module is moved into the stator until it is in place; S66, the chuck and two ejector pins are reset outwards respectively; S67. Secure the P-end magnetic bearing to the stator with bolts; S68, The flipping and repositioning device resets to its rearward position; S69, motor discharge.

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