An outer rotor machining apparatus

Abstract

This invention relates to the field of generator rotor machining technology. It provides an external rotor machining equipment, comprising a dynamic balancing testing device, a magnetizing device, and a robotic arm for transporting the external rotor. It also includes a positioning device for intermediate positioning correction of the external rotor between the dynamic balancing testing device and the magnetizing device. The positioning device includes: a base disposed between the dynamic balancing testing device and the magnetizing device; a support member disposed on the base, which abuts against and supports the external rotor against the inner wall of the transmission hole; a positioning block disposed on the outer wall of the support member, which enters the keyway of the external rotor, and has a guide slope at its top; and a positioning frame disposed on the top surface of the magnetizing device, which has a positioning groove for positioning protrusions on the outer wall of the external rotor, thus performing secondary circumferential positioning of the external rotor. This invention solves the technical problem in the prior art where the accumulation of errors during multi-axis rotation of the robotic arm to transport the external rotor leads to deviations in the magnetizing position of the external rotor.

Description

Technical Field

[0001] This invention relates to the field of generator rotor machining technology, and more specifically, to a machining equipment for external rotors. Background Technology

[0002] The outer rotor is a major component of the generator, rotating on the inner stator where coils are wound. The end face of the outer rotor has a transmission hole for connecting to an external drive shaft, and a keyway is provided within the transmission hole. The outer rotor machining equipment includes machining equipment, magnetization equipment, and testing equipment. After the outer rotor is machined, it needs to undergo dynamic balancing and magnetization sequentially.

[0003] The inner circumferential wall of the outer rotor is equipped with permanent magnets. Initially, these magnets are non-magnetic. After being magnetized, they form magnetic poles that are regularly distributed on the inner circumferential wall of the outer rotor. To facilitate the determination of the magnetic pole positions during subsequent installation or maintenance, a protrusion is typically provided on the outer circumferential wall of the outer rotor. The position of this protrusion is based on the keyway on the outer rotor. During magnetization, it is necessary to ensure that the protrusion on the outer wall is in the designated position to guarantee that the magnetic poles on the outer rotor are distributed according to the preset scheme.

[0004] The outer rotor undergoes advanced dynamic balancing testing, and magnetization only proceeds after the dynamic balancing test is passed. During dynamic balancing, the keyway-equipped side of the outer rotor is positioned downwards to connect with the drive shaft of the dynamic balancing testing device. However, during magnetization, the keyway-equipped side of the outer rotor must be positioned upwards so that the magnetizing component at the bottom can enter the outer rotor to energize it. Therefore, a robotic arm is typically used to transfer the outer rotor between the dynamic balancing testing device and the magnetization device. During this transfer, the robotic arm involves at least three-axis rotation, and each rotation introduces an inherent positional error. The cumulative effect of these multi-axis movements leads to a final positional deviation of the outer rotor on the magnetization device.

[0005] In existing technologies, error correction is typically achieved through the adjustment of robotic arms. However, with increased usage, the error correction parameters adjusted by the robotic arm can drift, necessitating periodic readjustment and adjustment of the robotic arm, which impacts the continuous operation efficiency of the production line. Summary of the Invention

[0006] To overcome the above-mentioned defects, embodiments of the present invention provide an external rotor processing device, which solves the technical problem of error accumulation causing deviation in the magnetization position of the external rotor when the robotic arm rotates and transports the external rotor in multiple axes in the prior art.

[0007] According to one aspect, at least one embodiment of the present invention provides an external rotor processing apparatus, including a dynamic balancing testing device, a magnetizing device, and a robotic arm for transferring the external rotor, and further including a positioning device for intermediate positioning correction of the external rotor between the dynamic balancing testing device and the magnetizing device, the positioning device comprising: A base is disposed between the dynamic balancing test device and the magnetizing device; A support member is disposed on the base, the support member being used to abut against the inner wall of the transmission hole of the outer rotor and support the outer rotor; A positioning block is disposed on the outer wall of the support member. The positioning block is used to enter the keyway of the outer rotor to perform circumferential positioning of the outer rotor. The top of the positioning block has a guide slope, which can abut against the bottom edge of the keyway of the outer rotor to push the outer rotor to rotate circumferentially to the position where the keyway matches the positioning block. The top surface of the magnetizing device is provided with a positioning frame, and the positioning frame is provided with a positioning groove. The positioning groove is used to position the protrusions on the outer wall of the outer rotor to perform secondary circumferential positioning of the outer rotor, so that the magnetic poles of the permanent magnet inside the outer rotor correspond to the magnetic poles of the magnetizing head of the magnetizing device.

[0008] For example, in at least one embodiment of the present invention, a support member is rotatably mounted on the base. The support member can drive the outer rotor to rotate and adjust the position of the outer wall protrusion of the outer rotor through the positioning block, so that the robotic arm can place the outer rotor on the magnetizing device by moving only vertically and horizontally, and make the outer wall protrusion of the outer rotor fit with the positioning groove.

[0009] For example, in at least one embodiment of the present invention, a support member for an external rotor processing device is provided, wherein the support member is a conical platform, so that during the process of the robotic arm clamping the external rotor and moving it to the top of the support member and moving it along the axial direction of the support member, the support member can guide the transmission hole of the external rotor to be coaxially aligned with the support member, so as to eliminate the horizontal position error of the external rotor during the transfer process.

[0010] For example, at least one embodiment of the present invention provides a machining equipment for an external rotor, which further includes a weight reduction device for milling process holes in the external rotor. The weight reduction device is located between the positioning device and the dynamic balancing testing device, and is used to mill an external rotor that fails the dynamic balancing test. The weight reduction device includes: frame; A horizontally movable frame is movably mounted on the machine frame, and a centering chuck is provided on the top of the horizontally movable frame for centering and clamping the outer rotor; A lifting frame is mounted on the machine frame, and a milling cutter is rotatably mounted on the lifting frame. The milling cutter is used to mill the inner wall of the process hole of the outer rotor to perform fixed-point weight reduction. A controller is electrically connected to the weight reduction device and the dynamic balancing test device. The controller is configured to receive detection data from the dynamic balancing test device. For example, in at least one embodiment of the present invention, a machining equipment for an external rotor is provided, wherein the centering chuck has a through hole at its center, and the horizontal moving frame has a chip collection cavity communicating with the through hole. The chip collection cavity is connected to a negative pressure device so that the milling chips are collected into the chip collection cavity to prevent the chips from adhering to the surface of the external rotor.

[0011] For example, at least one embodiment of the present invention provides a chip removal device for cleaning chips from the inner wall of the outer rotor in an external rotor machining equipment, the chip removal device comprising: A bracket is mounted on the frame; An air blowing component is mounted on the bracket and is capable of blowing air into the inner cavity of the outer rotor to discharge debris from the inner cavity of the outer rotor.

[0012] For example, in at least one embodiment of the present invention, a weight reduction device for an external rotor processing device further includes: A rotating frame is rotatably mounted on the horizontally movable frame, a centering chuck is mounted on the rotating frame, and a chip collection cavity is mounted on the rotating frame; The bracket is located on one side of the horizontal moving frame, and the air blowing component extends in the horizontal direction. The rotating frame can drive the centering chuck to rotate so that when the centering chuck moves closer to the air blowing component, the air blowing component can enter the inner cavity of the outer rotor on the centering chuck.

[0013] For example, in at least one embodiment of the present invention, in an external rotor processing device, the air blowing element is a conical platform, the top of the air blowing element can extend into and pass through the inner cavity of the external rotor, and a plurality of air blowing holes are provided on the side wall of the air blowing element. The plurality of air blowing holes are arranged in a ring, and the plurality of air blowing holes are all facing the top of the air blowing element, so that the airflow blown out by the air blowing holes contacts the end face of the external rotor, and is discharged along the inner wall of the external rotor, carrying the debris attached to the inner wall of the external rotor.

[0014] For example, in an external rotor processing device provided by at least one embodiment of the present invention, the air blowing component is rotatably mounted on the bracket so that the air blowing component forms a spiral airflow in the inner cavity of the external rotor, thereby preventing debris from adhering to the end face of the external rotor.

[0015] For example, in at least one embodiment of the present invention, a machining device for external rotors is provided, wherein the end of the robotic arm is provided with two grippers, each gripper being used to grip an external rotor.

[0016] The beneficial effects of this invention are as follows: In this invention, by adding an independent positioning device between the dynamic balancing test and the magnetization station, the initial error caused by the 180° rotation and multi-axis rotation of the robotic arm can be corrected during the transfer. On the one hand, it does not need to rely on the absolute high precision of the robotic arm, and on the other hand, it does not need to stop and debug every once in a while, thereby avoiding the magnetization deviation caused by the error drift of the robotic arm and ensuring the continuous and stable operation of the production line.

[0017] The positioning device utilizes the transmission holes and keyways inherent in the outer rotor as positioning references, eliminating the need for additional machining of dedicated positioning structures. This saves on workpiece machining costs and completely eliminates positional errors caused by reference conversion. The guide slope at the top of the positioning block allows the outer rotor to automatically complete circumferential alignment as it moves downwards, without the need for an additional angle drive mechanism. This simplifies the equipment structure and allows for adaptation to a certain range of placement errors in the robotic arm, improving the equipment's fault tolerance and operational stability.

[0018] The positioning slots at the magnetization station engage with the protrusions on the outer wall of the outer rotor to form a two-stage positioning system. This further eliminates residual errors and secondary transport deviations, ensuring precise alignment between the permanent magnet poles and the magnetization head. This avoids problems such as decreased power generation efficiency and excessive vibration and noise caused by pole misalignment, significantly improving product qualification rates. The entire positioning process is completed in one step, greatly shortening the positioning time for a single workpiece and increasing the production line cycle time. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of the present invention and these drawings without any creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of the outer rotor; Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the overall structure of the magnetization device in this invention; Figure 4 for Figure 3 A magnified structural diagram at point A in the embodiment; Figure 5 This is a schematic diagram of the overall structure of the positioning device in this invention; Figure 6 for Figure 5 Enlarged structural diagram at point B in the embodiment; Figure 7 This is a schematic diagram of the overall structure of the weight reduction device and the chip removal device in this invention; Figure 8A schematic diagram of the overall structure of the horizontal moving frame and centering chuck; Figure 9 for Figure 8 A top view of the structure in the embodiment; Figure 10 for Figure 9 A schematic diagram of the DD-direction cross-sectional structure in the embodiment; Figure 11 This is a schematic diagram of the overall structure of the chip removal device in this invention; In the diagram: 100, Dynamic balancing test device; 200, Magnetizing device; 300, Robotic arm; 01, Outer rotor; 500, Positioning device; 510, Base; 520, Support component; 521, Positioning block; 011, Keyway; 522, Guide slope; 210, Positioning frame; 211, Positioning groove; 012, Protrusion; 600, Weight reduction device; 610, Frame; 620, Horizontal moving frame; 630, Centering chuck; 640, Lifting frame; 631, Through hole; 6211, Chip collection chamber; 700, Chip removal device; 710, Support; 720, Air blowing component; 621, Rotating frame; 721, Air blowing hole; 310, Gripper. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it.

[0022] To keep the drawings concise, each drawing only schematically shows the parts relevant to the invention; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0023] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of description and simplification of operation, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0026] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] like Figure 1 The diagram shows a schematic of the outer rotor 01. The outer rotor 01 is a cylindrical structure open at one end. A transmission hole is provided through the end face of the outer rotor 01, and a keyway 011 is provided on the inner wall of the transmission hole. Through the keyway 011 and the transmission hole, the outer rotor can be connected to an external drive device to generate electricity by rotating relative to the stator. A protrusion 012 is provided on the outer wall of the outer rotor, facing one of the N or S poles on the inner wall of the outer rotor, to facilitate installation, positioning, or maintenance.

[0028] This embodiment relates to an external rotor processing equipment, primarily used in automated production lines for generator external rotors. It performs dynamic balancing, weight reduction correction, positioning and transfer, and magnetization of the external rotor. As the core rotating component of the generator, the machining accuracy of the external rotor directly affects the generator's operational stability and power generation efficiency. In actual production, the external rotor needs to be rotated 180° from the dynamic balancing station to the magnetization station. The cumulative error caused by the multi-axis rotation of the robotic arm can easily lead to magnetization position deviations, affecting product quality.

[0029] like Figures 2-6As shown, this illustrates the outer rotor processing setup in one embodiment of the present invention. The outer rotor processing equipment has an overall C-shaped layout, allowing the working range of one robotic arm 300 to cover more devices. Specifically, it includes a dynamic balancing test device 100, a magnetizing device 200, a robotic arm 300, and a positioning device 500. Two robotic arms 300, employing multi-joint industrial robots, are used to handle the transfer of the outer rotor 01 between various workstations. After machining and permanent magnet pre-assembly, the outer rotor 01 first enters the dynamic balancing test device 100 for dynamic balancing testing. The dynamic balancing test device 100 uses a hard-bearing dynamic balancing machine, capable of accurately detecting the imbalance amount and phase of the outer rotor 01. Outer rotors 01 that pass the test are directly transferred by the robotic arm 300 to the positioning device 500; those that fail are transferred to the weight reduction device 600 for fixed-point milling and weight reduction. After weight reduction, they return to the dynamic balancing test device 100 for re-inspection. If the re-inspection fails, they are placed in the defective product placement area for manual inspection and correction or disposal.

[0030] The positioning device 500 includes a base 510, a support member 520, and a positioning block 521. The base 510 is fixed to the ground by expansion bolts, providing stable support for the entire positioning device. The support member 520 is located on top of the base 510 and is generally truncated conical in shape, with the upper diameter smaller than the inner diameter of the transmission hole of the outer rotor 01 and the lower diameter larger than the inner diameter of the transmission hole. When the robotic arm 300 places the outer rotor 01 on top of the support member 520 and moves it axially downward, the inner wall of the transmission hole gradually contacts the conical surface of the support member 520. The centering effect of the conical surface automatically guides the transmission hole of the outer rotor 01 to be coaxially aligned with the support member 520, eliminating horizontal position errors generated during transportation.

[0031] The positioning block 521 is fixedly installed on the outer wall of the support 520, and a guide slope 522 is machined on its top. During the downward movement of the outer rotor 01, if the keyway 011 is not aligned with the positioning block 521, the bottom edge of the keyway 011 will contact the guide slope 522. The guide slope 522 applies a circumferential force to the edge of the keyway 011, pushing the outer rotor 01 to slowly rotate around its own axis until the keyway 011 is completely engaged with the positioning block 521, thus achieving circumferential positioning of the outer rotor 01.

[0032] Based on this, the support member 520 is rotatably mounted on the base 510. A servo drive motor and an angle encoder are installed inside the base 510. The output shaft of the servo drive motor is connected to the lower end of the support member 520 via a coupling. The angle encoder detects the rotation angle of the support member 520 in real time and feeds it back to the controller. After the positioning block 521 engages with the keyway 011, the support member 520 forms a rigid circumferential connection with the outer rotor 01. The servo drive motor drives the support member 520 to rotate to a preset angle, thereby adjusting the protrusion 012 on the outer wall of the outer rotor 01 to the circumferential position corresponding to the positioning groove 211 on the magnetizing device 200. With this setup, when the robotic arm 300 retrieves material from the positioning device 500, it only needs to perform vertical lifting and horizontal translation operations, without any rotational adjustments. This completely avoids the accumulation of angle errors caused by multi-axis rotation and simplifies the control program of the robotic arm 300.

[0033] In actual use, the robotic arm 300 grips the outer rotor 01 and moves it above the support member 520. At this time, the axis of the transmission hole on the outer rotor 01 may deviate to a certain extent from the axis of the support member 520, but the deviation does not exceed the radius of the transmission hole of the outer rotor 01. The robotic arm 300 drives the outer rotor 01 to move vertically downward, so that the transmission hole fits into the tip of the support member 520. At this time, the robotic arm 300 can release the outer rotor, allowing the outer rotor 01 to fall under the action of gravity, and the horizontal position is corrected by using the conical support member 520.

[0034] For the circumferential positioning of the outer rotor 01 by the positioning block 521, a laser detector is installed on the positioning block 521. Before the robotic arm 300 places the outer rotor 01 onto the support member 520, the laser detector can determine whether the keyway above the positioning block 521 is facing the outer rotor 01. If not, the positioning block 521 can be aligned with the keyway of the outer rotor 01 by rotating the support member 520, thus recording the position of the positioning block 521. At this time, the robotic arm 300 lowers the outer rotor 01, allowing the keyway 011 of the outer rotor 01 to be fitted onto the positioning block 521 under the guidance of the guide ramp. Finally, the outer rotor 01 is rotated again by rotating the support member 520 to adjust the circumferential positioning of the outer rotor.

[0035] The above detection method is suitable for situations where the deviation between the axis of the outer rotor 01 and the axis of the support 520 is small. When the outer rotor 01 is suspended above the support 520, the laser detector can detect the distance data, thereby enabling the controller to determine the position of the keyway 011 based on the distance data.

[0036] If the deviation between the axis of the outer rotor 01 and the axis of the support 520 is too large, the controller cannot determine the position of the keyway 011 simply by using the distance data transmitted back by the laser detector. For example, distance A is the distance from the laser detector to the surface of the outer rotor, and distance B is the data passing through the outer rotor. When the detected section of distance B is significantly larger than the width of the keyway 011, it is determined that the deviation between the axis of the outer rotor 01 and the axis of the support 520 is too large. Optionally, a liftable top support can be added to the bottom of the support 520. After the outer rotor 01 is adjusted by passing through the conical outer wall of the support 520, the top support rises to lift the outer rotor 01 and keep it horizontal. The rotation of the support 520 allows the laser detector on the positioning block 521 to locate the position of the keyway 011 on the outer rotor 01.

[0037] A positioning frame 210 is fixedly installed on the top surface of the magnetizing device 200. The positioning frame 210 has a positioning groove 211 that matches the protrusion 012 on the outer wall of the outer rotor 01. The circumferential position of the positioning groove 211 corresponds to the pre-calibrated and fixed position of the magnetic pole of the magnetizing head inside the magnetizing device 200. When the robotic arm 300 places the adjusted outer rotor 01 into the magnetizing station, the protrusion 012 on the outer wall of the outer rotor 01 directly engages with the positioning groove 211, achieving secondary circumferential positioning. This ensures that the permanent magnet poles inside the outer rotor 01 are aligned with the magnetic poles of the magnetizing head, guaranteeing that the magnetic pole distribution after magnetization meets design requirements. A two-stage reference transmission system is formed through the keyway positioning of the intermediate positioning device 500 and the protrusion positioning of the magnetizing station. Even if the robotic arm 300 experiences positioning drift after long-term use, it can be automatically corrected through the two-stage positioning structure, eliminating the need for frequent shutdowns for adjustment and effectively improving the continuous operation efficiency of the production line.

[0038] Furthermore, the weight reduction device 600 includes a frame 610, a horizontal moving frame 620, a centering chuck 630, and a lifting frame 640. The frame 610 is welded from structural steel, possessing sufficient strength and rigidity to withstand vibrations and loads during milling. The horizontal moving frame 620 is slidably mounted on top of the frame 610 via a linear guide pair and is driven by a servo motor through a ball screw pair. It can reciprocate along the length and width directions of the frame 610, allowing the outer rotor 01 to remain at any position in the horizontal plane within the stroke range of the horizontal moving frame 620. This enables the milling cutter to descend and perform targeted milling to reduce the weight of the outer rotor 01.

[0039] The centering chuck 630 is a three-jaw self-centering chuck, mounted on the horizontal moving frame 620. It can automatically center and clamp the outer rotor 01, ensuring that the axis of the outer rotor 01 is perpendicular to the feed axis of the milling cutter. The lifting frame 640 is slidably mounted above the frame 610 via a column and linear guide pair, and is driven by a servo motor through a ball screw pair to move up and down vertically. An electric spindle is mounted at the lower end of the lifting frame 640, and the milling cutter is clamped at the output end of the high-speed electric spindle, which drives the spindle to rotate for milling operations.

[0040] The controller is electrically connected to the dynamic balancing test device 100 and the weight reduction device 600, and uses a PLC control system. After receiving the unbalance amount and unbalance phase data sent by the dynamic balancing test device 100, the controller calculates the volume of material to be milled and the corresponding milling depth. Then, it controls the horizontal moving frame 620 to move the outer rotor 01 directly below the milling cutter, so that the process hole on the outer rotor 01 corresponding to the unbalance phase is aligned with the milling cutter. The lifting frame 640 drives the milling cutter to descend into the process hole, and the high-speed electric spindle drives the milling cutter to rotate, completing the fixed-point milling weight reduction and ensuring that the dynamic balance accuracy of the outer rotor 01 meets the requirements after weight reduction.

[0041] The centering chuck 630 has a through hole 631 at its center. A chip collection chamber 6211 is provided on the horizontal moving frame 620. The upper end of the chip collection chamber 6211 is directly connected to the through hole 631, and the lower end is connected to an external negative pressure device via a flexible negative pressure hose with spare length. Metal chips generated during milling fall directly into the chip collection chamber 6211 through the through hole 631 under the combined action of gravity and negative pressure. They are then transported by the negative pressure airflow to an external dust collection bin for centralized collection, or a barrier net is installed inside the chip collection chamber 6211 to intercept and collect the chips. This internal chip collection method effectively prevents chips from adhering to the surface of the outer rotor 01, thus avoiding chip interference with subsequent dynamic balancing and magnetization accuracy. The flexible negative pressure hose is made of wear-resistant polyurethane material and can move according to the position of the horizontal moving frame 620 without pipe twisting or breakage. Compared with traditional rotary joint structures, it has advantages such as low cost, no risk of air leakage, and convenient maintenance.

[0042] To thoroughly remove fine debris remaining in the inner cavity and on the inner wall of the outer rotor 01, the weight reduction device 600 is also equipped with a chip removal device 700. The chip removal device 700 includes a support 710 and an air blowing component 720. The support 710 is fixedly mounted on one side of the frame 610, and the air blowing component 720 is horizontally mounted on the upper end of the support 710. The air blowing component 720 of the chip removal device 700 is located above the horizontal moving frame 620. After milling, the horizontal moving frame 620 moves the outer rotor 01 to below the air blowing component 720. The air blowing component 720 blows air into the inner cavity of the outer rotor 01 from the top opening of the outer rotor 01. After hitting the end face of the outer rotor 01, the airflow flows upward along the inner wall of the outer rotor 01, forming an annular airflow loop. During the upward flow of the airflow along the inner wall of the outer rotor 01, it can carry away the debris adhering to the inner wall of the outer rotor 01, thereby discharging the debris from the inner cavity of the outer rotor 01.

[0043] Furthermore, to improve the debris removal efficiency in the inner cavity of the outer rotor 01, in some preferred embodiments, a rotating frame 621 is added to the top of the horizontal moving frame 620. The rotating frame 621 is rotatably mounted on the top surface of the horizontal moving frame 620, and optionally, is driven by a servo motor or by a cylinder and connecting rod, such as... Figures 7-10 As shown, the rotating frame 621 is driven to rotate by a cylinder or hydraulic cylinder and a connecting rod, enabling it to reciprocate within the range of 0° to 90°. For ease of description, it is collectively referred to as a linear drive device. The linear drive device is rotatably mounted on the frame 610, and its drive end is connected to the rotating frame 621 via a C-shaped connecting rod. The connection positions of the C-shaped connecting rod and the rotating frame 621, and the connection positions of the linear drive device and the frame, are located on opposite sides of the rotation axis of the rotating frame 621. The height of the connection position between the linear drive device and the frame 610 is not lower than the height of the connection position between the linear drive device and the C-shaped connecting rod when the rotating frame 621 is at 90°. To ensure that the rotating frame 621 can stably stop at the 0° or 90° position, a limiting block is set on the rotation path of the rotating frame 621. The limiting block allows the rotating frame 621 to stably stop at the 0° or 90° position. The 0° position corresponds to milling, and the 90° position corresponds to chip removal from the inner cavity of the outer rotor 01. The centering chuck 630 is fixedly installed on the top surface of the rotating frame 621. The chip collection cavity 6211 is correspondingly opened inside the rotating frame 621. The upper end is still connected to the through hole 631 of the centering chuck 630, and the lower end is connected to the external negative pressure device through a flexible negative pressure hose.

[0044] The support 710 of the chip removal device 700 is adjusted to one side of the frame 610, and the air blowing component 720 is horizontally installed on the upper end of the support 710. After the milling and weight reduction are completed, the rotating frame 621 drives the centering chuck 630 and the outer rotor 01 to rotate 90°, so that the inner cavity opening of the outer rotor 01 is horizontally facing the air blowing component 720. The horizontal moving frame 620 drives the rotating frame 621 to move towards the support 710, so that the air blowing component 720 extends into the inner cavity of the outer rotor 01.

[0045] like Figure 7 , Figure 11 As shown, the air blowing component 720 is generally truncated conical in shape, with 12 air blowing holes 721 on its side wall. These 12 holes 721 are evenly distributed along the circumference of the air blowing component 720, and the air outlet direction of all holes 721 is towards the top of the air blowing component 720. Compressed air is ejected at high speed through the air blowing holes 721, impacts the end face of the outer rotor 01, rebounds, and flows along the inner wall of the outer rotor 01 towards the opening. At this time, the opening of the outer rotor 01 is horizontal, and the airflow direction is perpendicular to the direction of gravity. Debris is more easily discharged from the opening under the combined action of airflow and its own gravity, and will not accumulate at the bottom of the inner cavity.

[0046] Furthermore, the air-blowing component 720 is rotatably mounted on the bracket 710 via bearings and is driven to rotate by a small pneumatic motor, causing the ejected airflow to form a spiral shape. This enhances the scouring force of the airflow on the inner wall, preventing debris from adhering to the end face of the outer rotor 01 and improving the debris removal effect. After debris removal is completed, the rotating frame 621 drives the outer rotor 01 to rotate 90°, restoring it to a vertical position, and it is then transferred by the robotic arm 300 to the dynamic balancing testing device 100 for re-inspection.

[0047] The end of the robotic arm 300 is equipped with a dual-gripper mechanism, including two independently controlled grippers 310. Each gripper 310 is pneumatic and can stably hold the outer wall of the outer rotor 01. During operation, after one gripper 310 picks up the processed outer rotor 01 and leaves the station, the other gripper 310 places the outer rotor 01 to be processed back onto the station. This avoids significant movement of the robotic arm 300 during loading and unloading at the same station, effectively shortening the waiting time at the station and improving the overall processing efficiency of the production line.

[0048] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An external rotor processing device, comprising a dynamic balancing test device (100), a magnetizing device (200), and a robotic arm (300) for transferring an external rotor (01), characterized in that, It also includes a positioning device (500) disposed between the dynamic balancing test device (100) and the magnetizing device (200) for positioning and correcting the outer rotor (01), the positioning device (500) comprising: Base (510); A support member (520) is disposed on the base (510), and the support member (520) is used to extend into the transmission hole of the outer rotor (01) and support the outer rotor (01). A positioning block (521) is disposed on the peripheral wall of the support member (520). The positioning block (521) is used to extend into the keyway (011) of the outer rotor (01) to perform circumferential positioning of the outer rotor (01). The top of the positioning block (521) has a guide slope (522). The guide slope (522) can abut against the bottom edge of the keyway (011) of the outer rotor (01) to push the outer rotor (01) to rotate circumferentially to the position where the keyway (011) matches the positioning block (521). The top surface of the magnetizing device (200) is provided with a positioning frame (210), and the positioning frame (210) is provided with a positioning groove (211) extending vertically. The positioning groove (211) is used to position the protrusion (012) on the outer periphery of the outer rotor (01) to perform circumferential secondary positioning of the outer rotor (01) so that the magnetic pole of the permanent magnet in the outer rotor (01) corresponds to the magnetic pole position of the magnetizing head of the magnetizing device (200). The support member (520) is rotatably mounted on the base (510). The support member (520) can drive the outer rotor (01) to rotate and adjust the position of the outer wall protrusion (012) of the outer rotor (01) through the positioning block (521), so that the robotic arm (300) can place the outer rotor (01) on the magnetizing device (200) by only vertical and horizontal movement, and make the outer wall protrusion (012) of the outer rotor (01) fit with the positioning groove (211); The support member (520) is a cone-shaped platform. When the robotic arm (300) clamps the outer rotor (01) and moves it along the axial direction of the support member (520), the support member (520) can guide the transmission hole of the outer rotor (01) to be coaxially aligned with the support member (520) in order to eliminate the horizontal position error of the outer rotor (01) during the transfer process. A laser detector is provided on the positioning block (521). Before the robotic arm (300) places the outer rotor (01) on the support member (520), the laser detector is used to detect whether the positioning block (521) is directly facing the keyway (011) of the outer rotor (01). After the positioning block (521) is directly facing the keyway (011) of the outer rotor (01), the robotic arm (300) then places the outer rotor (01) on the support member (520).

2. The external rotor processing equipment according to claim 1, characterized in that, It also includes a weight reduction device (600) disposed between the positioning device (500) and the dynamic balancing test device (100) for milling the process hole of the outer rotor (01), the weight reduction device (600) comprising: Rack (610); A horizontal moving frame (620) is movably mounted on the frame (610). A centering chuck (630) is provided on the top of the horizontal moving frame (620). The centering chuck (630) is used to center and clamp the outer rotor (01). A lifting frame (640) is lifted and mounted on the frame (610). A milling cutter is rotatably mounted on the lifting frame (640). The milling cutter is used to mill the inner wall of the process hole of the outer rotor (01) to perform fixed-point weight reduction. The controller is electrically connected to the weight reduction device (600) and the dynamic balance test device (100). The controller is configured to receive the detection data of the dynamic balance test device (100), determine the unbalance phase of the outer rotor (01) based on the detection data, and control the horizontal moving frame (620) to move the outer rotor (01) below the milling cutter.

3. The external rotor processing equipment according to claim 2, characterized in that, The centering chuck (630) has a through hole (631) at its center, and the horizontal moving frame (620) has a chip collection cavity (6211) that communicates with the through hole (631). The chip collection cavity (6211) is connected to a negative pressure device so that the milling chips are collected into the chip collection cavity (6211) to prevent the chips from adhering to the surface of the outer rotor (01).

4. The external rotor processing equipment according to claim 3, characterized in that, It also includes a chip removal device (700) for cleaning chips from the inner wall of the outer rotor (01), the chip removal device (700) comprising: A bracket (710) is mounted on the frame (610); An air blowing element (720) is disposed on the bracket (710). The air blowing element (720) is capable of blowing air into the inner cavity of the outer rotor (01) to discharge debris from the inner cavity of the outer rotor (01).

5. A machining equipment for external rotors according to claim 4, characterized in that, The weight reduction device (600) also includes: A rotating frame (621) is rotatably mounted on the horizontally movable frame (620), a centering chuck (630) is mounted on the rotating frame (621), and a chip collection cavity (6211) is mounted on the rotating frame (621). The bracket (710) is located on one side of the horizontal moving frame (620), and the air blowing component (720) extends in the horizontal direction. The rotating frame (621) can drive the centering chuck (630) to rotate so that when the centering chuck (630) moves close to the air blowing component (720), the air blowing component (720) can enter the inner cavity of the outer rotor (01) on the centering chuck (630).

6. The external rotor machining equipment according to claim 5, characterized in that, The air blowing component (720) is a conical truncated cone. The top of the air blowing component (720) can extend into and pass through the inner cavity of the outer rotor (01). A plurality of air blowing holes (721) are provided on the side wall of the air blowing component (720). The plurality of air blowing holes (721) are distributed circumferentially along the air blowing component (720), and the plurality of air blowing holes (721) are all facing the extension end of the air blowing component (720), so that the airflow blown out by the air blowing holes (721) comes into contact with the end face of the outer rotor (01), and is discharged along the inner wall of the outer rotor (01) and carries the debris attached to the inner wall of the outer rotor (01).

7. A machining equipment for external rotors according to claim 6, characterized in that, The air blowing component (720) is rotatably mounted on the bracket (710) so that the air blowing component (720) forms a spiral airflow in the inner cavity of the outer rotor (01) to prevent debris from sticking to the end face of the outer rotor (01).

8. The external rotor machining equipment according to claim 1, characterized in that, The end of the robotic arm (300) is provided with two grippers (310), each gripper (310) being used to grip an outer rotor (01).

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