A rear axle motor intelligent centering assembly system based on laser displacement sensing

Abstract

The present application relates to rear axle motor assembly technical field, especially in a kind of rear axle motor intelligent centering assembly system based on laser displacement sensing, including datum plane construction module, for establishing assembly measurement coordinate system, based on multiple space measuring point coordinates fitting formation assembly datum plane;Slip propulsion detection module, for controlling rear axle motor along assembly guide rail segmented propulsion towards rear axle motor mounting end surface, and after each slip section is completed, the axial distance of motor assembly end surface circumferential measuring point relative to assembly datum plane and the center coordinates of motor positioning outer circle are collected;Slip posture correction module, based on coaxality deviation generates posture correction quantity, and posture correction is executed according to posture correction quantity.The present application can realize the whole process closed-loop control from assembly datum plane establishment, slip deviation identification, posture correction, pre-tightening disturbance judgment to trace compensation review, improve the degree of automation of rear axle motor centering assembly, detection accuracy and final locking consistency.

Description

Technical Field

[0001] This invention relates to the field of rear axle motor assembly technology, specifically to an intelligent alignment and assembly system for rear axle motors based on laser displacement sensing. Background Technology

[0002] When assembling the rear axle motor with the rear axle input end, the motor output shaft needs to maintain a high degree of coaxiality with the rear axle input shaft to ensure smooth power transmission, reliable connection structure, and effective vibration control during subsequent operation. Current rear axle motor assembly processes typically rely on guide rail positioning, end-face fitting, manual measurement verification, or static inspection after assembly to determine motor alignment. While these methods can confirm the geometric position after assembly to some extent, they primarily focus on the final assembly state and are insufficient to reflect changes in axial offset during the motor's sliding and advancing along the assembly guide rail.

[0003] In actual assembly, the rear axle motor mounting end face and the rear axle motor installation end face are not always perfectly parallel. Due to the influence of guide rail clearance, tooling clamping error, motor self-weight off-center loading, end face machining error, and changes in pushing resistance, the motor may experience end face tilting, positioning outer circle center offset, and motor axis deflection relative to the rear axle input axis during sliding and pushing. If a one-time inspection is only performed after pushing is completed, the deviation may accumulate until it reaches the fitting position before being discovered, leading to difficulties in rework and adjustment, and reduced assembly efficiency. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides an intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing. This system establishes a unified measurement benchmark throughout the entire process of rear axle motor sliding and bolt graded pre-tightening, continuously acquiring the motor assembly end face posture, positioning outer circle center offset, and pre-tightening disturbance status, and performs alignment correction and locking verification accordingly.

[0005] This invention adopts the following technical solution: an intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing, comprising:

[0006] The reference surface construction module is used to establish an assembly measurement coordinate system, collect multi-point laser displacement values ​​of the rear axle motor mounting end face, convert the multi-point laser displacement values ​​into coordinates of multiple spatial measuring points in the assembly measurement coordinate system, and form an assembly reference surface based on the multiple spatial measuring point coordinates.

[0007] The sliding propulsion detection module is used to control the rear axle motor to advance in segments along the assembly guide rail toward the rear axle motor mounting end face. After each sliding segment is completed, the axial distance of the circumferential measuring point of the motor assembly end face relative to the assembly reference surface and the center coordinates of the outer circle of the motor positioning are collected. Based on the axial distance and the center coordinates of the outer circle of the motor positioning, a motor sliding deviation indicator is formed.

[0008] The slip attitude correction module is used to calculate the coaxiality deviation of the motor axis relative to the rear axle input axis based on the axial difference of the motor assembly end face and the offset of the center of the motor positioning outer circle when the motor slip deviation mark is formed, and to generate an attitude correction amount based on the coaxiality deviation, and to perform attitude correction based on the attitude correction amount.

[0009] As a further description of the above technical solution: a rear axle motor intelligent alignment and assembly system based on laser displacement sensing also includes:

[0010] The preload disturbance identification module is used to obtain the maximum axial change in the preload circumferential direction, the maximum springback in the preload circumferential direction, and the coaxiality deviation value after each preload stage when the control bolt preload mechanism performs stage preload in a diagonal sequence, and to determine whether a preload disturbance is formed.

[0011] The micro-compensation module is used to generate micro-compensation based on the lateral and vertical integrated offsets after the pre-tightening is formed after the pre-tightening disturbance is identified, and to perform micro-compensation.

[0012] As a further description of the above technical solution: the method for establishing the assembly measurement coordinate system includes: taking the designed intersection point of the rear axle input axis and the rear axle motor mounting end face as the origin, the rear axle input axis as the Z-axis, the lateral positioning direction of the assembly tooling as the X-axis, and the vertical positioning direction of the assembly tooling as the Y-axis. The rear axle input axis is represented in the assembly measurement coordinate system as: ; .

[0013] As a further description of the above technical solution: the method for fitting and forming the assembly reference surface includes:

[0014] Collect coordinates of multiple spatial measuring points on the mounting surface of the rear axle motor. And fits to form an assembly reference surface, which is represented in the following form:

[0015] ;

[0016] in, Represents the axial coordinate of any point on the assembly reference surface; Indicates the horizontal coordinate of the point; This represents the vertical coordinate of the point; Indicates the inclination coefficient of the assembly reference plane in the lateral direction; Indicates the inclination coefficient of the assembly reference plane in the vertical direction; This indicates the intercept of the assembly reference plane in the Z-axis direction.

[0017] As a further description of the above technical solution: the method for fitting and forming an assembly reference surface further includes: generating a reference surface confirmation state;

[0018] The method for generating the reference surface confirmation status includes:

[0019] The assembly reference surface is repeatedly fitted over multiple consecutive sampling periods. Let the lateral tilt coefficient, vertical tilt coefficient, and intercept obtained in the k-th sampling period be respectively... , and When Q consecutive sampling periods all satisfy:

[0020] ;

[0021] ;

[0022] ;

[0023] And it satisfies: Then the datum surface confirmation status is deemed to have met the standard, where, Let Q represent the axial residual of the i-th spatial measuring point relative to the assembly datum surface, and let Q represent the number of consecutive sampling periods required for the stability determination of the datum surface. Q is an integer not less than 3. This indicates the allowable variation in the lateral tilt coefficient; This indicates the allowable variation in the vertical tilt coefficient; This indicates the allowable variation in the intercept; This indicates the allowable value of the axial residual at the measuring point.

[0024] As a further description of the above technical solution: the circumferential measuring points on the motor assembly end face include upper end face measuring points, lower end face measuring points, left end face measuring points and right end face measuring points.

[0025] As a further description of the above technical solution: the method for generating a motor slippage deviation indicator based on the axial distance and the center coordinates of the outer circle of the motor positioning includes:

[0026] The axial distances of the upper end face measuring point, lower end face measuring point, left end face measuring point and right end face measuring point relative to the assembly reference surface are obtained in sequence, and the vertical axial difference, horizontal axial difference and average axial distance of the motor assembly end face are calculated.

[0027] The lateral and vertical boundary coordinates of the outer circle of the motor positioning were acquired using a radial laser displacement sensor. After calibration and conversion, the lateral coordinates of the measuring point on the right side of the outer circle of the motor positioning were: The horizontal coordinate of the measuring point on the left is The vertical coordinates of the upper measuring point are: The vertical coordinates of the lower measuring point are The coordinates of the center of the outer circle used for motor positioning are ( , );

[0028] The lateral and vertical offsets of the center of the outer circle of the motor positioning are obtained relative to the rear axle input axis based on the center coordinates of the outer circle of the motor positioning.

[0029] Based on the obtained vertical axial difference, horizontal axial difference, horizontal offset, and vertical offset, it is determined whether to generate a motor slip deviation indicator.

[0030] As a further description of the above technical solution: based on the obtained vertical axial difference Lateral axial difference Lateral offset and vertical offset Methods for determining whether to generate a motor slip deviation indicator include:

[0031] A motor slip deviation indicator is generated when any of the following conditions are met:

[0032] ;

[0033] ;

[0034] ;

[0035] ;

[0036] in, Indicates the allowable value for lateral axial difference; This indicates the allowable value for vertical axial difference; Indicates the allowed lateral offset value; This indicates the allowable vertical offset value.

[0037] As a further description of the above technical solution: the coaxiality deviation includes the lateral tilt angle, the vertical tilt angle, the lateral composite offset, the vertical composite offset, and the coaxiality deviation value synthesized by the lateral composite offset and the vertical composite offset.

[0038] As a further description of the above technical solution: the method for generating attitude correction based on coaxiality deviation includes:

[0039] The lateral and vertical offset components at the front positioning section of the motor output shaft caused by the tilt of the motor assembly end face are calculated based on the lateral tilt angle and the vertical tilt angle.

[0040] Based on the lateral and vertical offsets of the outer circle center of the motor positioning relative to the rear axle input axis, and the lateral and vertical offset components at the front positioning section of the motor output shaft caused by the tilt of the motor assembly end face, the comprehensive lateral and vertical offsets of the motor axis at the front positioning section of the motor output shaft relative to the rear axle input axis are calculated.

[0041] The attitude correction is generated based on the acquired lateral tilt angle, vertical tilt angle, lateral composite offset, and vertical composite offset. The attitude correction includes lateral translation compensation, vertical translation compensation, lateral angle compensation, and vertical angle compensation.

[0042] As a further description of the above technical solution: the method for determining whether a pre-tightening disturbance indicator has been formed includes:

[0043] From all the axial changes at all circumferential measuring points corresponding to the r-th preload, the axial change with the largest absolute value is selected as the maximum axial change in the circumferential preload corresponding to the r-th preload. ;

[0044] From all the springback values ​​measured at the circumferential measurement points after the r-th stage of pretensioning, the springback value with the largest absolute value is selected as the maximum circumferential springback value corresponding to the r-th stage of pretensioning. ;

[0045] Recalculate the coaxiality deviation value after the r-th stage preload. ;

[0046] Based on the maximum axial change Maximum rebound and coaxiality deviation Determine whether a pre-tightening disturbance indicator has been formed.

[0047] As a further description of the above technical solution: the method for generating the micro-compensation amount includes:

[0048] The micro-compensation amount includes the lateral micro-compensation amount and the vertical micro-compensation amount;

[0049] The formulas for calculating the lateral and vertical micro-compensation amounts are as follows:

[0050]

[0051]

[0052] in, This represents the amount of lateral micro-compensation that needs to be performed after the r-th level preload; This represents the amount of vertical micro-compensation that needs to be performed after the r-th level preload; Indicates the preload disturbance compensation coefficient; This represents the total lateral offset of the motor axis relative to the rear axle input axis after the r-th stage of preload. This represents the vertical composite offset of the motor axis relative to the rear axle input axis after the r-th stage of preload.

[0053] The beneficial effects of this invention are as follows:

[0054] This invention uses an axial laser displacement sensor to collect multi-point laser displacement values ​​on the mounting end face of the rear axle motor. These values ​​are then converted into spatial coordinates of measuring points in the assembly measurement coordinate system and fitted to form an assembly reference surface. This allows the rear axle motor's sliding and advancing movement, attitude correction, and pre-tightening verification to all be judged based on the same effective assembly reference. Simultaneously, during the segmented advancement of the motor, the axial distance of the circumferential measuring points on the motor's assembly end face and the coordinates of the center of the outer circle of the motor's positioning are acquired. This enables the identification of end face tilt, center offset, and axis deviation trends before the motor is fully engaged, and generates attitude correction values ​​accordingly. This allows the motor to complete closed-loop correction of lateral translation, vertical translation, and angular attitude during advancement, avoiding the accumulation of deviations at the engagement position and subsequent rework adjustments. This improves the measurement consistency and advancement stability of the rear axle motor's alignment and assembly.

[0055] Furthermore, after the motor assembly end face enters the mating position, the bolt diagonal graded pre-tightening process is continuously monitored. By acquiring the maximum axial change in the pre-tightening circumferential direction, the maximum springback in the pre-tightening circumferential direction, and the coaxiality deviation after pre-tightening for each grade of pre-tightening, local axial disturbances caused by bolt loading can be identified. After forming a pre-tightening disturbance indicator, a micro-compensation amount is generated based on the comprehensive lateral and vertical offsets after pre-tightening to perform micro-reverse compensation on the motor attitude. This ensures that the motor output shaft and the rear axle input shaft remain within the allowable coaxiality range in the final locked state, solving the problem of qualified alignment during the sliding stage but coaxiality mismatch after bolt tightening, and improving the final assembly quality. Attached Figure Description

[0056] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0057] Figure 1 This is a module connection diagram of a rear axle motor intelligent alignment and assembly system based on laser displacement sensing provided in Embodiment 1 of the present invention.

[0058] Figure 2 This is a flowchart of the method for generating attitude correction values ​​provided in Embodiment 1 of the present invention;

[0059] Figure 3 This is a module connection diagram of a rear axle motor intelligent alignment and assembly system based on laser displacement sensing provided in Embodiment 2 of the present invention. Detailed Implementation

[0060] To make the technical means, creative features, objectives, and effects of this invention readily understandable, the invention is further described below with reference to specific illustrations. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0061] Example 1:

[0062] Please see Figures 1-2 This invention provides a technical solution: a laser displacement sensing-based intelligent alignment and assembly system for a rear axle motor, applied to the assembly process of the rear axle motor and the rear axle input end. The assembly system includes:

[0063] The reference surface construction module is used to establish an assembly measurement coordinate system. After the rear axle input end is clamped and fixed, the axial laser displacement sensor is calibrated, and the laser displacement values ​​of multiple points on the rear axle motor mounting end face are collected. The multi-point laser displacement values ​​are converted into the coordinates of multiple spatial measuring points in the assembly measurement coordinate system. An assembly reference surface is formed by fitting the coordinates of multiple spatial measuring points, and a reference surface confirmation state is formed when the assembly reference surface meets the stability conditions.

[0064] It should be noted that the axial laser displacement sensor is used to collect the axial displacement values ​​of the rear axle motor mounting end face and the motor assembly end face. Specifically, the axial laser displacement sensor is fixedly mounted on the sensor mounting bracket of the assembly fixture, and the sensor's measuring beam points towards the rear axle motor mounting end face or the motor assembly end face along the Z-axis of the assembly measurement coordinate system. At least three axial laser displacement sensors are used to collect data from the rear axle motor mounting end face, and the projection points of each measuring beam on the rear axle motor mounting end face are not collinear. Axial laser displacement sensors are set to collect data from the circumferential measuring points on the motor assembly end face, corresponding to the upper, lower, left, and right end face measuring points, respectively. The installation position of each axial laser displacement sensor corresponds to a fixed horizontal and vertical coordinate in the assembly measurement coordinate system. The original laser displacement value output by the sensor is calibrated and converted into the axial coordinates of the corresponding measuring point. The resulting multiple spatial measuring point coordinates are used for subsequent assembly datum surface fitting and axial distance calculation of the motor assembly end face.

[0065] In some implementation methods, the implementation steps include:

[0066] The method for establishing the assembly measurement coordinate system includes: taking the designed intersection point of the rear axle input axis and the rear axle motor mounting end face as the origin, the rear axle input axis as the Z-axis, the lateral positioning direction of the assembly tool as the X-axis, and the vertical positioning direction of the assembly tool as the Y-axis.

[0067] Therefore, the rear axle input axis is represented in the assembly measurement coordinate system as: ; ;

[0068] in, This represents the lateral coordinate in the assembly measurement coordinate system. This represents the vertical coordinate in the assembly measurement coordinate system.

[0069] Methods for calibrating laser displacement sensors along each axis include:

[0070] The horizontal and vertical coordinates of each axial laser displacement sensor in the assembly measurement coordinate system are obtained as follows: ;in, Indicates the first An axial laser displacement sensor measures the lateral coordinate of the laser beam in the assembly measurement coordinate system. Indicates the first An axial laser displacement sensor measures the vertical coordinates of the laser beam in the assembly measurement coordinate system. This indicates the serial number of the axial laser displacement sensor.

[0071] No. The original laser displacement value collected by the axial laser displacement sensor is Based on the sensor calibration coefficients, the original laser displacement value is... Convert to axial coordinates of the measuring point The conversion formula is:

[0072] ;

[0073] in, Indicates the first The axial coordinates of each measuring point in the assembly measurement coordinate system; Indicates the first The raw laser displacement values ​​collected by an axial laser displacement sensor; Indicates the first Displacement conversion coefficients for an axial laser displacement sensor; Indicates the first The zero-position compensation amount of an axial laser displacement sensor; wherein, the and The calibration is obtained using a standard plate. Specifically, the standard plate is placed at at least two known axial positions, and the corresponding original laser displacement values ​​are collected. The determination is based on the linear relationship between the known axial positions and the original laser displacement values. and .

[0074] Therefore, each laser displacement value can be converted into the coordinates of a spatial measuring point in the assembly measurement coordinate system: ; Indicates the first Spatial coordinates of each axial laser measuring point.

[0075] Methods for fitting and forming assembly datum surfaces include:

[0076] Collect coordinates of multiple spatial measuring points on the mounting surface of the rear axle motor. The assembly datum surface is then fitted and formed. The assembly datum surface is represented in the following form:

[0077] ;

[0078] in, Represents the axial coordinate of any point on the assembly reference surface; Indicates the horizontal coordinate of the point; This represents the vertical coordinate of the point; Indicates the inclination coefficient of the assembly reference plane in the lateral direction; Indicates the inclination coefficient of the assembly reference plane in the vertical direction; This indicates the intercept of the assembly reference plane in the Z-axis direction.

[0079] The least squares method is used to determine a, c, and d, so as to minimize the sum of squares of the axial residuals from the coordinates of each spatial measuring point to the assembly datum surface.

[0080] The axial residual of the coordinates of the i-th spatial measuring point relative to the assembly datum surface is: ; This represents the axial residual of the i-th spatial measuring point relative to the assembly datum surface.

[0081] Methods for generating datum plane verification status include:

[0082] The assembly reference surface is repeatedly fitted over multiple consecutive sampling periods. Let the lateral tilt coefficient, vertical tilt coefficient, and intercept obtained in the k-th sampling period be respectively... , and When Q consecutive sampling periods all satisfy:

[0083] ;

[0084] ;

[0085] ;

[0086] And it satisfies: ;in If the axial residual value of the measuring point is the allowable value, then the datum surface is deemed to have met the standard.

[0087] Conversely, if the conditions are not met, the datum surface confirmation status is deemed substandard, and the process proceeds to datum surface re-acquisition. Specifically, while maintaining the fixed clamping state of the rear axle input end, the multi-point laser displacement values ​​of the rear axle motor mounting end face are re-acquired, and the assembly datum surface is refitted. During the refitting process, the axial residual of each spatial measuring point is judged. When the axial residual of any spatial measuring point exceeds the allowable value of the axial residual of the measuring point, the spatial measuring point is marked as an abnormal measuring point, and the remaining valid spatial measuring points are used to refit the assembly datum surface.

[0088] Where Q represents the number of consecutive sampling periods required to determine the stability of the reference surface, and Q is an integer not less than 3; This indicates the allowable variation in the lateral tilt coefficient; This indicates the allowable variation in the vertical tilt coefficient; This indicates the allowable variation in the intercept; This indicates the allowable value of the axial residual at the measuring point.

[0089] The , , and The setting method is to obtain the axial repeatability measurement error of the laser displacement detection unit by calibration using a standard flat plate before assembly. The determination was then made. Specifically, the standard plate was sampled continuously n times, where n is an integer not less than 30. The difference between the maximum and minimum axial coordinates of each axial laser displacement sensor in the n samples was calculated, and the maximum value among all differences was taken as the axial repeatability measurement error. Subsequently, the maximum lateral spacing of the measurement points participating in the datum plane fitting was read. and maximum vertical spacing and in accordance with ; ; ; Set the value, where The allowable flatness error for the mounting end face of the rear axle motor is given by the rear axle housing or the vehicle assembly process document.

[0090] In this embodiment, by repeatedly fitting the assembly reference surface within multiple consecutive sampling periods, and jointly judging whether the reference surface is stable based on the lateral tilt coefficient, vertical tilt coefficient, intercept change, and axial residual of the measuring point, it is possible to avoid the assembly reference surface being mistakenly locked due to clamping vibration, local burrs on the end face, and instantaneous fluctuations of the sensor during a single laser sampling. This ensures that subsequent sliding propulsion, coaxiality deviation calculation, and attitude correction are all based on a stable and reliable spatial reference, thereby improving the measurement consistency during the rear axle motor alignment and assembly process.

[0091] The sliding propulsion detection module is used to control the rear axle motor to advance segmentally along the assembly guide rail towards the rear axle motor mounting end face when the reference surface confirms that the status is up to standard. After each sliding segment is completed, the axial distance of the circumferential measuring points of the motor mounting end face relative to the assembly reference surface and the center coordinates of the outer circle of the motor positioning are collected. Based on the axial distance and the center coordinates of the outer circle of the motor positioning, a motor sliding deviation indicator is formed. In some embodiments, the implementation steps include:

[0092] Once the reference surface is confirmed to be in good condition, the rear axle motor is controlled to advance in sections along the assembly guide rail toward the rear axle motor mounting end face. After each sliding section is completed, the axial laser displacement value of the motor assembly end face is collected, and the spatial coordinates of the circumferential measuring points on the motor assembly end face are calculated.

[0093] Specifically, the motor sliding actuator drives the rear axle motor to advance along the assembly guide rail toward the rear axle motor mounting end face according to the preset sliding step length. After each sliding step length is completed, the advancement is paused, and during the pause, the axial laser displacement value of the circumferential measuring point of the motor assembly end face and the radial laser displacement value of the outer circle of the motor positioning are collected.

[0094] Specifically, the method for setting the preset sliding step length includes: before the sliding advance begins, controlling the axial laser displacement sensor to collect the average axial distance between the motor assembly end face and the assembly reference surface, and using the average axial distance as the advance distance; dividing the advance distance into five sliding segments, and using the length of each sliding segment as the preset sliding step length; when the length of any sliding segment is less than the minimum controllable displacement of the motor sliding actuator, using the minimum controllable displacement of the motor sliding actuator as the preset sliding step length.

[0095] The circumferential measuring points on the motor assembly end face include upper end face measuring points, lower end face measuring points, left end face measuring points, and right end face measuring points. The horizontal and vertical coordinates of each end face measuring point in the assembly measurement coordinate system are fixed measurement positions, determined by the installation position of the corresponding axial laser displacement sensor.

[0096] Based on the assembly reference plane, calculate the axial distance between the circumferential measuring point of the j-th motor assembly end face and the assembly reference plane.

[0097] Specifically, the spatial coordinates of the j-th motor assembly end face circumferential measuring point are:

[0098] ;

[0099] in, Indicates the first Spatial coordinates of circumferential measuring points on the assembly end face of a motor; Indicates the first The transverse coordinates of the circumferential measuring points on the assembly end face of the motor in the assembly measurement coordinate system; Indicates the first Vertical coordinates of the circumferential measuring points on the assembly end face of the motor in the assembly measurement coordinate system; Indicates the first Axial coordinates of circumferential measuring points on the assembly end face of a motor in the assembly measurement coordinate system; This indicates the serial number of the circumferential measuring point on the motor assembly end face.

[0100] Based on the assembly datum plane, calculate the first... The axial distance between the circumferential measuring points on the motor assembly end face and the assembly reference surface.

[0101] The calculation formula is as follows:

[0102] ;

[0103] in, Indicates the first The axial distance between the circumferential measuring points on the motor assembly end face and the assembly reference surface.

[0104] The axial distances of the upper end face measuring point, lower end face measuring point, left end face measuring point, and right end face measuring point relative to the assembly reference surface are obtained sequentially and denoted as follows: , , and And calculate the vertical axial difference, horizontal axial difference and average axial distance of the motor assembly end face.

[0105] The formulas for calculating the vertical and horizontal axial differences of the motor assembly end faces are as follows:

[0106] ;

[0107] ;

[0108] in, The vertical axial difference represents the difference in axial distance between the measuring points on the upper and lower ends, and is used to characterize the end face inclination of the motor assembly end face along the direction of the vertical measuring point. The lateral axial difference represents the difference in axial distance between the measuring points on the right and left ends, and is used to characterize the end face tilt generated along the lateral measuring point direction of the motor assembly end face.

[0109] The average axial distance The calculation methods include:

[0110] ;

[0111] in, It represents the average axial distance between the motor assembly end face and the assembly reference surface, and is used to characterize the current sliding and propulsion position of the rear axle motor.

[0112] The lateral and vertical boundary coordinates of the outer circle of the motor positioning were acquired using a radial laser displacement sensor. After calibration and conversion, the lateral coordinates of the measuring point on the right side of the outer circle of the motor positioning were: The horizontal coordinate of the measuring point on the left is The vertical coordinates of the upper measuring point are: The vertical coordinates of the lower measuring point are The coordinates of the center of the outer circle used for motor positioning are ( , ):

[0113] ;

[0114] ;

[0115] in, This indicates the lateral coordinate of the center of the outer circle of the motor positioning in the assembly measurement coordinate system; This indicates the vertical coordinate of the center of the outer circle of the motor positioning in the assembly measurement coordinate system.

[0116] It should be noted that the radial laser displacement sensor is used to acquire the displacement values ​​of the outer circle of the motor positioning circle in the lateral and vertical directions. Specifically, the radial laser displacement sensor includes a lateral radial laser displacement sensor group and a vertical radial laser displacement sensor group. The lateral radial laser displacement sensor group includes two sensors located on the left and right sides of the outer circle of the motor positioning circle, respectively. Their measuring beams are directed along the X-axis towards the outer circle of the motor positioning circle, used to obtain the coordinates of the left and right boundaries of the outer circle of the motor positioning circle. The vertical radial laser displacement sensor group includes two sensors located on the upper and lower sides of the outer circle of the motor positioning circle, respectively. Their measuring beams are directed along the Y-axis towards the outer circle of the motor positioning circle, used to obtain the coordinates of the upper and lower boundaries of the outer circle of the motor positioning circle. The center coordinates of the outer circle of the motor positioning circle are calculated based on the left, right, upper, and lower boundary coordinates, and these center coordinates are used for subsequent calculations of lateral and vertical offsets.

[0117] It should be noted that the calibration conversion process for the radial laser displacement sensor involves positioning a standard cylinder at the origin of the assembly measurement coordinate system, collecting transverse, vertical, and radial laser displacement values ​​respectively, and establishing a linear conversion relationship between the radial displacement value and the transverse and vertical boundary coordinates based on the radius of the standard cylinder and the known center coordinates. This yields the radial conversion coefficient and the radial zero-position compensation amount. The calibration conversion process for the axial laser displacement sensor has already been given above, and will not be described in detail here.

[0118] The lateral and vertical offsets of the center of the outer circle of the motor positioning are obtained relative to the rear axle input axis based on the coordinates of the center of the outer circle of the motor positioning.

[0119] Specifically, the rear axle input axis is represented in the assembly measurement coordinate system as follows: ; Therefore, the lateral and vertical offsets of the outer circle center of the motor positioning relative to the rear axle input axis are respectively:

[0120] ; ;

[0121] in, This indicates the lateral offset of the center of the outer circle of the motor positioning relative to the input axis of the rear axle during the sliding propulsion process; This indicates the vertical offset of the center of the outer circle of the motor positioning relative to the input axis of the rear axle during the sliding propulsion process.

[0122] Based on the obtained vertical axial difference, horizontal axial difference, horizontal offset, and vertical offset, it is determined whether to generate a motor slip deviation indicator.

[0123] Specifically, the method for generating motor slip deviation indicators is as follows:

[0124] A motor slip deviation indicator is generated when any of the following conditions are met:

[0125] ;

[0126] ;

[0127] ;

[0128] ;

[0129] in, Indicates the allowable value for lateral axial difference; This indicates the allowable value for vertical axial difference; Indicates the allowed lateral offset value; This indicates the allowable vertical offset value.

[0130] It should be noted that the allowable value for the lateral axial difference is... Allowable vertical axial difference Horizontal offset allowable value and vertical offset allowable value Based on the design coaxiality allowable value of the rear axle input axis and the motor output axis Sure.

[0131] Specifically, read the allowable coaxiality value specified in the rear axle motor assembly process document. The allowable coaxiality value is then allocated to the translational deviation of the outer circle center of the motor positioning and the tilting deviation of the motor assembly end face. Specifically, the translational deviation of the outer circle center of the motor positioning occupies half of the allowable coaxiality value, and the tilting deviation of the motor assembly end face occupies half of the allowable coaxiality value.

[0132] Lateral offset allowable value and vertical offset allowable value They are set as follows:

[0133] ;

[0134] ;

[0135] Let W be the lateral distance between the measuring points on the left and right ends, H be the vertical distance between the measuring points on the upper and lower ends, and G be the axial distance from the motor assembly end face to the positioning section at the front end of the motor output shaft. Then, the allowable value for the lateral axial difference is... Allowable value of vertical axial difference They are set as follows:

[0136] ;

[0137] ;

[0138] If the conditions are not met, no motor slip deviation indicator will be generated. If no motor slip deviation indicator is generated and the average axial distance is greater than the fit judgment distance, the next slip segment advance command will continue to be output.

[0139] When no motor slip deviation indicator is formed and the average axial distance is not greater than the fit judgment distance, the slipping and advancing is stopped, and it is determined that the motor assembly end face has entered the fit position with the rear axle motor mounting end face.

[0140] The method for setting the fitting judgment distance includes: reading the allowable flatness error of the rear axle motor mounting end face before assembly, and combining it with the repeated measurement error of the axial laser displacement sensor, and using the distance after superimposing the two as the fitting judgment distance.

[0141] In this embodiment, during the segmented advancement of the motor along the assembly guide rail, the axial distance between the circumferential measuring points on the motor assembly end face and the assembly reference surface, as well as the center coordinates of the outer circle of the motor positioning, are collected respectively. From this, the lateral axial difference, vertical axial difference, lateral offset, and vertical offset are obtained. By using the above parameters, the end face tilt and center offset can be identified before the motor is fully attached, and the motor slippage deviation mark can be generated in time and the advancement can be paused to avoid the motor entering the attachment position with deviation, thus reducing the difficulty of subsequent rework and adjustment.

[0142] A slip attitude correction module is used, during the generation of the motor slip deviation identifier, to calculate the coaxiality deviation of the motor axis relative to the rear axle input axis based on the axial difference of the motor assembly end face and the offset of the center of the motor positioning outer circle after the motor slip deviation identifier is generated, and to generate an attitude correction amount based on the coaxiality deviation, and to perform attitude correction based on the attitude correction amount. In some embodiments, the implementation steps include:

[0143] When a motor slip deviation indicator is generated, the advancement of the next slip segment is paused. Based on the axial difference of the motor assembly end face and the offset of the center of the motor positioning outer circle, the coaxiality deviation of the motor axis relative to the rear axle input axis is calculated. The coaxiality deviation includes the lateral tilt angle, the vertical tilt angle, the lateral comprehensive offset, the vertical comprehensive offset, and the coaxiality deviation value synthesized by the lateral comprehensive offset and the vertical comprehensive offset.

[0144] Specifically, the formulas for calculating the lateral tilt angle and the vertical tilt angle are as follows:

[0145] ;

[0146] ;

[0147] in, This refers to the lateral distance between the measuring points on the left and right ends. This refers to the vertical distance between the measuring points on the upper and lower surfaces. This represents the lateral tilt angle determined by the difference in axial distance between the measuring points on the left and right ends. This represents the vertical tilt angle determined by the difference in axial distance between the measuring points on the upper and lower ends.

[0148] The lateral and vertical offset components at the front positioning section of the motor output shaft, caused by the tilt of the motor assembly end face, are calculated based on the lateral and vertical tilt angles.

[0149] Specifically, in order to calculate the effect of end face inclination on the actual centering position of the motor output shaft, the positioning section at the front end of the motor output shaft is determined in advance.

[0150] The aforementioned front-end positioning section of the motor output shaft refers to the section where the center of the positioning circle at the front end of the motor output shaft is located when the motor output shaft and the rear axle input shaft are coaxially coupled. This section is perpendicular to the motor output axis and is determined by the motor design drawings or the motor's 3D model. Let G be the axial distance from the motor assembly end face to the aforementioned front-end positioning section of the motor output shaft. Then G is the fixed structural dimension of the motor, which is read from the motor design drawings before assembly.

[0151] The lateral and vertical offset components at the front end positioning section of the motor output shaft caused by the inclination of the motor assembly end face are as follows:

[0152] ;

[0153] ;

[0154] in, This represents the lateral offset component at the front positioning section of the motor output shaft caused by the lateral tilt of the motor assembly end face. G represents the vertical offset component at the front positioning section of the motor output shaft caused by the vertical tilt of the motor assembly end face; G represents the axial distance from the motor assembly end face to the front positioning section of the motor output shaft.

[0155] Based on the lateral and vertical offsets of the outer circle center of the motor positioning relative to the rear axle input axis, and the lateral and vertical offset components at the front positioning section of the motor output shaft caused by the tilt of the motor assembly end face, the comprehensive lateral and vertical offsets of the motor axis at the front positioning section of the motor output shaft relative to the rear axle input axis are calculated.

[0156] Specifically, the combined lateral and vertical offsets of the motor axis relative to the rear axle input axis at the positioning section at the front end of the motor output shaft are as follows:

[0157] ;

[0158] ;

[0159] in, This represents the total lateral offset of the motor axis relative to the rear axle input axis; This represents the total vertical offset of the motor axis relative to the rear axle input axis. This indicates the lateral offset of the center of the outer circle of the motor positioning relative to the input axis of the rear axle during the sliding propulsion process; This indicates the vertical offset of the center of the outer circle of the motor positioning relative to the input axis of the rear axle during the sliding propulsion process.

[0160] The coaxiality deviation value The methods for obtaining it include: .

[0161] The attitude correction is generated based on the acquired lateral tilt angle, vertical tilt angle, lateral composite offset, and vertical composite offset. The attitude correction includes lateral translation compensation, vertical translation compensation, lateral angle compensation, and vertical angle compensation.

[0162] The method for generating the attitude correction amount includes:

[0163] ;

[0164] ;

[0165] ;

[0166] ;

[0167] in, Indicates the amount of lateral translation compensation; This indicates the vertical translation compensation amount; Indicates the amount of lateral angle compensation; Indicates the vertical angle compensation amount; Indicates the lateral translation compensation coefficient; Indicates the vertical translation compensation coefficient; Indicates the lateral angle compensation coefficient; This indicates the vertical angle compensation coefficient. The negative sign before the compensation amount indicates that the compensation direction is opposite to the deviation direction.

[0168] It should be noted that the lateral translation compensation coefficient, vertical translation compensation coefficient, lateral angle compensation coefficient, and vertical angle compensation coefficient are all obtained through calibration before assembly. Specifically, the calibrated motor or equivalent tooling is installed on the motor sliding actuator, and the attitude adjustment mechanism is in an adjustable state. Known lateral translation adjustment amounts, vertical translation adjustment amounts, lateral angle adjustment amounts, and vertical angle adjustment amounts are input to the attitude adjustment mechanism, respectively. After each adjustment, the change in the position of the center of the outer circle of the motor positioning and the change in the axial distance of the circumferential measuring points on the motor assembly end face are collected by the laser displacement detection unit. The actual measured position changes are correlated with the input adjustment amounts to obtain the response relationship of the attitude adjustment mechanism in the lateral translation direction, vertical translation direction, lateral angle direction, and vertical angle direction. Then, the corresponding compensation coefficients are determined according to the response relationship, so that the detected lateral offset, vertical offset, lateral tilt angle, and vertical tilt angle can be converted into compensation commands that the attitude adjustment mechanism can execute during subsequent control.

[0169] The attitude adjustment mechanism is located between the motor sliding actuator and the motor clamping seat. The attitude adjustment mechanism includes a lateral translation adjustment unit, a vertical translation adjustment unit, a lateral angle adjustment unit, and a vertical angle adjustment unit. The lateral translation adjustment unit drives the motor clamping seat to move along the X-axis, the vertical translation adjustment unit drives the motor clamping seat to move along the Y-axis, the lateral angle adjustment unit corrects the end face tilt caused by the axial difference between the left and right end face measuring points, and the vertical angle adjustment unit corrects the end face tilt caused by the axial difference between the upper and lower end face measuring points. The controller converts the lateral translation compensation, vertical translation compensation, lateral angle compensation, and vertical angle compensation into displacement or angle commands for the corresponding adjustment units. After adjustment, it re-acquires the axial distance of the circumferential measuring points on the motor assembly end face and the coordinates of the center of the outer circle of the motor positioning to verify the corrected coaxiality deviation.

[0170] The attitude adjustment mechanism is controlled to perform corrections according to the attitude correction amount, the slip pause state is released, and the motor slip actuator is controlled to continue to advance the motor.

[0171] In this embodiment, the lateral tilt angle and vertical tilt angle are calculated based on the axial difference of the motor assembly end face. Combined with the offset of the outer circle center of the motor positioning, the lateral and vertical comprehensive offsets of the front positioning section of the motor output shaft relative to the rear axle input axis are further calculated. This makes the judgment of coaxiality deviation no longer limited to the distance of a single point on the end face, but corresponds to the actual position of the motor output shaft participating in coaxial cooperation, thus improving the pertinence and accuracy of the centering correction.

[0172] The attitude correction is generated based on the lateral overall offset, vertical overall offset, lateral tilt angle and vertical tilt angle, and the attitude adjustment mechanism is controlled to perform lateral translation compensation, vertical translation compensation, lateral angle compensation and vertical angle compensation, so that the motor can achieve closed-loop centering correction during the sliding propulsion process, avoiding the uncontrollable axis offset problem caused by simply relying on guide rail positioning.

[0173] Example 2:

[0174] Please see Figure 3 This invention provides a technical solution: The technical problem to be solved by this embodiment is that after the motor assembly end face enters the mating position, it is still necessary to perform graded pre-tightening through connecting bolts. During the bolt pre-tightening process, the stress state of the connecting end face will change, which may cause local axial compression, release of connection gap, end face springback, and secondary drift of the motor shaft. Existing assembly methods lack continuous monitoring of the axial disturbance and springback generated during the bolt pre-tightening stage, which can easily lead to situations where the alignment is qualified during the sliding stage, but the coaxiality exceeds the limit again after final locking, affecting the consistency and stability of the rear axle motor assembly quality.

[0175] In this embodiment, based on Embodiment 1, the intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing further includes:

[0176] The preload disturbance identification module is used to control the bolt preload mechanism to perform graded preload in a diagonal sequence after the motor assembly end face enters the contact position. After each stage of preload is completed, it acquires the maximum axial change in the preload circumferential direction, the maximum springback in the preload circumferential direction, and the coaxiality deviation value after that stage of preload to determine whether a preload disturbance indicator has been formed. In some embodiments, the implementation steps include:

[0177] After the motor assembly end face enters the mating position, the control bolt pre-tightening mechanism performs graded pre-tightening in a diagonal sequence. After each grade of pre-tightening is completed, the axial distance between the circumferential measuring point of the motor assembly end face and the assembly reference surface is collected to obtain the coaxiality deviation value.

[0178] It should be noted that performing graded pre-tightening in a diagonal order means numbering the connecting bolts in circumferential order and taking the two bolts with the closest included angle of 180° as a group of diagonal pre-tightening objects; the target pre-tightening level is determined by the target pre-tightening force or target pre-tightening torque specified in the assembly process document, and the graded pre-tightening levels are performed in sequence according to 30%, 60%, and 100% of the target value.

[0179] The method for calculating the coaxiality deviation value has been disclosed in the above embodiment 1, and will not be repeated here.

[0180] The axial distance between the circumferential measuring point on the j-th motor assembly end face before the r-th stage preload and the assembly reference surface is: The axial distance between the circumferential measuring point on the j-th motor assembly end face after the r-th stage pre-tightening and the assembly reference surface is... , obtain the axial change at the j-th measuring point caused by the r-th stage preload.

[0181] The calculation formula is: ;

[0182] in, This represents the axial change at the j-th measuring point caused by the r-th stage of pre-tightening.

[0183] The motor assembly end face has multiple circumferential measuring points. After the r-th stage of preload is completed, multiple axial changes will be obtained. From the axial changes of all circumferential measuring points corresponding to the r-th stage of preload, the axial change with the largest absolute value is selected as the maximum axial change of the preload circumferential direction corresponding to the r-th stage of preload. .

[0184] After the r-th stage of pre-tightening is completed, sampling continues within a preset stabilization time. Let the axial distance of the j-th measuring point relative to the assembly reference surface at the time of completion of the r-th stage of pre-tightening be denoted as . When the preset stabilization time ends, the axial distance of the j-th measuring point relative to the assembly reference surface is: Obtain the difference to get the rebound amount at the j-th measuring point. From all the circumferential rebound values ​​after the r-th stage of pretension, the rebound value with the largest absolute value is selected as the maximum circumferential rebound value corresponding to the r-th stage of pretension. :

[0185] ;

[0186] Optionally, the stabilization time is 3-5 minutes.

[0187] Recalculate the coaxiality deviation value after the r-th stage preload. A preload disturbance flag is generated when any of the following conditions are met:

[0188]

[0189] in, This indicates the allowable value for sudden changes in preload displacement; Indicates the allowable value of preload rebound; This represents the coaxiality deviation value after the r-th stage of preload; This indicates the allowable value for coaxiality.

[0190] It should be noted that the allowable values ​​for preload displacement mutation, preload springback, and coaxiality are set as follows:

[0191] ;

[0192] ;

[0193] ;

[0194] in, This indicates the allowable maximum axial variation in the preload circumferential direction; This indicates the maximum local axial deformation that the motor assembly end face can produce under the preload of a single bolt, which is given by the rear axle motor assembly process document. This indicates the axial repeatability measurement error of the axial laser displacement sensor. This indicates the allowable maximum springback value in the preload circumferential direction; This indicates the allowable amount of clearance release after bolt pre-tightening, which is given in the rear axle motor assembly process document; Indicates the allowable value for coaxiality; This indicates the design coaxiality diameter tolerance between the rear axle input axis and the motor output axis.

[0195] When no preload disturbance indicator is formed, the control bolt preload mechanism continues to perform the next level of preload until all connecting bolts reach the target preload level.

[0196] In this embodiment, after the motor assembly end face enters the mating position, the bolt pre-tightening process is monitored in stages. By obtaining the maximum axial change in the pre-tightening circumferential direction, the maximum springback in the pre-tightening circumferential direction, and the coaxiality deviation value after the r-th pre-tightening stage, the local axial disturbance, springback of the connection surface, and secondary drift of the axis caused by bolt loading can be identified, thereby solving the problem of qualified alignment during the sliding stage but coaxiality mismatch after locking.

[0197] The micro-compensation module is used to generate a micro-compensation amount based on the pre-tightened lateral and vertical composite offsets after the pre-tightening disturbance indicator is formed, and to perform micro-compensation; in some embodiments, the implementation steps include:

[0198] After the pre-tightening disturbance identifier is formed, a micro-compensation amount is generated based on the lateral and vertical integrated offsets after the r-th level pre-tightening. The micro-compensation amount includes lateral micro-compensation amount and vertical micro-compensation amount.

[0199] It should be noted that the methods for obtaining the horizontal and vertical composite offsets are the same as in Example 1, and will not be repeated here.

[0200] The formulas for calculating the lateral and vertical micro-compensation amounts are as follows:

[0201]

[0202]

[0203] in, This represents the amount of lateral micro-compensation that needs to be performed after the r-th level preload; This represents the amount of vertical micro-compensation that needs to be performed after the r-th level preload; Indicates the preload disturbance compensation coefficient; This represents the total lateral offset of the motor axis relative to the rear axle input axis after the r-th stage of preload. This represents the vertical composite offset of the motor axis relative to the rear axle input axis after the r-th stage of preload.

[0204] It should be noted that the preload disturbance compensation coefficient is determined based on the lateral translation compensation coefficient and the vertical translation compensation coefficient during the slip attitude correction stage. Specifically, the smaller value between the lateral translation compensation coefficient and the vertical translation compensation coefficient is first read, and then half of this smaller value is used as the preload disturbance compensation coefficient. Since the motor assembly end face is already in a stressed and fitted state after the bolt is preloaded, using a preload disturbance compensation coefficient that is smaller than the translation compensation coefficient during the slip attitude correction stage can ensure that the compensation action after preload is kept as a slight reverse compensation, avoiding over-adjustment when the bolt is already under stress.

[0205] Based on the generated micro-compensation amount, micro-compensation is performed, and then the bolt preload mechanism is allowed to continue to perform the next level of preload. After all connecting bolts have reached the target preload level, the axle motor is then aligned and assembled.

[0206] In this embodiment, after the pre-tightening disturbance mark is formed, a small compensation amount is generated based on the lateral and vertical comprehensive offset after the pre-tightening stage. A small reverse compensation is performed using a pre-tightening disturbance compensation coefficient that is smaller than the compensation intensity of the slip attitude correction stage. This makes the adjustment of the bolt under the force and fit state more stable, reduces the risk of over-adjustment, and improves the coaxiality stability in the final locked state.

[0207] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rear axle motor intelligent alignment and assembly system based on laser displacement sensing, characterized in that, include: The reference surface construction module is used to establish an assembly measurement coordinate system, collect multi-point laser displacement values ​​of the rear axle motor mounting end face, convert the multi-point laser displacement values ​​into coordinates of multiple spatial measuring points in the assembly measurement coordinate system, and form an assembly reference surface based on the multiple spatial measuring point coordinates. The sliding propulsion detection module is used to control the rear axle motor to advance in segments along the assembly guide rail toward the rear axle motor mounting end face. After each sliding segment is completed, the axial distance of the circumferential measuring point of the motor assembly end face relative to the assembly reference surface and the center coordinates of the outer circle of the motor positioning are collected. Based on the axial distance and the center coordinates of the outer circle of the motor positioning, a motor sliding deviation indicator is formed. The circumferential measuring points on the motor assembly end face include the upper end face measuring point, the lower end face measuring point, the left end face measuring point, and the right end face measuring point; The lateral and vertical boundary coordinates of the outer circle of the motor positioning were acquired using a radial laser displacement sensor. After calibration and conversion, the lateral coordinates of the measuring point on the right side of the outer circle of the motor positioning were: The horizontal coordinate of the measuring point on the left is The vertical coordinates of the upper measuring point are: The vertical coordinates of the lower measuring point are The coordinates of the center of the outer circle used for motor positioning are ( , ); The slip attitude correction module is used to calculate the coaxiality deviation of the motor axis relative to the rear axle input axis based on the axial difference of the motor assembly end face and the offset of the center of the motor positioning outer circle when the motor slip deviation mark is formed, and to generate an attitude correction amount based on the coaxiality deviation, and to perform attitude correction based on the attitude correction amount.

2. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 1, characterized in that, Also includes: The preload disturbance identification module is used to obtain the maximum axial change in the preload circumferential direction, the maximum springback in the preload circumferential direction, and the coaxiality deviation value after each preload stage when the control bolt preload mechanism performs stage preload in a diagonal sequence, and to determine whether a preload disturbance is formed. The micro-compensation module is used to generate micro-compensation based on the lateral and vertical integrated offsets after the pre-tightening is formed after the pre-tightening disturbance is identified, and to perform micro-compensation.

3. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 1, characterized in that, The method for establishing the assembly measurement coordinate system includes: taking the designed intersection point of the rear axle input axis and the rear axle motor mounting end face as the origin, the rear axle input axis as the Z-axis, the lateral positioning direction of the assembly tool as the X-axis, and the vertical positioning direction of the assembly tool as the Y-axis. The rear axle input axis is represented in the assembly measurement coordinate system as follows: ; .

4. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 3, characterized in that, The method for fitting and forming the assembly reference surface includes: Collect coordinates of multiple spatial measuring points on the mounting surface of the rear axle motor. And fits to form an assembly reference surface, which is represented in the following form: ； in, Represents the axial coordinate of any point on the assembly reference surface; Indicates the horizontal coordinate of the point; This represents the vertical coordinate of the point; Indicates the inclination coefficient of the assembly reference plane in the lateral direction; Indicates the inclination coefficient of the assembly reference plane in the vertical direction; This indicates the intercept of the assembly reference plane in the Z-axis direction.

5. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 4, characterized in that, The method for fitting and forming an assembly reference surface further includes: generating a reference surface confirmation status; The method for generating the reference surface confirmation status includes: The assembly reference surface is repeatedly fitted over multiple consecutive sampling periods. Let the lateral tilt coefficient, vertical tilt coefficient, and intercept obtained in the k-th sampling period be respectively... , and When Q consecutive sampling periods all satisfy: ； ； ； And satisfy: Then the datum surface confirmation status is deemed to have met the standard, where, Let Q represent the axial residual of the i-th spatial measuring point relative to the assembly datum surface, and let Q represent the number of consecutive sampling periods required for the stability determination of the datum surface. Q is an integer not less than 3. This indicates the allowable variation in the lateral tilt coefficient; This indicates the allowable variation in the vertical tilt coefficient; This indicates the allowable variation in the intercept; Indicates the allowable value of the axial residual at the measuring point; The axial residual of the coordinates of the i-th spatial measuring point relative to the assembly datum surface is: .

6. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 5, characterized in that, Methods for generating motor slippage deviation indicators based on axial distance and the center coordinates of the outer circle of the motor positioning include: The axial distances of the upper end face measuring point, lower end face measuring point, left end face measuring point and right end face measuring point relative to the assembly reference surface are obtained in sequence, and the vertical axial difference, horizontal axial difference and average axial distance of the motor assembly end face are calculated. Based on the assembly datum plane, calculate the first... The formula for calculating the axial distance between the circumferential measuring points on the assembly end face of a motor and the assembly reference surface is as follows: ;in, Indicates the first The axial distances of the circumferential measuring points on the assembly end face of each motor relative to the assembly reference surface are obtained sequentially; the axial distances of the measuring points on the upper end face, lower end face, left end face, and right end face relative to the assembly reference surface are recorded as follows: , , and ; The formulas for calculating the vertical and horizontal axial differences of the motor assembly end faces are as follows: ； ； in, The difference is the vertical axial direction. This refers to the difference between the lateral and axial axes. The average axial distance The calculation methods include: ; The lateral and vertical offsets of the center of the outer circle of the motor positioning are obtained relative to the rear axle input axis based on the center coordinates of the outer circle of the motor positioning. The methods for obtaining the horizontal and vertical offsets include: The rear axle input axis is represented in the assembly measurement coordinate system as follows: ; Therefore, the lateral and vertical offsets of the outer circle center of the motor positioning relative to the rear axle input axis are respectively: ； ； in, Indicates the lateral offset; Indicates the vertical offset; Based on the obtained vertical axial difference, horizontal axial difference, horizontal offset, and vertical offset, it is determined whether to generate a motor slip deviation indicator.

7. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 6, characterized in that, Based on the obtained vertical axial difference Lateral axial difference Lateral offset and vertical offset Methods for determining whether to generate a motor slip deviation indicator include: A motor slip deviation indicator is generated when any of the following conditions are met: ； ； ； ； in, Indicates the allowable value for lateral axial difference; This indicates the allowable value for vertical axial difference; Indicates the allowed lateral offset value; This indicates the allowable vertical offset value.

8. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 1, characterized in that, The coaxiality deviation includes the lateral tilt angle, the vertical tilt angle, the lateral composite offset, the vertical composite offset, and the coaxiality deviation value synthesized from the lateral composite offset and the vertical composite offset.

9. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 8, characterized in that, The method for generating attitude correction based on coaxiality deviation includes: The lateral and vertical offset components at the front positioning section of the motor output shaft caused by the tilt of the motor assembly end face are calculated based on the lateral tilt angle and the vertical tilt angle. Based on the lateral and vertical offsets of the outer circle center of the motor positioning relative to the rear axle input axis, and the lateral and vertical offset components at the front positioning section of the motor output shaft caused by the tilt of the motor assembly end face, the comprehensive lateral and vertical offsets of the motor axis at the front positioning section of the motor output shaft relative to the rear axle input axis are calculated. The attitude correction is generated based on the acquired lateral tilt angle, vertical tilt angle, lateral composite offset, and vertical composite offset. The attitude correction includes lateral translation compensation, vertical translation compensation, lateral angle compensation, and vertical angle compensation.

10. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 2, characterized in that, The method for determining whether a pre-tightening disturbance indicator has been formed includes: From all the axial changes at all circumferential measuring points corresponding to the r-th preload, the axial change with the largest absolute value is selected as the maximum axial change in the circumferential preload corresponding to the r-th preload. ; From all the springback values ​​measured at the circumferential measurement points after the r-th stage of pretensioning, the springback value with the largest absolute value is selected as the maximum circumferential springback value corresponding to the r-th stage of pretensioning. ; Recalculate the coaxiality deviation value after the r-th stage preload. ; Based on the maximum axial change Maximum rebound and coaxiality deviation Determine whether a pre-tightening disturbance indicator has been formed.

11. The intelligent alignment and assembly system for a rear axle motor based on laser displacement sensing according to claim 10, characterized in that, The method for generating the micro-compensation amount includes: The micro-compensation amount includes the lateral micro-compensation amount and the vertical micro-compensation amount; The formulas for calculating the lateral and vertical micro-compensation amounts are as follows: ； ； in, This represents the amount of lateral micro-compensation that needs to be performed after the r-th level preload; This represents the amount of vertical micro-compensation that needs to be performed after the r-th level preload; Indicates the preload disturbance compensation coefficient; This represents the total lateral offset of the motor axis relative to the rear axle input axis after the r-th stage of preload. This represents the vertical composite offset of the motor axis relative to the rear axle input axis after the r-th stage of preload.

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