An automatic motor assembly line

Abstract

This invention discloses an automated motor assembly production line, relating to the field of motor manufacturing technology, comprising: a rotor clamping mechanism, including a first clamping hand capable of driving the rotor to rotate; and a guide sleeve mounting mechanism, which is installed on the side end of the rotor clamping mechanism. Through the cooperation of the rotor clamping mechanism, the guide sleeve mounting mechanism, and the stator positioning mechanism, the stator axis is first precisely aligned with the rotor axis. Then, a third clamping hand carries the guide sleeve to the front of the rotor, and coarse alignment and precision fitting are completed by a laser alignment component and a chamfered guide surface. A copper-based elastic bushing compensates for eccentricity, and a radially telescopic jaw cooperates with an electromagnetic brake to achieve axial locking. During assembly, a silicon steel sheet laminated magnetic blocking layer bypasses and diverts the stator magnetic field, achieving zero-contact and stable assembly.

Description

Technical Field

[0001] This invention relates to the field of motor manufacturing technology, specifically to an automated motor assembly production line. Background Technology

[0002] As a core driving component of modern industry, the quality of motor assembly directly determines its performance, lifespan, and operational stability. In the automated assembly process of motors, the stator and rotor assembly is one of the most critical steps. Currently, existing technologies commonly employ a "workstation + conveyor line" assembly model, where multiple independent workstations sequentially complete processes such as front end cover bearing assembly, rotor bearing assembly, rotor end cover assembly, and final motor assembly.

[0003] In the prior art, for example, Chinese Patent Publication No. CN115922286B discloses an automatic assembly and inspection production line and its production method for motor rotors, which includes a vision inspection mechanism, a runout detection device, and a receiving mechanism, realizing the automation of multiple processes such as positioning, assembly, inspection, and receiving of motor rotors. Another example is Chinese Patent Publication No. CN209472507U, which discloses a magnetic field distribution detection device for permanent magnet synchronous motors, which realizes the measurement of magnetic fields in multiple parts of the motor by setting magnetic field sensor components on the rotor and stator respectively.

[0004] Currently, existing technologies pose a risk of magnetic attraction damage during stator-rotor assembly. As the rotor enters the stator cavity, the radial magnetic pull of the stator magnetic field on the rotor increases exponentially as the air gap gradually decreases. This can easily lead to transient rotor eccentricity and non-uniform contact friction with the stator inner wall, damaging the stator insulation layer and affecting motor quality. Existing technologies often employ visual guidance or force feedback compensation to counteract the magnetic force, but the compensation speed cannot keep up with the instantaneous changes in magnetic force, and a contact window period always exists. Furthermore, in traditional assembly processes, the guide fixtures used to ensure stator-rotor coaxiality are mostly disposable or require manual recycling, making automated recycling difficult. This results in high tooling consumable costs, while manual intervention reduces production efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide an automated motor assembly production line to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic motor assembly production line, comprising: A rotor clamping mechanism, comprising a first clamping hand capable of driving the rotor to rotate; A guide sleeve mounting mechanism is installed on the side end of the rotor clamping mechanism. The guide sleeve mounting mechanism includes a guide sleeve return conveyor belt and a guide sleeve assembly. The guide sleeve assembly includes a guide sleeve and a third clamping hand capable of aligning the guide sleeve with the center of the stator. The guide sleeve has a cylindrical structure, and the inner wall of the guide sleeve forms a precise sliding fit with the outer wall of the rotor. The outer wall of the guide sleeve is smaller than the inner wall of the stator to form a radial gap. The rear end of the guide sleeve is provided with a radial telescopic claw that mates with the T-slot at the end of the rotor. The side end of the radial telescopic claw is provided with an electromagnetic brake for controlling the extension and retraction of the radial telescopic claw. The guide sleeve has a composite cylindrical wall structure, including: The outer side has a friction-reducing layer made of PTFE material, which is used to reduce friction with the inner wall of the stator; The silicon steel sheet stacked magnetic blocking layer on the middle side has a stacking direction perpendicular to the direction of the magnetic field lines, forming a closed magnetic circuit structure. The inner copper-based elastic bushing has axially distributed elastic grooves on its surface along the circumferential direction. The elastic grooves are used to compensate for the eccentricity between the rotor and the guide sleeve. A stator positioning mechanism is installed on the side of the guide sleeve mounting mechanism. The stator positioning mechanism includes a second clamping hand for clamping the stator and keeping the stator axis coincide with the axis of the rotor clamped by the rotor clamping mechanism.

[0007] Preferably, the rear end of the guide sleeve is fixedly connected to an installation sleeve, the electromagnetic brake is installed inside the installation sleeve, and the output end of the electromagnetic brake is evenly connected to four sets of connecting rods along the circumference. The four sets of connecting rods are respectively connected to the corresponding radial telescopic claw transmission.

[0008] Preferably, the radial telescopic claw has a protrusion at its end that mates with the T-slot at the rotor end, the mounting sleeve has a laser alignment component at its center for alignment calibration when the guide sleeve is engaged with the rotor, and the guide sleeve has a chamfered guide surface at its front end for guiding the rotor to be coaxial with the stator during initial insertion.

[0009] Preferably, the guide sleeve return conveyor belt is installed on the back side of the guide sleeve installation mechanism for sequential installation after being clamped by the third clamping hand, and a conveyor line is installed on the side end of the stator positioning mechanism.

[0010] Preferably, a quick-release transfer robotic arm is installed on the side of the conveyor line near the stator positioning mechanism. The quick-release transfer robotic arm is used to automatically separate the guide sleeve from the rotor after the guide sleeve, rotor and stator are assembled, and transfer the guide sleeve to the guide sleeve return conveyor belt surface for recycling.

[0011] Preferably, horizontal rotating clamping bases are evenly distributed on the surface of the conveyor line, and individual part-picking clamping hands are installed at the side ends of the conveyor line. The individual part-picking clamping hands are used to clamp a single stator to the horizontal rotating clamping base, and the horizontal rotating clamping base is used to flip it from the vertical direction to the horizontal direction.

[0012] Preferably, the side end of the individual pick-up gripper is provided with an initial output component; The initial output component includes: Mounting rack; XY axis guide rails are mounted on the top of the mounting bracket; A buffer clamping rod is provided with a buffer spring at its top. The top of the buffer spring is connected to the bottom of the sliding seat of the X / Y axis guide rail via a horizontal plate and the X / Y axis guide rail.

[0013] Preferably, a detection mechanism is installed at the side end of the conveyor line away from the quick-release transfer robot arm. The detection mechanism includes a magnetic flux detection end and a sorting robot. The magnetic flux detection end is used to detect the magnetic flux of the assembled stator and rotor structure. If the detected value exceeds a preset threshold, it is determined to be a defective product. The sorting robot then transfers the defective product to the defective product conveyor line.

[0014] Preferably, the side end of the testing mechanism is equipped with a qualified part alignment and conveying mechanism.

[0015] Preferably, the output end of the qualified part alignment conveyor is connected to a finished product buffer area, and the finished product buffer area is equipped with a laser marking machine for marking the model and production date of qualified finished products.

[0016] Compared with the prior art, the beneficial effects of the present invention are: In this invention, through the cooperation of the rotor clamping mechanism, the guide sleeve installation mechanism, and the stator positioning mechanism, the initial output assembly smoothly transfers the rotor to the rotor clamping mechanism via the flexible cooperation of the XY-axis guide rails and buffer springs. Next, a separate part-retrieving clamping hand grasps the stator and places it on a horizontally rotating clamping base. After a 90-degree rotation, it is conveyed to the stator positioning mechanism via a conveyor line, ensuring precise alignment between the stator and rotor axes. Then, a third clamping hand carries the guide sleeve to the front of the rotor. Coarse alignment and precise fitting are achieved using a laser alignment component and a chamfered guide surface. A copper-based elastic bushing compensates for eccentricity, and radially telescopic jaws cooperate with an electromagnetic brake to achieve axial locking. During assembly, a silicon steel sheet laminated magnetic blocking layer bypasses and diverts the stator magnetic field, achieving zero-contact and smooth assembly. After assembly, a quick-release transfer robotic arm releases the lock and removes the guide sleeve, transferring it to the guide sleeve return conveyor belt for reuse. Finally, the testing agency performs magnetic flux testing on the finished products. Qualified products are output after alignment, buffering, and laser marking, while unqualified products are automatically rejected by a sorting robot. The overall design, through the physical magnetic blocking and circulating backflow of the guide sleeve, achieves non-destructive assembly of the stator and rotor while reducing tooling costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main production line in this invention; Figure 2 This is a schematic diagram of the initial output component in this invention; Figure 3 This is a schematic diagram of the guide sleeve installation mechanism in this invention; Figure 4 This is a schematic diagram showing the internal cross-section of the guide sleeve installation mechanism in this invention; Figure 5 This is a schematic diagram showing the structural separation of the guide sleeve installation mechanism in this invention.

[0018] In the diagram: 100, Initial output assembly; 110, Mounting bracket; 120, XY axis guide rail; 130, Buffer spring; 140, Buffer clamping rod; 200, Individual part-removing clamping hand; 300, Horizontal rotating clamping base; 400, Rotor clamping mechanism; 500, Guide sleeve mounting mechanism; 510, Guide sleeve return conveyor belt; 520, Guide sleeve assembly; 521, Guide sleeve; 522, Chamfered guide surface; 523, Installation. 524. Connecting rod; 525. Radial telescopic claw; 526. Protruding joint; 527. Electromagnetic brake; 528. Laser alignment component; 529. Silicon steel sheet laminated magnetic blocking layer; 5290. Copper-based elastic bushing; 5291. Elastic groove; 600. Stator positioning mechanism; 700. Conveyor line; 800. Quick-release transfer robotic arm; 900. Inspection mechanism; 910. Sorting robot; 920. Qualified parts alignment and conveying mechanism. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Reference Figure 1 As shown: An automatic motor assembly production line includes: a rotor clamping mechanism 400 including a first clamping hand capable of driving the rotor to rotate; a guide sleeve mounting mechanism 500 installed on the side end of the rotor clamping mechanism 400; and a stator positioning mechanism 600 installed on the side end of the guide sleeve mounting mechanism 500, which includes a second clamping hand for clamping the stator and keeping the stator axis coincident with the axis of the rotor clamped by the rotor clamping mechanism 400.

[0021] Specifically, before the production line starts, the first gripper of the rotor clamping mechanism 400 is in the open state, waiting to receive the rotor workpiece; the third gripper of the guide sleeve mounting mechanism 500 has grabbed a ready-to-use guide sleeve assembly 520 from the guide sleeve return conveyor belt 510 and is in the pre-aligned position; the second gripper of the stator positioning mechanism 600 is in the open state, waiting to receive the stator workpiece. The horizontal rotating clamping base 300 on the conveyor line 700 is unloaded and in the waiting position.

[0022] Next, the stator is sequentially moved by the initial output component 100 in conjunction with the individual part-picking clamp 200 under the action of the conveyor line 700 to the rotor clamping mechanism 400. The first clamping hand of the rotor clamping mechanism 400 closes, firmly clamping the rotor, and can drive the rotor to make slight rotational adjustments according to process requirements to complete circumferential positioning. Meanwhile, the third clamping hand of the guide sleeve mounting mechanism 500 carries the guide sleeve assembly 520 and moves to the front of the rotor clamped by the rotor clamping mechanism 400 to perform alignment.

[0023] Before the alignment operation, the stator is flipped from a vertical position to a horizontal position using the horizontal rotating clamping base 300, so that its axis is parallel to the axis of the rotor held by the rotor clamping mechanism 400 and at the same height, in preparation for subsequent assembly.

[0024] The stator continues to be conveyed along the conveyor line 700 until it reaches the working area of ​​the stator positioning mechanism 600. The second gripper of the stator positioning mechanism 600 takes the stator from the horizontal rotating gripping base 300 and, based on feedback from the built-in visual positioning sensor, finely adjusts the position of the stator to ensure that the axis of the stator is precisely aligned with the axis of the rotor already gripped by the rotor gripping mechanism 400. At this point, the rotor is covered with a guide sleeve 521.

[0025] Preferred, such as Figures 3-5 As shown, the guide sleeve installation mechanism 500 includes a guide sleeve return conveyor belt 510 and a guide sleeve assembly 520; the guide sleeve assembly 520 includes a guide sleeve 521 and a third gripper that drives the guide sleeve 521 to align, wherein the third gripper has multi-degree-of-freedom motion capability and can precisely adjust the position and posture of the guide sleeve 521 in three-dimensional space. The guide sleeve 521 has a cylindrical structure, and its inner wall forms a precise sliding fit with the outer wall of the rotor. The outer wall of the guide sleeve 521 is smaller than the inner wall of the stator to form a radial gap. The rear end of the guide sleeve 521 is provided with a radial telescopic claw 525 that mates with the T-slot at the end of the rotor. The side end of the radial telescopic claw 525 is provided with an electromagnetic brake 527 that controls the extension and retraction of the radial telescopic claw 525.

[0026] The guide sleeve 521 is a composite cylindrical wall structure, including: an outer PTFE anti-friction layer to reduce friction with the inner wall of the stator; a middle silicon steel sheet laminated magnetic blocking layer 529, the stacking direction of which is perpendicular to the direction of the magnetic field lines, forming a closed magnetic circuit structure to bypass and divert the stator magnetic field, wherein the laminated thickness of the silicon steel sheet laminated magnetic blocking layer 529 is 0.2mm to 0.35mm, the number of laminates is not less than 20, and the total thickness is not less than 0.8mm, to reduce the magnetic flux acting on the rotor; and an inner copper-based elastic bushing 5290, the surface of which is provided with axially distributed elastic grooves 5291 along the circumferential direction to compensate for the eccentricity between the rotor and the guide sleeve 521.

[0027] A mounting sleeve 523 is fixedly connected to the rear end of the guide sleeve 521. An electromagnetic brake 527 is installed inside the mounting sleeve 523. Four sets of connecting rods 524 are evenly distributed around the output end of the electromagnetic brake 527. The four sets of connecting rods 524 are respectively connected to the corresponding radial telescopic claws 525. The end of the radial telescopic claw 525 is provided with a protrusion 526 that mates with the T-slot at the end of the rotor. A laser alignment member 528 is provided at the center of the mounting sleeve 523 for alignment calibration when the guide sleeve 521 is engaged with the rotor. The front end of the guide sleeve 521 is provided with a chamfered guide surface 522 for guiding the rotor to be coaxial with the stator during the initial insertion stage.

[0028] Specifically, the third gripper moves above the guide sleeve return conveyor belt 510, and its grippers are precisely aligned with the outer wall of a ready-to-use guide sleeve 521. The grippers close, firmly grasping the guide sleeve 521. Subsequently, the third gripper carries the guide sleeve 521 to the side end of the rotor gripping mechanism 400 and is in a pre-aligned position aligned with the rotor axis.

[0029] During the movement of the third gripper, the laser alignment component 528, installed at the center of the mounting sleeve 523 at the rear end of the guide sleeve 521, is activated, emitting a visible laser beam. The laser beam illuminates the center of the end face of the rotor held by the rotor clamping mechanism 400. Based on the position of the laser spot on the rotor end face, such as a PLC controller, the controller of the third gripper performs preliminary fine-tuning of the spatial orientation of the guide sleeve 521, so that the axis of the laser beam basically coincides with the rotor axis, completing the coarse alignment.

[0030] Next, after coarse alignment, the third clamping hand drives the guide sleeve 521 to move smoothly along the axial direction towards the rotor. The chamfered guide surface 522 at the front end of the guide sleeve 521 first contacts the end edge of the rotor. This chamfered guide surface 522 has a conical structure of 30° to 45°, which can provide radial guiding force at the initial contact, so that even if there is a slight chamfer deviation at the rotor end, the guide sleeve 521 can be smoothly guided into the outer cylindrical surface of the rotor.

[0031] As the guide sleeve 521 continues to advance, the copper-based elastic bushing 5290 on its inner side begins to contact the outer surface of the rotor and forms a precision sliding fit. During this process, the axially distributed elastic grooves 5291 circumferentially opened on the surface of the copper-based elastic bushing 5290 undergo slight elastic deformation. The resulting slight elastic deformation can effectively compensate for any minor ellipticity, taper, or local burrs that may exist on the outer circumference of the rotor, so that a uniform, tight, and stable fit is formed between the guide sleeve 521 and the rotor, avoiding jamming or scratches caused by local interference.

[0032] As the guide sleeve 521 slides along the rotor axis, the laser alignment component 528 continues to operate. The PLC controller compares the deviation between the laser beam axis and the rotor axis in real time and performs dynamic compensation through the micro-motion mechanism of the third gripper to ensure that the guide sleeve 521 maintains a high degree of coaxiality with the rotor throughout the complete insertion process. When the guide sleeve 521 moves to the preset axial position, that is, when the end face of its rear mounting sleeve 523 is flush with the plane of the T-slot at the rotor end, the third gripper stops its advancing action.

[0033] After the guide sleeve 521 is in place, the PLC controller sends a start signal to the electromagnetic brake 527 installed in the mounting sleeve 523. The output shaft of the electromagnetic brake 527 extends forward, and through four sets of circumferentially evenly connected connecting rods 524, synchronously drives four radially telescopic claws 525 to extend radially outward along the guide sleeve 521. The protrusions 526 at the ends of the claws are precisely aligned and engaged in the pre-set annular T-slots at the ends of the rotors. After the four protrusions 526 are fully embedded in the T-slots, the electromagnetic brake 527 maintains torque, causing the radially telescopic claws 525 to continuously apply radially outward force. At this time, a reliable axial limit is formed between the guide sleeve 521 and the rotor, preventing the guide sleeve 521 from axially displacing relative to the rotor, while allowing relative circumferential rotation for subsequent assembly and adjustment, but the two are firmly integrated into a single unit in the axial direction.

[0034] At this point, the guide sleeve 521 is completely installed on the outside of the rotor. The rotor is now located inside the guide sleeve 521, its outer wall precisely fitted with the copper-based elastic bushing 5290. The intermediate silicon steel sheet laminated magnetic blocking layer 529 of the guide sleeve 521 surrounds the outside of the rotor, its lamination direction perpendicular to the direction of the magnetic lines of force generated during stator operation, forming a closed magnetic circuit structure with high permeability and low magnetic reluctance, thus physically preparing for magnetic bypass shunting during subsequent stator-rotor assembly.

[0035] Next, the rotor clamping mechanism 400 drives the rotor, which is already fitted with the guide sleeve 521, to move smoothly along the axial direction towards the stator. When the front end of the guide sleeve 521 enters the inner cavity of the stator, the magnetic field inside the stator begins to act on the guide sleeve 521.

[0036] When the magnetic flux generated by the stator attempts to penetrate the air gap and act on the internal rotor, it first encounters the silicon steel sheet laminated magnetic blocking layer 529. Due to the extremely high permeability of the silicon steel sheets and the fact that the stacking direction is perpendicular to the magnetic field lines, the silicon steel sheet laminated magnetic blocking layer 529 provides a low-resistivity bypass channel for the magnetic flux. The vast majority of the magnetic flux is attracted and circulates along the closed magnetic circuit of the silicon steel sheet laminated magnetic blocking layer 529, unable to penetrate it to reach the internal rotor. Simultaneously, the PTFE anti-friction layer on the outer side of the guide sleeve 521 contacts the inner wall of the stator, and its extremely low coefficient of friction ensures a smooth and unobstructed assembly process. Through these actions, the rotor experiences almost no disturbance from non-uniform radial magnetic pull during its entry into the stator cavity, achieving a stable and contactless assembly.

[0037] Once the rotor has fully entered the stator cavity and reached the preset axial position, the assembly operation stops, and the assembly consisting of the rotor, stator, and guide sleeve 521 fitted outside the rotor is transferred to the quick-release transfer robotic arm 800.

[0038] according to Figure 1As shown, the guide sleeve return conveyor belt 510 is installed on the back side of the guide sleeve installation mechanism 500 for sequential installation after being gripped by the third clamping hand. A conveyor line 700 is installed on the side end of the stator positioning mechanism 600. A quick-release transfer robotic arm 800 is installed on the side of the conveyor line 700 near the stator positioning mechanism 600. The quick-release transfer robotic arm 800 automatically separates the guide sleeve 521 from the rotor after the guide sleeve 521, rotor, and stator are assembled, and transfers the guide sleeve 521 to the surface of the guide sleeve return conveyor belt 510 for recycling. Horizontal rotating clamping bases 300 are evenly distributed on the surface of the conveyor line 700. Individual pick-up clamping hands 200 are installed on the side end of the conveyor line 700. Individual pick-up clamping hands 200 are used to clamp a single stator to the horizontal rotating clamping base 300, and then use the horizontal rotating clamping base 300 to flip it from vertical to horizontal.

[0039] Specifically, the individual part picker 200 moves above the stator material tray, its grippers precisely aligned with a stator workpiece to be assembled. The grippers close, firmly grasping the stator housing. The individual part picker 200 employs a flexible gripping design, with an elastic buffer layer on the inner side of its grippers to prevent indentations or damage to the stator housing during the gripping process.

[0040] Next, the individual pick-up gripper 200 carries the stator away from the material tray and moves it above the conveyor line 700. At this time, the conveyor line 700 precisely moves an unloaded horizontal rotating clamping base 300 to the pick-up station, and the individual pick-up gripper 200 smoothly places the stator on the receiving surface of the horizontal rotating clamping base 300. At this time, the stator maintains its initial vertical posture, that is, its axis is perpendicular to the surface of the conveyor line 700.

[0041] Upon receiving a signal indicating that the stator placement is complete, the horizontal rotating clamping base 300 activates its built-in tilting drive mechanism. This mechanism rotates the clamping base 90 degrees around its horizontal axis, changing the stator from a vertical to a horizontal position, with its axis parallel to the surface of the conveyor line 700 and perpendicular to the conveying direction. During this process, the clamping arms of the horizontal rotating clamping base 300 move synchronously, firmly locking the stator and preventing it from shaking or falling off during the tilting process. After tilting, the stator's axis is aligned with the horizontal axis required for subsequent assembly, preparing it for the next step of conveying and positioning.

[0042] After the posture flip is completed, the conveyor line 700 starts, moving the horizontal rotating clamping base 300 carrying the stator forward along the conveying direction. The conveyor line 700 adopts a stepping or continuous conveying method to ensure that each base can stop precisely at the preset work position.

[0043] Then, the rotor clamping mechanism 400 drives the rotor, which is already fitted with the guide sleeve 521, to complete the assembly with the stator on the stator positioning mechanism 600. After the assembly is completed, the assembly consisting of the rotor, the stator and the guide sleeve 521 fitted on the outside of the rotor is transferred to the designated station on the conveyor line 700, which is located within the working range of the quick-release transfer robot arm 800.

[0044] Once the assembled component is detected to have reached the predetermined position, the quick-release transfer robotic arm 800 activates its visual positioning sensor to accurately identify the position and orientation of the guide sleeve 521 within the component. Based on the visual feedback, the quick-release transfer robotic arm 800 adjusts the spatial position of its grippers to align them with the outer wall of the guide sleeve 521.

[0045] The actuator of the quick-release transfer robotic arm 800 first triggers the electromagnetic brake 527 to reverse, causing the radially telescopic jaws 525 to retract and release the axial lock between the guide sleeve 521 and the rotor. After the lock is released, the jaws of the quick-release transfer robotic arm 800 close, firmly gripping the outer wall of the guide sleeve 521, and smoothly pulling it out of the assembled rotor assembly axially. During the extraction process, the quick-release transfer robotic arm 800 uses constant force control to ensure a smooth extraction action and avoid impact or displacement on the assembled stator and rotor assembly.

[0046] Subsequently, the quick-release transfer robotic arm 800 removes the extracted guide sleeve 521 from above the conveyor line 700 and moves it to the back side of the guide sleeve mounting mechanism 500, i.e., above the guide sleeve return conveyor belt 510. This allows the quick-release transfer robotic arm 800 to smoothly place the guide sleeve 521 in its grippers onto the surface of the guide sleeve return conveyor belt 510. The bearing surface of the guide sleeve return conveyor belt 510 is provided with positioning grooves that match the shape of the guide sleeve 521, ensuring that the guide sleeve maintains a stable posture during transport and does not roll or collide with each other.

[0047] Next, the guide sleeve return conveyor belt 510 starts, moving the used guide sleeve 521 along the conveying direction. This conveyor belt transports the guide sleeve 521 back to the material handling station of the guide sleeve installation mechanism 500, which is the initial gripping position of the third gripper. During the return process, the guide sleeve 521 can pass through pre-treatment stations such as cleaning, drying, and testing to ensure that it is clean and in good condition before its next use.

[0048] After the quick-release transfer robotic arm 800 completes the separation and removal of the guide sleeve 521, the conveyor line 700 continues to move forward, conveying the finished product with the separated guide sleeve 521, namely the assembled motor stator and rotor assembly, forward.

[0049] according to Figure 2As shown, a primary output assembly 100 is installed on the side of the individual pick-up clamp 200; the primary output assembly 100 includes: a mounting bracket 110; an XY axis guide rail 120 is installed on the top of the mounting bracket 110; a buffer spring 130 is installed on the top of the buffer clamping rod 140, and the top of the buffer spring 130 is connected to the bottom of the sliding seat of the X / Y axis guide rail 120 through a horizontal plate.

[0050] Specifically, the PLC controller sends motion commands to the XY-axis guide rails 120. The X and Y guide rails work together to drive the sliding seat, which in turn moves the buffer clamping rod 140 in the horizontal plane, precisely aligning the axis of the buffer clamping rod 140 with the center position of the stator to be gripped in the material tray. This positioning process can be completed based on preset material tray coordinates or through real-time feedback from a vision sensor, ensuring the accuracy of the gripping point.

[0051] After positioning is complete, the PLC controller confirms that the buffer clamping rod 140 is directly above the stator and prepares to execute the descent and gripping action. Next, the PLC controller drives the buffer clamping rod 140 to move vertically downwards. When the gripper at the bottom of the buffer clamping rod 140 approaches the top of the stator, the buffer spring 130 activates, causing the gripper to first contact the stator end face. At this time, the buffer spring 130 is gradually compressed, allowing the gripper to press against the stator surface in a flexible manner, rather than with a rigid impact. This effectively avoids damage to the stator surface caused by excessive descent speed or positioning errors.

[0052] After the buffer spring 130 is compressed to a preset stroke, the PLC controller sends a closing command to the jaws at the bottom of the buffer clamping rod 140. The jaws close radially inward, firmly clamping the outer surface or the preset clamping portion at the end of the stator. The inner side of the jaws is equipped with an elastic buffer layer, such as polyurethane, to further protect the stator surface from damage.

[0053] After the gripping is completed, the PLC controller drives the buffer clamping rod 140 to move vertically upward. During this process, the buffer spring 130 gradually rebounds and releases, maintaining a stable clamping force between the gripper and the stator. At the same time, the elasticity of the buffer spring 130 absorbs the instantaneous impact during the upward start, ensuring that the stator smoothly detaches from the material tray.

[0054] After the stator is successfully gripped and lifted to a safe height, the XY axis guide rail 120 starts again, driving the sliding seat to move the buffer clamping rod 140 in the horizontal plane to the lower conveyor belt, and then transported to the individual pick-up clamping hand 200 via the conveyor belt.

[0055] according to Figure 1As shown, a detection mechanism 900 is installed at the side end of the conveyor line 700, away from the quick-release transfer robotic arm 800. The detection mechanism 900 includes a magnetic flux detection end and a sorting robot 910. The magnetic flux detection end is used to detect the magnetic flux of the assembled stator and rotor structure. If the detected value exceeds a preset threshold, it is judged as a defective product, and the sorting robot 910 transfers the defective product to the defective product conveyor line. A qualified part alignment conveyor 920 is installed at the side end of the detection mechanism 900. The output end of the qualified part alignment conveyor 920 is connected to a finished product buffer area, which is equipped with a laser marking machine for marking the model and production date of qualified finished products.

[0056] Specifically, when the finished product arrives at the working area of ​​the testing mechanism 900, the conveyor line 700 pauses operation, ensuring the finished product stops precisely below or in front of the magnetic flux detection end. Once the finished product is in place, the conveyor line 700 sends a positioning signal to the testing mechanism 900. Upon receiving the signal, the control system of the testing mechanism 900 activates the magnetic flux detection end, preparing to execute the testing action.

[0057] Next, after the magnetic flux detection end is activated, its sensor begins to collect magnetic field data inside the finished product. For the stator and rotor components of a permanent magnet synchronous motor, the detection end can measure the magnetic flux density and magnetic field distribution uniformity of the rotor magnets.

[0058] For static detection, the sensor moves along the inner circumference of the stator or the finished product rotates once at the detection station to collect magnetic field strength values ​​at multiple points.

[0059] For dynamic detection, an external drive device can be used to rotate the rotor, and the sensor can collect the back electromotive force waveform or magnetic field alternation characteristics under the rotation state.

[0060] The built-in data processor of the testing unit 900 compares the collected magnetic flux data with preset process thresholds. If all test values ​​are within the preset threshold range, the product is judged as qualified. If any test value exceeds the preset threshold range, the product is judged as unqualified. Then, the unqualified product is sorted by the subsequent sorting robot 910, or the qualified product is transported and marked by the qualified product marking conveyor 920.

[0061] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated motor assembly production line, characterized in that, include: The rotor clamping mechanism (400) includes a first clamping hand capable of driving the rotor to rotate; A guide sleeve mounting mechanism (500) is installed on the side of the rotor clamping mechanism (400), the guide sleeve mounting mechanism (500) includes a guide sleeve return conveyor belt (510) and a guide sleeve assembly (520). The guide sleeve assembly (520) includes a guide sleeve (521) and a third clamping hand capable of aligning the guide sleeve (521) with the center of the stator. The guide sleeve (521) has a cylindrical structure. The inner wall of the guide sleeve (521) forms a precision sliding fit with the outer wall of the rotor. The outer wall of the guide sleeve (521) is smaller than the inner wall of the stator to form a radial gap. The rear end of the guide sleeve (521) is provided with a radial telescopic claw (525) that mates with the T-slot at the end of the rotor. The side end of the radial telescopic claw (525) is provided with an electromagnetic brake (527) for controlling the extension and retraction of the radial telescopic claw (525). The guide sleeve (521) is a composite cylindrical wall structure, comprising: The outer side has a friction-reducing layer made of PTFE material, which is used to reduce friction with the inner wall of the stator; The silicon steel sheet stacked magnetic blocking layer (529) on the middle side has a stacking direction perpendicular to the direction of the magnetic field lines, forming a closed magnetic circuit structure. The inner copper-based elastic bushing (5290) has axially distributed elastic grooves (5291) on its surface along the circumferential direction. The elastic grooves (5291) are used to compensate for the eccentricity between the rotor and the guide sleeve (521). A stator positioning mechanism (600) is installed on the side of the guide sleeve mounting mechanism (500). The stator positioning mechanism (600) includes a second clamping hand for clamping the stator and keeping the stator axis coincide with the axis of the rotor clamped by the rotor clamping mechanism (400).

2. The automatic motor assembly production line according to claim 1, characterized in that: The rear end of the guide sleeve (521) is fixedly connected to the mounting sleeve (523), the electromagnetic brake (527) is installed in the mounting sleeve (523), and the output end of the electromagnetic brake (527) is evenly connected to four sets of connecting rods (524) along the circumference. The four sets of connecting rods (524) are respectively connected to the corresponding radial telescopic claws (525) for transmission.

3. The automatic motor assembly production line according to claim 2, characterized in that: The radial telescopic claw (525) has a protrusion (526) at its end that mates with the T-slot at the end of the rotor. The mounting sleeve (523) has a laser alignment component (528) at its center for alignment calibration when the guide sleeve is engaged with the rotor. The guide sleeve (521) has a chamfered guide surface (522) at its front end for guiding the rotor to be coaxial with the stator during the initial insertion stage.

4. The automatic motor assembly production line according to claim 1, characterized in that: The guide sleeve return conveyor belt (510) is installed on the back side of the guide sleeve installation mechanism (500) for sequential installation after being clamped by the third clamping hand, and the stator positioning mechanism (600) is provided with a conveyor line (700) on its side end.

5. The automatic motor assembly production line according to claim 4, characterized in that: A quick-release transfer robot arm (800) is installed on the side of the conveyor line (700) near the stator positioning mechanism (600). The quick-release transfer robot arm (800) is used to automatically separate the guide sleeve (521) from the rotor after the guide sleeve (521), rotor and stator are assembled, and transfer the guide sleeve (521) to the surface of the guide sleeve return conveyor belt (510) for recycling.

6. The automatic motor assembly production line according to claim 4, characterized in that: The surface of the conveyor line (700) is provided with horizontal rotating clamping bases (300) evenly spaced. The side end of the conveyor line (700) is provided with a separate part-picking clamping hand (200). The separate part-picking clamping hand (200) is used to clamp a single stator to the horizontal rotating clamping base (300) and use the horizontal rotating clamping base (300) to flip it from the vertical direction to the horizontal direction.

7. The automatic motor assembly production line according to claim 6, characterized in that: The side end of the individual pick-up clamp (200) is provided with an initial output component (100). The initial output component (100) includes: Mounting bracket (110); XY axis guide rails (120) are mounted on the top of the mounting bracket (110); A buffer clamping rod (140) is provided with a buffer spring (130) on its top. The top of the buffer spring (130) is connected to the bottom of the sliding seat of the X / Y axis guide rail of the cross plate and the X / Y axis guide rail (120).

8. The automatic motor assembly production line according to claim 4, characterized in that: A detection mechanism (900) is installed at the side end of the conveyor line (700) away from the quick-release transfer robot arm (800). The detection mechanism (900) includes a magnetic flux detection end and a sorting robot (910). The magnetic flux detection end is used to detect the magnetic flux of the assembled stator and rotor structure. If the detected value exceeds the preset threshold, it is determined to be a defective product. The sorting robot (910) transfers the defective product to the defective product conveyor line.

9. The automatic motor assembly production line according to claim 8, characterized in that: The side end of the testing mechanism (900) is equipped with a qualified part calibration and conveying mechanism (920).

10. The automatic motor assembly production line according to claim 9, characterized in that: The output end of the qualified part alignment conveyor (920) is connected to a finished product buffer area, which is equipped with a laser marking machine for marking the model and production date of qualified finished products.

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