Motor rotor rotation control method and system based on rotating table and electronic equipment

Abstract

A motor rotor alignment control method, system and electronic device based on a rotating table are disclosed. According to an example embodiment, a motor rotor alignment control method based on a rotating table, the motor including a rotor and an outer stator sleeving the rotor, the method comprising: grabbing an alignment tool, the alignment tool including at least one pin; moving the alignment tool to abut the at least one pin against a rotor end face; controlling the alignment tool to press down and drive the rotating table to rotate the outer stator around an axis of the rotor at a first rotating speed, so as to insert the at least one pin into at least one pin hole of the rotor, thereby fixing the rotor at a preset pose and making the rotor keep stationary when the outer stator rotates; driving the rotating table to rotate the outer stator around the axis of the rotor at a second rotating speed until the rotating table is at a preset target position, thereby completing the alignment of the motor rotor.

Description

Technical Field

[0001] This application relates to the field of dexterous hand control technology, and more specifically, various exemplary embodiments relate to a method, system, and electronic device for controlling the rotation of a motor rotor based on a rotary table. Background Technology

[0002] In the overall process flow of automated motor assembly lines, rotor assembly is a core and critical step that determines the assembly accuracy, operational performance, and product consistency of the entire motor. It is widely used in large-scale intelligent manufacturing scenarios for various small and medium-sized servo motors, stepper motors, and permanent magnet motors. As the core moving component for motor power output, the assembly angle and orientation accuracy of the motor rotor directly affect the processing quality of all subsequent precision assembly processes, and are a fundamental prerequisite for ensuring the motor's production pass rate and performance stability.

[0003] The rotor alignment process, which uses specialized tooling and control programs to precisely adjust the motor rotor to a preset standard angle and orientation, is an indispensable preliminary step in the motor rotor assembly process. The positioning accuracy of this process directly determines the assembly effect of several subsequent core workstations, providing a precise positional reference for critical assembly operations such as motor end cover pressing, precise tightening of fixing screws, precise alignment and installation of magnets, and shaft alignment assembly. If there are problems such as angular deviation, orientation offset, or unstable positioning in the rotor alignment process, it will directly lead to assembly defects in subsequent workstations, such as misalignment, uneven assembly gaps, misaligned screw tightening, and magnet misalignment. This will not only result in defective or scrapped individual motors but also significantly reduce the overall production yield and efficiency of the production line. Summary of the Invention

[0004] The subject matter of the independent claims is provided according to several aspects. Further aspects are defined in the dependent claims. Embodiments that do not fall within the scope of the claims should be interpreted as examples that aid in understanding this disclosure.

[0005] According to a first aspect of this disclosure, a method for controlling the rotation of a motor rotor based on a rotary table is provided. The motor includes a rotor and an outer stator that surrounds the rotor. The method may include: grasping a rotation tool, the rotation tool including at least one pin; moving the rotation tool to abut the at least one pin against the end face of the rotor; controlling the rotation tool to press down and drive the rotary table to rotate the outer stator around the axis of the rotor at a first rotational speed, so as to insert the at least one pin into at least one pin hole of the rotor, thereby fixing the rotor in a preset position and keeping the rotor stationary while the outer stator rotates; driving the rotary table to rotate the outer stator around the axis of the rotor at a second rotational speed until the rotary table is at a preset target position, thereby completing the rotation of the motor rotor.

[0006] According to a second aspect of this disclosure, an electronic device for controlling the rotation of a motor rotor is provided. The motor includes a rotor and an outer stator that houses the rotor. The electronic device may include: at least one processor; and at least one memory storing instructions. When executed by the at least one processor, the instructions cause the electronic device to perform at least one operation. The operation may include: grasping a rotation tool, the rotation tool including at least one pin; moving the rotation tool to abut the at least one pin against the rotor end face; controlling the rotation tool to press down and drive a rotary table to rotate the outer stator around the axis of the rotor at a first rotational speed to insert the at least one pin into at least one pin hole in the rotor, thereby fixing the rotor in a preset position and keeping the rotor stationary while the outer stator rotates; driving the rotary table to rotate the outer stator around the axis of the rotor at a second rotational speed until the rotary table is at a preset target position, thereby completing the rotation of the motor rotor.

[0007] According to a third aspect of this disclosure, an electronic device for controlling the rotation of a motor rotor is provided, the motor including a rotor and an outer stator that houses the rotor, the electronic device including one or more means for performing the method according to the first aspect above.

[0008] According to a fourth aspect of this disclosure, a computer-readable medium is provided that may include program instructions, when executed, to implement the method described in accordance with the first aspect above.

[0009] According to a fifth aspect of this disclosure, a computer program product is provided that may include instructions, which, when executed by a processor, perform the method described in accordance with the first aspect above.

[0010] According to a sixth aspect of this disclosure, a motor rotor straightening control system based on a rotary table is provided. The motor may include a rotor and an outer stator that surrounds the rotor. The system may include: a robotic arm and an actuator disposed at the end of the robotic arm; a rotary table; and a controller electrically connected to the robotic arm, the actuator, and the rotary table, respectively. The controller is used to execute the method according to the first aspect described above.

[0011] The computer program product may include or be embodied in a computer-readable (storage) medium, on which computer-executable computer program instructions and / or programs that can be directly loaded into the internal memory of a computer or its processor are stored.

[0012] It should be understood that the above general description and the following specific embodiments are merely exemplary and illustrative, and do not limit the scope of the invention. Attached Figure Description

[0013] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0014] Figure 1 A schematic diagram of a dexterous hand control system that can implement exemplary embodiments of the present disclosure is shown;

[0015] Figure 2 A schematic diagram of a motor rotor straightening system according to an exemplary embodiment of the present disclosure is shown;

[0016] Figure 3 A schematic diagram illustrating the rotor straightening process of an electric motor according to an exemplary embodiment of the present disclosure is shown.

[0017] Figure 4 A flowchart illustrating an exemplary method according to an exemplary embodiment of the present disclosure;

[0018] Figure 5 A flowchart illustrating an exemplary method according to an exemplary embodiment of the present disclosure;

[0019] Figure 6 An example block diagram of an example device according to an exemplary embodiment of the present disclosure is shown;

[0020] Figure 7 An example block diagram of an example device according to an exemplary embodiment of the present disclosure is shown;

[0021] Figure 8 An example block diagram of an example device according to an exemplary embodiment of the present disclosure is shown. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the spirit of the contents disclosed in the present invention will be clearly explained below with reference to the accompanying drawings and detailed description. After understanding the embodiments of the present invention, any person skilled in the art can make changes and modifications based on the technology taught in the present invention without departing from the spirit and scope of the present invention.

[0023] The illustrative embodiments and descriptions of the present invention are used to explain the invention, but are not intended to limit the invention. Furthermore, elements / components using the same or similar reference numerals in the drawings and embodiments are used to represent the same or similar parts.

[0024] The terms "first," "second," etc., used in this document are not intended to specifically refer to order or sequence, nor are they intended to limit the invention. They are merely used to distinguish elements or operations described using the same technical terms.

[0025] The directional terms used in this article, such as up, down, left, right, front, or back, are for reference only when referring to the accompanying drawings. Therefore, the use of directional terms is for illustrative purposes and not to limit this work.

[0026] The terms “include,” “including,” “have,” “contain,” etc., used in this article are all open-ended terms, meaning that they include but are not limited to.

[0027] The term "and / or" as used herein includes any or all of the things mentioned.

[0028] The term "multiple" in this article includes "two" and "more than two"; the term "multiple groups" in this article includes "two groups" and "more than two groups".

[0029] The terms "approximately," "about," etc., used herein are intended to modify any quantity or error that may vary slightly, but these slight variations or errors do not change the essence of the quantity or error. Generally, the range of slight variations or errors modified by such terms may be 20% in some embodiments, 10% in others, 5% in still others, or other values. Those skilled in the art should understand that the aforementioned values ​​can be adjusted according to actual needs and are not limited thereto.

[0030] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0031] When expressions such as "at least one of A, B, and C" are used, they should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). When expressions such as "at least one of A, B, or C" are used, they should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). A person skilled in the art should also understand that any conjunction and / or phrase that substantially arbitrarily indicates two or more optional items, whether in the specification, claims, or drawings, should be understood to indicate the possibility of including one of these items, either of these items, or both items. For example, the phrase “A or B” should be understood as including the possibility of “A” or “B”, or “A and B”.

[0032] The following embodiments are exemplary. Although the specification refers to "a," "an," or "some" embodiments in various places, this does not necessarily mean that each reference refers to the same embodiment, or that a specific feature applies only to a single embodiment. Individual features of different embodiments may also be combined to provide other embodiments. Moreover, when specific features, structures, or characteristics are described in conjunction with embodiments, whether explicitly described or not, such features, structures, or characteristics will be applied to other embodiments to the extent that those skilled in the art possess the knowledge to do so. It should be understood that although terms such as "first" and "second" may be used to describe various elements, these elements should not be limited by these terms. These terms are merely used to distinguish one element from another.

[0033] Figure 1 An example of a dexterous hand control system 100 is shown, in which exemplary embodiments disclosed herein may be implemented. See also Figure 1 The dexterous hand control system 100 may include a host control terminal 110, a control device 120, multiple robotic arms 130 and 132, and multiple dexterous hands 140 and 142 connected to the robotic arms 130 and 132.

[0034] Dexterous hands 140 and 142 can be mounted at the ends of robotic arms 130 and 132, respectively, to enable direct interaction between the robot and the work object, such as precise grasping, posture adjustment, and accurate manipulation. Dexterous hands 140 and 142 can adopt a multi-joint modular design, including components such as finger units and hand units. Robotic arms 130 and 132 can drive dexterous hands 140 and 142 to achieve spatial position movement and posture adjustment, and can also facilitate the connection between dexterous hands 140 and 142 and the control device 120. Robotic arms 130 and 132 can adopt a serial multi-joint structure, with each joint equipped with components such as motors to control joint movement. Dexterous hands 140 and 142, as well as robotic arms 130 and 132, can use a bus interface to connect to the bus architecture of the control device 120 and receive commands issued by the control device 120.

[0035] The dexterous hands 140 and 142 can be connected to the robotic arms 130 and 132 via rigid or extended connections. A rigid connection involves the robotic arms 130 and 132 connecting to the base interfaces of the dexterous hands 140 and 142 via adapter flanges. An extended connection involves adding other devices between the robotic arms 130 and 132 and the dexterous hands 140 and 142, such as a six-dimensional wrist force sensor. The robotic arms 130 and 132 can connect to one end of the six-dimensional wrist force sensor, while the other end of the sensor can connect to the dexterous hands 140 and 142, enabling real-time acquisition and transmission of force / torque information.

[0036] Control device 120 is used to schedule the actions of the dexterous hand system in real time, enabling coordinated operation between dexterous hands 140, 142 and robotic arms 130, 132 by issuing commands. Control device 120 can issue work commands to robotic arms 130, 132 and dexterous hands 140, 142 based on the work tasks issued by the host control terminal 110. It can also perform real-time calculations on the work parameters fed back by robotic arms 130, 132 and dexterous hands 140, 142 to generate and issue control commands. Control device 120 can adopt an embedded architecture, such as a combination of a Field Programmable Gate Array (FPGA) and an Advanced Reduced Instruction Set Machine (ARM) processor. At least a portion of control device 120 can be implemented as a controller for executing, or via a processor, the processes or methods described in this disclosure.

[0037] The control device 120 can integrate bus interfaces, such as Ethernet for Control Automation Technology (EtherCAT) and CANopen (a high-level industrial communication protocol for Controller Area Networks), to enable signal interaction with the robotic arm joint drive units, dexterous hands, and various optional sensors. This includes issuing motion commands and receiving operating status feedback from the robotic arm 130, 132 joint drive units and the dexterous hands 140, 142. The control device 120 can supply power to the servo motors of each joint of the robotic arm 130, 132 and to the dexterous hands 140, 142 via power cables.

[0038] The host control terminal 110 serves as a platform for operators to interact with the robot control system, providing the dexterous hand control system 100 with functions such as human-machine interaction and task management, including job programming, parameter configuration, task assignment, overall machine operation status monitoring, and data management. The host control terminal 110 can be a touch-screen tablet, mobile phone, or desktop computer, and may have corresponding control software. A bidirectional communication connection can be established between the host control terminal 110 and the control device 120 via Ethernet, and long-distance communication can be achieved using protocols such as TCP / IP.

[0039] Currently, the traditional motor rotor straightening process in the industry mainly adopts four types of implementation methods, as follows:

[0040] First, the manual alignment method. This method relies on manually rotating the rotor and completing the alignment through visual observation or simple angle markings. This method is entirely dependent on manual operation, resulting in low work efficiency, poor alignment consistency, and insufficient repeatability, and cannot meet the needs of automated and standardized production.

[0041] Second, there is the customized mechanical tooth positioning method. This method uses a dedicated mechanical tooth structure to force the rotor to be positioned. While the structure is highly reliable, it is extremely specialized and only suitable for motor rotors of specific structures and models. When changing motor models, new tooling must be customized, resulting in high changeover costs and extremely poor flexibility.

[0042] Third, the robot gripper-based rotation and centering method. This method uses the robot's end effector to directly grip the rotor to achieve a fixed-angle rotation, relying on the joint torque of the robotic arm for control. This approach has limited adaptability to rotor diameter and weight, and the working angle is limited by the travel distance of the robotic arm joints, resulting in insufficient versatility and adaptability.

[0043] Fourth, the vision-assisted open-loop rotation method. After visually detecting the rotor's marked position, a robot clamps the rotor and performs a fixed-angle rotation. Conventionally, the rotor rotation angle is calculated using open-loop time and pulse count. The core flaw of this approach is that it ignores the nonlinear acceleration process during motor startup and does not perform real-time closed-loop correction of the rotation angle, making it prone to large angle deviations and frequent rotation failures.

[0044] All of the above solutions have shortcomings, mainly including:

[0045] First, the open-loop angle calculation accuracy is low, and the error is uncontrollable. The existing straightening scheme uses a robot to hold the rotor and rotate it, and the control logic calculates the rotation angle based on time and pulse count in an open loop. During the motor start-up acceleration phase, there are significant nonlinear motion characteristics, and there is a large deviation between the theoretically calculated angle and the actual rotor rotation angle. It can be seen that the control method based on rotor rotation is inherently very complex, and due to the accuracy problem of robot control, it cannot meet the process requirements of high-precision straightening of the motor rotor, which can easily lead to straightening failure.

[0046] Secondly, the lack of real-time sensing of pin hole alignment easily leads to positioning misjudgments. The diameter of the pin hole on the motor rotor is only a few millimeters, and the precise engagement of the pin and the pin hole requires extremely high alignment accuracy. Traditional straightening solutions lack a dedicated engagement sensing mechanism and cannot detect in real time whether the pin has truly slid into the pin hole and completed mechanical engagement. They rely solely on preset angles and fixed timing sequences to determine the alignment status, which easily leads to situations where the pin is not in the hole but is mistakenly judged as having completed alignment, resulting in subsequent rotor positioning failures and a decrease in product qualification rate.

[0047] Third, visual pose calculation suffers from ambiguity and poor detection stability. Existing visual alignment technologies employ the solvePnP 3D pose calculation algorithm, which requires converting 2D pixels into 3D spatial angles. However, a square has two solutions at a specific angle, resulting in two equivalent 3D solutions for a square marker at certain observation angles. This significant ambiguity in pose calculation directly leads to fluctuations and insufficient stability in angle detection results. Furthermore, the algorithm's accuracy is highly dependent on camera calibration quality; even minor calibration errors directly impact rotor angle detection results, further reducing alignment accuracy.

[0048] In addition to the main defects mentioned above, there are also drawbacks such as poor equipment versatility and high production changeover costs. Existing turning fixtures and jigs are mostly custom-developed for specific motor models, with highly targeted structures and narrow compatibility, making them incompatible with motor rotors of different structures and specifications. When switching motor models on the production line, frequent replacement, modification, or even redesign of dedicated tooling is required. This changeover process is cumbersome, time-consuming, and costly, resulting in extremely low production line flexibility and making it difficult to support mixed-product mass production.

[0049] To address the shortcomings of existing motor rotor straightening technologies, such as insufficient precision, lack of pin hole engagement sensing, unstable visual inspection, poor equipment versatility, and high changeover costs, this disclosure proposes a universal automatic motor rotor straightening method and system based on a dexterous hand and a rotary table. It constructs a two-stage closed-loop straightening strategy of "force-sensing hole searching + visual closed-loop convergence," achieving high-precision and high-stability motor rotor straightening without manual intervention. Simultaneously, relying on a quick-change tool mechanism, it achieves universal compatibility with all types of motor rotors, solving the pain points of low precision, poor stability, weak versatility, and high changeover costs of traditional solutions, and meeting the industrial needs of flexible mixed-line production of multiple varieties. Specifically:

[0050] First, this disclosure innovatively proposes a rotation path that uses a robotic arm to constrain the rotor's angular position with tool pins and a rotary table to drive the stator's rotation. Unlike traditional robots that directly rotate the rotor, this scheme separates the high-torque rotation drive (handled by the rotary table) from the precise force sensing and positioning (handled by the robotic arm). The robot only undertakes light-load pose control and force sensing tasks, while the rotary table handles the rotation drive, resulting in a clear division of labor. This path is well-adaptable to motors of different weights and sizes, while avoiding the loss of accuracy in robot joint torque control under heavy rotational loads.

[0051] Secondly, this disclosure proposes an automatic pin hole sensing scheme based on dual force drop detection and a vision-based closed-loop convergence scheme. On one hand, it uses a sudden force drop at the end of the robotic arm as the pin hole engagement signal and employs a dual algorithm combining adjacent difference detection and maximum value difference detection. Compared to single threshold detection, the dual mechanism can simultaneously handle both the instantaneous sharp drop when the pin enters the hole and the gradual drop across multiple sampling points, significantly improving detection reliability. Furthermore, the pin hole alignment signal does not depend on a preset angle or timing but originates from the force characteristics of actual physical contact, possessing immediacy and determinism. Simultaneously, this disclosure integrates force-sensing coarse positioning and vision-based closed-loop fine positioning into a unified two-stage alignment method. The two stages are executed in series: the former is responsible for finding the pin hole engagement point (hole finding), and the latter is responsible for precise convergence to the target angle (alignment). This significantly improves the accuracy and immediacy of alignment.

[0052] Third, this disclosure proposes a visual loop closure convergence based on the root mean square (RMS) of pixel corners. It uses the RMS distance of the pixel coordinates of the four corner points of the positioning marker (instead of the 3D pose) as the loop closure convergence criterion. It does not require camera intrinsic and extrinsic parameter calibration, nor does it require the execution of solvePnP. It avoids the ambiguity of the pose of the square marker at a specific angle and has good anti-interference ability against image noise (multi-frame continuous confirmation mechanism). The scheme reduces detection latency and achieves a good balance between accuracy and robustness.

[0053] In addition to the main aspects mentioned above, this disclosure also adopts a quick-change tool mechanism with a dexterous hand, which can quickly adapt to motor rotors of different structures and specifications without modifying the software control logic or re-customizing special tooling, effectively reducing changeover costs and improving the flexibility and versatility of the production line.

[0054] The technical solutions and characteristics of this disclosure are described in detail below through exemplary embodiments. For the purpose of clarity, specific technical implementations, such as specific models, data, and interfaces, are used in the following exemplary embodiments. Those skilled in the art, based on the exemplary embodiments provided by this disclosure, can readily conceive, deduce, and adapt various alternative solutions. Other similar conventional technical means, equivalent algorithm structures, general data formats, and standard interface protocols can be used to replace the specific technical implementations described in this disclosure, without departing from the core technical logic of this disclosure, to complete the adaptation and modification.

[0055] Figure 2 A schematic diagram of a motor rotor straightening system 200 according to an exemplary embodiment of the present disclosure is shown. Figure 2 As shown, system 200 may include a rotary table 206 and a motor 210 to be rotated fixed on the rotary table. The motor 210 may include a rotor and an outer stator (not shown) that surrounds the rotor. The rotary table 206 can support the entire motor to be rotated and drive the outer stator to perform circumferential rotation. The rotation technology route of this disclosure is different from the traditional "stator fixed, rotor rotating" technology route. Specifically, in system 200 of this disclosure, when the outer stator rotates synchronously with the rotary table, if the rotor is in a completely free and unrestrained state, the outer stator can drive the rotor to rotate synchronously through the contact surface friction or electromagnetic coupling force; if the rotor is locked and fixed by an external structure and cannot rotate independently, the rotating outer stator will produce circumferential rotation relative to the stationary rotor, which is equivalent to the rotor rotating in the opposite direction at the same angular velocity. The core technology of "external stator rotation" allows the robotic arm and dexterous hand to simply hold the centering tool and press it down, without having to hold the centering tool to rotate in a circle. This avoids the complex motion control logic of the robotic arm and dexterous hand directly driving the rotor rotation, significantly reducing the control complexity and motion coupling error of the upper-level equipment, and improving the stability of system operation.

[0056] In some implementations, the rotary table 206 can be powered by a stepper motor. To effectively reduce the motion inertial resistance during the start-up and shutdown process of the equipment and to achieve smooth start-up and shutdown of the rotary table with uniform and controllable speed, the stepper motor can be equipped with a 90:1 high-precision reduction transmission mechanism to drive the rotary table 206 to rotate. The transmission logic is that for every 90 rotations of the stepper motor, the rotary table 206 rotates once, which can achieve a small torque, high precision, and low jitter rotation output.

[0057] In some implementations, the rotary table 206 can establish a communication connection with the back-end control equipment via shielded twisted-pair cable, and realize functions such as issuing control commands, transmitting equipment status, and exchanging operating parameters through the RS485 hardware communication architecture and the Modbus standard communication protocol.

[0058] In some implementations, the rotational positioning accuracy of the rotary table 206 can be 6000 pulses / rev, meaning that the controller needs to output 6000 sets of control pulses for each rotation of the stepper motor spindle, and the maximum speed of the stepper motor can be 200 revolutions per minute (RPM).

[0059] In some implementations, the drive structure of the rotary table is not limited to a stepper motor, but can also be replaced by a servo motor, a pneumatic rotary cylinder, or a brushless DC motor.

[0060] See Figure 2 The system 200 may also include a centering tool 212, which serves as an execution tool for locking, aligning, and securing the rotor. In some embodiments, to achieve reliable locking and securing of the rotor, the front end of the centering tool 212 may be provided with at least one positioning pin 214; correspondingly, the rotor end face of the motor 210 has at least one pin hole (not shown) that matches the pin 214 one by one. When the pin 214 is inserted into the rotor pin hole, the rotational degree of freedom of the rotor can be completely locked, keeping the rotor in a stationary and fixed state, ensuring that only relative motion between the stator and rotor occurs during the rotation of the outer stator.

[0061] In some implementations, a robotic arm and a dexterous hand mounted at the end of the robotic arm (e.g., Figure 1 The robotic arms 130 and 132, and the dexterous hands 140 and 142 in the system complete the clamping, grasping, transporting, aligning, and fitting operations of the straightening tool 212. The control equipment can control the robotic arms to move the straightening tool 212 from the fixed storage position to the working area directly above the motor to be straightened, according to the preset motion trajectory.

[0062] As mentioned earlier, traditional equipment is only compatible with motor rotors of a single diameter and pin hole parameter, making it unable to quickly adapt to various types and parameters of motors. Addressing the industry pain points of poor versatility and high changeover costs of traditional rotor straightening equipment, this disclosure pre-configures multiple sets of differentiated straightening tools. Each set of tools can have pins with different diameters, quantities, lengths, end face shapes, and other parameters. Simultaneously, a database establishing a one-to-one correspondence between each set of straightening tools and different motor parameters is created. Before straightening operations, the control equipment can identify the relevant parameters of the motor to be straightened and match the optimal straightening tool based on these parameters. During product changeover operations, only the corresponding specification of straightening tool needs to be replaced according to the motor's relevant parameters, and the equipment configuration file parameters need to be updated simultaneously for rapid adaptation. No changes to the hardware structure or core control logic are required, significantly improving equipment versatility and changeover efficiency.

[0063] In some implementations, the motor-related parameters used for matching and selection can be the motor's factory model or physical parameters such as the diameter, number of holes, hole depth, and hole shape of the motor rotor pin holes.

[0064] In some implementations, the robotic arm mounted on the system 200 may be a seven-axis robotic arm equipped with joint force sensors; the dexterous hand mounted on the system 200 may be mounted on the end flange of the robotic arm.

[0065] System 200 may also include cameras 202 and 204 as vision devices, which can be used to perform rotary table position calibration and tool pose correction, respectively, to improve the straightening accuracy. Specifically, camera 202 can be mounted directly above the rotary table 206 to capture images of the working area of ​​the straightening tool, used to detect and correct installation offsets, alignment deviations, etc., of the straightening tool 212; camera 204 can be mounted to the side of the rotary table 206 to capture images of the rotary table base area, used to detect and correct positional deviations of the rotary table 206. In some embodiments, camera 202 or camera 204 may include a USB color camera, an industrial high-definition camera, or a line scan camera.

[0066] In some implementations, to facilitate precise positioning and correction with the vision device, the base of the rotary table 206 can be equipped with a positioning mark 208. The camera 204 can acquire images including the base of the rotary table 206 and the positioning mark 208, and perform position calibration through image recognition and other operations to assist in correcting the position deviation of the rotary table. Similarly, the straightening tool 212 can be equipped with a positioning mark 216, which can provide identification basis for visual detection and drift correction by the side camera 202, and achieve precise calibration of the tool's pose.

[0067] In some implementations, positioning markers 208 and 216 may include a square border and a pattern inside the square border. The pattern may encode the identification (ID) information of the positioning marker. The corresponding positioning marker can be uniquely identified through the ID information. In this way, when the control device decodes the acquired marker image through an image processing algorithm, it can identify the identity of the marker, distinguish different positioning targets, avoid confusion in the identification of multiple markers, and thus ensure the accuracy of positioning calibration.

[0068] In some implementations, the positioning mark 208 can be deployed on the base of the rotary table 206. The side length of the square border of the positioning mark 208 can be 30mm, and the interior can adopt a 4-row, 4-column multi-type square array layout, with a total of 16 square units. Through the arrangement and combination encoding of various types of squares, the mark ID can be uniquely identified.

[0069] System 200 may also include control devices (e.g., it may be...) Figure 1 The control device 120 shown serves as the control center of the entire system. It has functions such as multi-device collaborative scheduling, data acquisition and analysis, motion logic control, and fault monitoring and alarm. For example, it can achieve precise motion control of the robotic arm, dexterous hand, and rotary table through built-in rotor straightening coordination scheduling logic, force detection algorithm, and visual convergence algorithm. It can also acquire visual image data collected by two sets of cameras in real time to complete the motor rotor straightening process.

[0070] Figure 3 A schematic diagram of a motor rotor straightening process 300 according to an exemplary embodiment of the present disclosure is shown. Process 300 can be integrated into system 200 and executed, for example, by a control device within system 200, to achieve motor rotor straightening. Those skilled in the art will understand that, in addition to being adapted to system 200 of the present disclosure, process 300 can also be transferred to other similar straightening systems or extended to various industrial control scenarios requiring high-precision alignment and closed-loop calibration. Parameters involved in process 300, such as the preset motion trajectory, work point, and initial pose of the robotic arm and dexterous hand, can be preset in advance through manual teaching calibration or algorithmic simulation calculation.

[0071] See Figure 3After all system hardware components are installed, debugged, and configured, when performing the motor rotor straightening task, operation 302 can be executed first: pre-alignment of the rotary table 206 base. Before grasping the straightening tool, the rotary table is driven to rotate to a predetermined reference position. The purpose of operation 302 is to eliminate the deviation between the actual position of the rotary table and the initial deployment reference position (also known as the reference position) of the system after the motor is placed, such as installation deviation, placement deviation, and cumulative deviation of equipment operation, to ensure that the rotary table is located in the reference position and the system positioning error is correct. The reference position can be the reference position of the rotary table after the system is first deployed or after debugging and calibration.

[0072] In some implementations, the specific execution logic for the pre-alignment of the rotary table 206 base can be as follows: First, the camera 204 acquires real-time images of the rotary table base. Through image preprocessing and corner detection algorithms, the pixel coordinates of the four corner points of the positioning mark 208 on the rotary table 206 base are extracted. Then, the four sets of corner reference pixel coordinates stored during the initial deployment of the system are retrieved, and the root mean square (RMS) distance between the current real-time corner coordinates and the reference corner coordinates is calculated to quantify the magnitude of the position deviation. If the calculated RMS distance is higher than the system's preset convergence threshold, it is determined that the current position of the rotary table is significantly offset from the standard reference position, and the rotary table needs to be driven to rotate slowly and smoothly for calibration. Otherwise, it is determined that the rotary table is in the standard reference position.

[0073] During the calibration process, camera 204 can continuously acquire images of the rotary table in real time, calculate the RMS deviation value of the corner coordinates frame by frame, and compare it with the convergence threshold until the real-time RMS distance is lower than the preset convergence threshold. In some implementations, to avoid misjudgment caused by single-frame image detection errors and improve the stability of benchmark calibration, a multi-frame confirmation mechanism can be set. When the RMS distance of a preset number of consecutive frames is lower than the convergence threshold, it is finally confirmed that the rotary table 206 has completed benchmark alignment and the current position is consistent with the standard reference position of the initial deployment.

[0074] After the reference position calibration of the rotary table 206 is completed, operation 304 can be performed: tool gripping and initialization. Specifically, operation 304 may include at least: gripping a centering tool including at least one pin, and moving the centering tool to abut the at least one pin against the rotor end face. Operation 304 can be used to complete the automated gripping, attitude calibration, and coordinate system initialization of the centering tool.

[0075] Specifically, the robotic arm can first be driven to move to a preset initial pose (also known as the Home pose), which can be the safe standby position of the device. After the robotic arm is in position, the end effector can be controlled to fully release and reset to the open initial state. Then, the robotic arm can be controlled to move to the position of the straightening tool, and then the end effector connected to the robotic arm can be controlled to grasp the straightening tool. Specifically, the robotic arm can be controlled to drive the open end effector to move smoothly along a preset trajectory to the preset clamping position of the tool and perform the tool clamping action.

[0076] In some implementations, to address the issues of excessive impact force, tool knocking, and clamping misalignment during rapid clamping, a segmented clamping logic of "pre-closing + slow clamping" can be adopted. Specifically, the dexterous hand can be controlled to quickly retract to a pre-closing state close to the tool surface. In this state, the fingers of the dexterous hand have no rigid contact with the tool and no compressive stress. Then, a low-speed drive mode is switched to slowly close the fingers, smoothly applying clamping force until the tool is firmly locked and aligned.

[0077] After the tool is clamped, the robotic arm can return to the Home position. In some implementations, since the collision range increases after the robotic arm grips the tool, a safe return logic can be set to avoid collisions between the tool and surrounding equipment or workstation structures during the return process: control the robotic arm and the dexterous hand to rise a preset distance (e.g., 80mm) along the vertical Z-axis, and after confirming that they are out of the interference area of ​​the tool storage workstation, drive the robotic arm back to the Home standby position to complete the tool gripping action.

[0078] In some implementations, the fixed clamping positions of various adapter fixtures and straightening tools can be pre-entered into a configuration file. When performing operation 302, the file parameters can be read first to locate the preset clamping position.

[0079] In some implementations, the configuration file can store multiple sets of tool parameters and corresponding clamping points. During operation, the control equipment can automatically match the appropriate tool and retrieve the corresponding clamping point parameters based on the model and rotor parameters of the motor to be rotated, thereby achieving rapid tool changeover and adaptation.

[0080] In some implementations, the configuration file may include the tool center point coordinates (TCP) of each alignment tool. After the tool has finished grasping and the device returns to the Home pose, the control device can read the TCP parameters of the corresponding tool and correct the tool coordinate system for the current tool. Through the corrected coordinate system and kinematic compensation algorithm, the control device can correct the motion trajectory of each joint of the robotic arm, ensuring the grasping accuracy and pose stability of subsequent tool alignment and hole-finding operations.

[0081] After tool grasping and coordinate system initialization are completed, operation 306 can be performed: tool shifting and drift correction. Specifically, the robotic arm can be controlled to move the stable clamping and straightening tool 212 to a preset standard working point (since the camera will capture an image of this position during the subsequent correction operation, this point will also be referred to as the image capture position in this disclosure) to perform visual correction.

[0082] In some implementations, the height and horizontal position of the camera position can ensure that the pin axis of the straightening tool is coaxial with the pin hole axis of the motor rotor, and that the tool pin maintains a safe vertical distance of 10-20cm from the rotor end face.

[0083] Once the tool is in place, camera 202 can capture real-time images of the tool to perform tool pose drift correction, eliminating tool pose deviations caused by various biases, such as grasping bias, motion trajectory bias, and equipment vibration bias. The specific correction logic can be as follows: First, perform grayscale processing, noise reduction, and marker recognition on the real-time images captured by camera 202 to extract the real-time position and attitude angle of the positioning marker 216 on the straightening tool 212; then, combined with the system's hand-eye calibration matrix, calculate the translational and rotational drift amounts between the current actual pose of the straightening tool 212 and the standard ideal pose, quantifying the pose deviation value. The ideal pose can be the standard alignment pose obtained through prior teaching calibration or algorithm calculation.

[0084] In some implementations, different processing can be performed based on the magnitude of the drift. Specifically: if the detected drift is less than a preset accuracy threshold, it is determined that the tool deviation is within a controllable range. In this case, the compensation pose of the robotic arm end can be calculated first, and then the robotic arm can be driven to perform a small adaptive compensation motion to correct the tool pose deviation. If the detected drift is greater than or equal to the preset threshold, it can be determined that there is an abnormal fault in the system, such as tool gripping offset exceeding the tolerance, motor placement position seriously deviating from the calibration position, equipment movement failure, etc. In order to avoid invalid operation and equipment damage, the robotic arm can be immediately controlled to reset and return to the Home pose, and at the same time, a drift over-limit fault code is reported, the current operation process is terminated, and the fault is awaited for troubleshooting.

[0085] After tool pose correction is completed, operation 308 can be performed: tool pressing and contact detection based on force sensing. Operation 308 can control the pressing stroke and contact pressure based on the force sensing module on the robotic arm to determine the contact between the tool and the rotor surface, avoiding excessive pressing that could damage the rotor and pins, or insufficient pressing that could lead to hole searching failure.

[0086] In some implementations, the tool pressing and contact detection based on force sensing can specifically include: before pressing down, reading the joint torque data of the robotic arm and calculating the initial vertical suspension force Fz0 of the robotic arm, which is the basic force under the robotic arm's gripping of the tool in a suspended and static state. This value can be the weight of the robotic arm's end effector or the weight of the tool itself. Then, the robotic arm can be controlled to press down gradually in fixed steps (e.g., 5mm) along the vertical direction (i.e., the Z-axis of the world coordinate system). After each pressing down, the control device can read the joint torque data of the robotic arm and calculate the vertical force Fz of the robotic arm. In some implementations, data can be collected and the vertical force Fz calculated through various methods, such as the robotic arm's built-in joint force sensor, an external six-dimensional force sensor at the end effector, a dedicated pressure sensor on the tool side, or motor current monitoring.

[0087] Next, the control device can calculate the absolute value of the difference between the real-time applied force Fz and the suspended reference force Fz0, which is defined as the force increment ΔFz, and used as the basis for contact determination. During the gradual pressing process, when ΔFz exceeds the system's preset contact determination threshold (the threshold can be, for example, 15N), it can be determined that the tool pin has adhered to the rotor surface. At this time, the robotic arm's pressing action can be stopped, and the contact detection is completed.

[0088] In some implementations, relevant parameters can be recorded synchronously during the operation to provide data support for subsequent operations such as hole searching and anomaly backtracking: First, the contact depth, which is the cumulative distance the robotic arm moves along the Z-axis from the initial suspended pressing position to the contact determination position; second, the contact force, which is the real-time pre-pressure when the contact determination is triggered. In some implementations, the contact depth parameter can be used to record the standard contact position, limit the maximum pressing stroke of the equipment, and provide data basis for the retraction action in case of operation anomalies and retry reset.

[0089] In some implementations, to improve system operational safety and prevent damage to the equipment due to excessive downward pressure caused by sensor malfunctions or program anomalies, a force limit safety protection mechanism can be configured, with a preset maximum force protection threshold (the threshold can be, for example, 80N). If the real-time detected force Fz reaches this upper limit value, the safety protection logic can be triggered to forcibly stop all downward movements of the robotic arm, control the equipment to reset to the Home position, and simultaneously report an overload fault to avoid problems such as pin extrusion deformation and rotor surface damage.

[0090] After the contact detection is completed by operation 308, the centering tool pin is pressed firmly against the rotor surface with a stable preload. Then, the rotor centering stage, which integrates force and vision, can be entered. The coarse positioning and hole searching and the fine positioning and centering operations are completed in sequence. In general, in this stage, the control device can drive the robotic arm holding the alignment tool (e.g., centering tool 212) to move towards the device to be aligned (e.g., motor 210 or the rotor in motor 210); then the force-based coarse positioning operation is performed; and then the vision-based fine positioning operation is performed.

[0091] In operation 310, rotor coarse positioning and rotor fastening based on force-sensor sudden drop hole searching can be performed. Operation 310 can at least include controlling the straightening tool to press down and drive the rotary table to rotate the outer stator around the rotor's axis at a first speed, so as to insert at least one pin into at least one pin hole of the rotor, thereby fixing the rotor in a preset position and keeping the rotor stationary while the outer stator rotates. Operation 310 can be based on the contact pre-pressure, combined with the rotation of the rotary table and real-time force sensing, so that when the rotor is driven by the outer stator to the straightening position, the pin of the straightening tool inserts into the pin hole of the rotor, locking the rotor tightly, thereby stabilizing the rotor in the preset straightening position. However, since the relative positions of the rotor and the outer stator are not correct at this time, this step is also called coarse positioning. Operation 310 can determine the pin insertion into the pin hole by detecting the pin hole engagement signal. Specifically, since the tool pin always presses against the rotor surface with a constant preload, when the rotor pin hole rotates with the stator to be aligned with the pin on the same axis, the preload can drive the pin to automatically slide into the pin hole and complete the rotor locking; at the moment the pin enters the hole, the support force in the Z-axis direction will drop instantaneously, and this mechanical change signal can be used as a signal that the pin hole engagement is successful.

[0092] In some implementations, the rotor coarse positioning and rotor fastening based on force-sensory sudden drop hole search can specifically include: firstly, driving a rotary table to rotate at a first speed. For example, the rotary table 206 can be started to rotate continuously at a preset search speed. The search speed can be set in combination with sensor sampling frequency, force signal change characteristics, etc. In this exemplary implementation, the search speed can be set to 180 RPM to balance hole search efficiency and signal recognition stability. During the rotation, the joint torque value of the robotic arm can be collected at a fixed sampling interval (exemplary interval 50ms), and the vertical force Fz at the end of the robotic arm can be calculated based on the joint torque value of the robotic arm. At the same time, the calculated Fz is stored and an Fz historical data pool (also known as an Fz historical list) is constructed.

[0093] In some implementations, to accurately identify the mechanical abrupt change signal of the pin entering the hole and avoid the misjudgment and omission problems of a single detection logic, this disclosure proposes a dual sudden drop detection algorithm, which includes two judgment logics: adjacent difference detection and maximum value difference detection. Meeting either judgment condition confirms successful pin engagement and immediately shuts down the rotary table. Adjacent difference detection is suitable for the instantaneous sharp drop condition of the pin rapidly entering the hole. The judgment logic can be: determining whether the force difference between two consecutive samples exceeds a preset sudden drop threshold. The force difference calculation formula can be fz_hist[-2]−fz_hist[-1], where fz_hist[-1] is the latest Fz sample value and fz_hist[-2] is the sample value of the previous frame. Maximum value difference detection is suitable for the condition of slow alignment and gradual hole entry. The judgment logic can be: determining whether the cumulative decrease of the current real-time Fz value relative to the peak force value throughout the entire process exceeds the sudden drop threshold, where the peak force value throughout the entire process can be the maximum value in the historical Fz data pool. The drop thresholds for both detection logics can be set uniformly; for example, the drop threshold for both detection logics can be 7N. The aforementioned dual drop detection algorithm enables the control device to stop the rotation of the rotary table and complete the coarse positioning operation when the absolute value of the difference between the force at the end of the robotic arm calculated based on two adjacent joint torque values ​​is greater than or equal to a predetermined threshold, or when the absolute value of the difference between the current force at the end of the robotic arm and the maximum force in the historical force data pool is greater than or equal to the predetermined threshold.

[0094] In some implementations, after the rotary table 206 stops rotating, the control device can wait for a preset stabilization period (exemplary 0.3s) until the vibration and stress state of the device are completely stable before confirming that the coarse positioning operation is completed.

[0095] In some implementations, a maximum search angle (e.g., 150 degrees) can be preset. If the rotary table 206 continues to rotate to the maximum search angle and no pin engagement signal of sudden force drop is detected, it can be determined that the pin has not been successfully inserted into the pin hole, the coarse positioning hole search has failed, and the rotor fastening has failed.

[0096] Next, operation 312 can be executed: coarse positioning result determination. If the coarse positioning is determined to be unsuccessful, the process can jump to operation 314 to perform system reset and abnormal retry; if the coarse positioning is determined to be successful, the pin reliably engages with the pin hole and the rotor is fully locked, the process can jump to the subsequent fine positioning process, i.e., operation 316.

[0097] In operation 314, a system reset and retry mechanism can be implemented to improve the system's fault tolerance and prevent operation termination due to a single failure. The system reset and retry mechanism can be implemented as follows: First, a progressive pin removal action can be performed, raising the robotic arm upwards in segments with a fixed step size (exemplary step size 15mm), while monitoring the force value of Fz in real time to confirm that the pin has completely dislodged from the rotor pin hole; after the pin is removed, the robotic arm can be controlled to return to the Home standby position, and the rotary table can be driven to reset to the standard reference position, completing the overall system reset.

[0098] In some implementations, to avoid the problem of continuous hole-searching failures at the same position after resetting, the starting angle of the rotary table 206 can be adjusted before each retry. For example, the restart position can be offset by 150 degrees from the previous operation position, thereby changing the starting range for hole searching. Thus, when the rotary table rotates at the first speed, if the rotation reaches or exceeds the preset maximum search angle, the rotary table can be reset to the starting position and rotated by a predetermined angle, then the rotary table can be driven again to rotate at the first speed to perform subsequent operations.

[0099] In some implementations, a maximum number of retries can be set, for example, a maximum of 2 retries can be set. If the hole search and tightening cannot be completed after more than 2 retries, the alignment control can be determined to have failed. Specifically, it can be determined to be a hardware abnormality or parameter matching failure. An error is immediately reported and the normalization process 300 is exited, a fault prompt is output, and manual troubleshooting and intervention are awaited, thereby avoiding the problem of infinite process loop and equipment idling.

[0100] If the coarse positioning is successful, proceed to operation 316: fine positioning based on visual closed-loop convergence. Drive the rotary table to rotate the outer stator around the rotor's axis at a second rotational speed until the rotary table is at the preset target position, thus completing the rotor's rotation. It should be noted that the coarse positioning stage has already achieved precise rotation and locking of the rotor angle, and the rotor's posture has met the standards. The core objective of this fine positioning stage is to calibrate the assembly posture of the outer stator relative to the rotor. Through low-speed rotation of the outer stator and visual closed-loop correction, precise overall alignment of the rotor and outer stator is achieved, completing the final rotation operation.

[0101] During the fine positioning process, the rotary table can first be driven to rotate at a second speed. In order to ensure the clarity of visual image acquisition and improve pixel detection accuracy, the rotary table can be controlled to rotate at a low speed (exemplary speed 120 RPM, lower than the rotary table speed in the coarse positioning stage) to complete the stator return calibration.

[0102] Next, the camera 204 can continuously and in real-time acquire image data including the base of the rotary table, which is equipped with positioning marks. Visual detection and convergence determination are performed frame by frame. Specific steps may include: First, positioning mark detection. Specifically, the acquired color image can be converted into a grayscale image. After image denoising and preprocessing, the pixel coordinates of the four corner points of the positioning mark in the image data can be extracted by the mark detector. For example, the pixel coordinates of the four corner points of the positioning mark 208 of the rotary table 206 can be extracted. Second, pixel RMS distance calculation. The root mean square of the difference between each corresponding coordinate component of the extracted corner coordinates and the reference corner coordinates can be calculated. Specifically, the root mean square error (RMS) between the current real-time corner coordinates and the reference coordinates can be calculated by comparing the reference corner coordinates stored at the initial deployment of the system, thereby quantifying the stator position deviation.

[0103] In some implementations, the RMS distance can be calculated using the following formula (1):

[0104] (1)

[0105] Where, x cur,i This represents the current x-axis coordinate of the i-th corner point. ref,i The reference x-axis coordinates of the i-th corner point are represented by the y-axis coordinates. cur,i This represents the current y-coordinate of the i-th corner point. ref,i Let represent the reference y-axis coordinate of the i-th corner point. The calculation logic of Equation (1) is as follows: first, calculate the squared deviation of the horizontal and vertical coordinates of each corner point, sum the squared deviations of the four sets of corner point deviations, take the average value, and then take the square root to obtain the final RMS deviation value. Those skilled in the art will understand that the RMS distances involved in this disclosure can all be calculated using Equation (1).

[0106] In some implementations, during the deployment and debugging phase, multiple frames (30 frames in an example) of stable images can be continuously acquired, the average value of the coordinates of each corner point in these images can be calculated to obtain standard coordinate data, and this standard coordinate data can be used as reference corner point coordinates.

[0107] Third, convergence determination and correction termination: when the root mean square calculated based on a predetermined number of consecutive image data is less than a predetermined second threshold, the rotary table is determined to be in the target pose, and the rotary table is controlled to stop rotating to complete the fine positioning operation. Specifically: a pixel accuracy threshold (1.8px for example) and a stable confirmation frame number (4 frames for example) can be preset, and the real-time RMS distance is determined frame by frame to be less than the pixel threshold; when the RMS value of 4 consecutive frames (i.e., when the stable confirmation frame number is reached) is stably lower than the threshold, it is determined that the outer stator has rotated to the standard alignment pose, the rotary table is stopped immediately, and the rotor correction is completed, or it can be said that the relative correction of the rotor and the outer stator is completed.

[0108] The precision localization algorithm disclosed herein directly performs corner deviation comparison within the image pixel coordinate system, without relying on solvePnP 3D pose calculation. This fundamentally avoids the pose ambiguity of square visual markers and the problem of 3D calculation error accumulation, significantly improving the system's positioning stability and operational accuracy.

[0109] In some implementations, an overtime angle protection mechanism can be added, with a preset maximum rotation angle limit (380 degrees for example). When the rotary table rotates at the second speed, if the rotary table reaches or exceeds the preset maximum rotation angle but still fails to complete visual convergence or determine that the rotation is complete, an error can be reported and the process terminated to avoid the equipment from running idle.

[0110] In some implementations, an initial escape mechanism can be added to avoid misjudgment and shutdown caused by the initial position of the rotary table being close to the reference point. For example, before driving the rotary table to rotate at a first speed or a second speed, image data can be acquired first. If the root mean square of the difference between the pixel coordinates of the four corner points of the positioning mark extracted from the acquired image data and the corresponding coordinate components of the reference corner point is less than a predetermined third threshold, the rotary table is controlled to rotate until the root mean square of the difference between the pixel coordinates of the four corner points of the positioning mark extracted from the acquired image data and the corresponding coordinate components of the reference corner point is not less than the predetermined third threshold; otherwise, subsequent operations continue. The execution logic of the escape mechanism can be as follows: before starting the rotary table in the coarse positioning and fine positioning process, an image of the rotary table in a stationary state can be acquired first, and the RMS deviation value can be calculated. If the RMS is less than the minimum escape threshold (exemplary 5px), it is determined that the device is within the reference area, and the escape logic is initiated. The escape logic can specifically include: controlling the rotary table to continue rotating but temporarily suspending the hole search and convergence judgment operations until the equipment rotates out of the reference threshold range, and then resuming the normal operation judgment logic, so as to avoid false stops and missed judgments caused by initial position deviations and improve the stability of process operation.

[0111] In some implementations, the pixel-based RMS convergence determination method disclosed herein can also be replaced by a visual determination method based on image cross-correlation matching or feature point matching, etc.

[0112] After precise positioning and alignment are completed, operation 318 can be performed: step-by-step safe pin removal. That is, after the alignment operation is completed, to avoid damage to the rotor pin hole and tool pin, the robotic arm can be moved upwards until at least one pin is dislodged from the at least one pin hole. The pin removal operation can employ a segmented, smooth pin removal logic. The robotic arm is moved upwards, and the change in force on the robotic arm is calculated. When the change in force is less than a preset dislodging threshold, it is determined that at least one pin has dislodged from the at least one pin hole. Specifically, the robotic arm can be controlled to lift upwards step-by-step along the vertical Z-axis. The lifting distance per step can be controlled within the range of 15mm-30mm. After each lifting action, the system calculates the vertical force Fz in real time and monitors the pin dislodging status. When |Fz| < the preset dislodging threshold (example 5N), it can be determined that the pin has completely dislodged from the rotor pin hole, and the pin removal operation is complete.

[0113] Finally, operation 320 can be executed: equipment reset. After the nail removal is completed, the robotic arm and dexterous hand can be controlled to return to the preset Home standby position, all equipment returns to the initial standby state, completing a single complete automatic rotation of the motor rotor and can directly enter the next work cycle.

[0114] Figure 4 A flowchart illustrating an exemplary method 400 according to an exemplary embodiment of the present disclosure is shown. Exemplary method 400 may be performed by a device or at least a portion of a robot system or dexterous hand system, for example by… Figure 1 The control device 120 is executed. See also Figure 4 The exemplary method 400 may include: operation 410, grasping a straightening tool, the straightening tool including at least one pin; operation 420, moving the straightening tool to abut the at least one pin against the rotor end face; operation 430, controlling the straightening tool to press down and drive the rotary table to rotate the outer stator around the axis of the rotor at a first speed, so as to insert the at least one pin into at least one pin hole of the rotor, thereby fixing the rotor in a preset position and keeping the rotor stationary when the outer stator rotates; operation 440, driving the rotary table to rotate the outer stator around the axis of the rotor at a second speed until the rotary table is at a preset target position, thereby completing the straightening of the motor rotor.

[0115] In some embodiments, the grasping and straightening tool may include: controlling a robotic arm to move to the position of the straightening tool; and controlling a dexterous hand connected to the robotic arm to grasp the straightening tool.

[0116] In some embodiments, exemplary method 400 may further include: after the motor rotor has been turned upright, moving the robotic arm upward until the at least one pin disengages from the at least one pin hole.

[0117] In some embodiments, moving the robotic arm upward until the at least one pin disengages from the at least one pin hole may include: moving the robotic arm upward and calculating the change in force on the robotic arm; when the change in force is less than a preset disengagement threshold, determining that the at least one pin has disengaged from the at least one pin hole.

[0118] In some implementations, exemplary method 400 may further include: driving the rotary table to a predetermined reference position before grasping the centering tool.

[0119] In some implementations, the first rotational speed is faster than the second rotational speed.

[0120] In some additional embodiments, the straightening tool may include a positioning mark, and moving the straightening tool to abut the at least one pin against the rotor end face may include: moving the robotic arm to a predetermined position above the motor; correcting the pose of the straightening tool using a camera and the positioning mark; moving the robotic arm downward and calculating the change in force on the robotic arm; and determining that the at least one pin abuts against the rotor end face when the change in force is greater than a preset contact threshold.

[0121] Figure 5 A flowchart illustrating an exemplary method 500 according to an exemplary embodiment of the present disclosure is shown. The exemplary method 500 can be performed by a device or at least a portion of a robot system or dexterous hand system, for example by... Figure 1 The control device 120 is executed. See also Figure 5 The exemplary method 500 may include: operation 510, driving a robotic arm holding an alignment tool to move towards the device to be aligned; operation 520, performing a force-based coarse positioning operation; operation 530, performing a vision-based fine positioning operation; the force-based coarse positioning operation 520 may include: operation 522, driving a rotary table to rotate at a first speed; operation 524, acquiring joint torque values ​​of the robotic arm at fixed intervals; operation 526, calculating the force at the end of the robotic arm based on the joint torque values ​​of the robotic arm and storing the force to form a force history data pool; operation 528, when the absolute value of the difference between the force at the end of the robotic arm calculated based on two adjacent acquired joint torque values ​​is greater than or equal to a predetermined threshold, or when the absolute value of the difference between the current force at the end of the robotic arm and the maximum force in the force history data pool is greater than or equal to the predetermined threshold, controlling the rotary table to stop rotating to complete the coarse positioning operation.

[0122] In some embodiments, the exemplary method 500 may further include: when the rotary table is rotating at a first speed, if the rotary table rotates to or exceeds a preset maximum search angle, then the rotary table is reset to the starting position and rotated by a predetermined angle, and then the rotary table is driven to rotate at the first speed again and subsequent operations are performed.

[0123] In some implementations, exemplary method 500 may further include: determining that the alignment control has failed when the number of retries exceeds 2.

[0124] In some implementations, the preset maximum search angle can be 150 degrees.

[0125] In some additional embodiments, a force-and-vision fusion alignment control method may include: driving a robotic arm holding an alignment tool to move toward the device to be aligned; performing a force-based coarse positioning operation; and performing a vision-based fine positioning operation. The force-based coarse positioning operation includes: driving a rotary table to rotate at a first rotational speed; acquiring joint torque values ​​of the robotic arm at fixed intervals; calculating the force at the end of the robotic arm based on the joint torque values ​​and storing the force to form a force history data pool; and determining the force at the end of the robotic arm when the absolute value of the difference between the force at the end of the robotic arm calculated based on two adjacent acquired joint torque values ​​is greater than or equal to a predetermined threshold, or when the current force at the end of the robotic arm is greater than or equal to the maximum force in the force history data pool. When the absolute value of the force difference is greater than or equal to the predetermined threshold, the rotary table is controlled to stop rotating to complete the coarse positioning operation; the vision-based fine positioning operation includes: driving the rotary table to rotate at a second rotation speed; acquiring image data including the base of the rotary table, the base of the rotary table being provided with positioning marks; extracting the pixel coordinates of the four corner points of the positioning marks in the image data; calculating the root mean square of the differences between the corresponding coordinate components of the extracted corner point coordinates and the reference corner point coordinates; when the root mean square calculated based on a predetermined number of consecutive image data is less than the predetermined second threshold, the rotary table is determined to be in the target pose; the rotary table is controlled to stop rotating to complete the fine positioning operation.

[0126] In some additional embodiments, the above method may further include: before driving the rotary table to rotate at a first rotational speed or a second rotational speed, acquiring image data; if the root mean square of the differences between the corresponding coordinate components of the pixel coordinates of the four corner points of the positioning mark extracted in the acquired image data and the coordinates of the reference corner point is less than a predetermined third threshold, controlling the rotary table to rotate until the root mean square of the differences between the corresponding coordinate components of the pixel coordinates of the four corner points of the positioning mark extracted in the acquired image data and the coordinates of the reference corner point is not less than the predetermined third threshold; otherwise, continuing to perform subsequent operations.

[0127] In some additional embodiments, the above method may further include: when the rotary table rotates at a second rotation speed, if the rotary table rotates to or exceeds a preset maximum rotation angle, an error is reported and the process is terminated.

[0128] In some additional implementations, the preset maximum rotation angle can be 380 degrees.

[0129] Figure 6 A block diagram of an example device 10 according to an exemplary embodiment is shown. Device 10 may be implemented as a functional module or device in a robotic system, such as at least a portion of control device 120, for performing the exemplary embodiments discussed above. References Figure 6 The device 10 includes, for example, at least one processor 11 and at least one memory 12 storing an operating system 13, instructions 14, and data 15. When the instructions 14 are executed by the at least one processor 11, the device 10 causes at least the above-described instructions to be executed. Figure 4 or Figure 5 The described method. In one example, the at least one memory 12 and instructions 14 (e.g., computer program code, software) are configured to cause the device 10 to perform any of the methods described above, via the at least one processor 11.

[0130] Operating system 13 is system software stored in memory 12. As an intermediate layer between hardware and instructions, it provides a unified abstract interface to provide a runtime environment for the execution of instructions 14 and manages the computing resources of processor 11, the space allocation of memory 12, and the scheduling of user interface 16 and communication interface 17. Operating system 13 can be a series of operating systems such as Windows, Mac OS, Unix, and Linux.

[0131] The data 15 is stored in the memory 12. It is a collection of various information that the processor 11 reads, writes, transmits and processes according to the instructions 14 under the scheduling and control of the operating system 13, providing data support for the operation and function realization of the various components of the device 10.

[0132] Processor 11 may include, or be configured as, one or more circuits configured to perform stages of the method according to the disclosed exemplary embodiments. In this disclosure, the term "circuit" may refer to one or more of the following: (a) a hardware-only circuit implementation, such as an implementation solely in analog and / or digital circuitry; (b) a combination of hardware circuitry and software, if applicable, such as: (i) a combination of analog and / or digital hardware circuitry with software / firmware, and (ii) any portion of a hardware processor with software (including digital signal processors, software, and memory, which work together to enable a device such as a user equipment to perform various functions); (c) hardware circuitry and / or a processor, such as a microprocessor or a portion thereof, which requires software (e.g., firmware) for operation, but which may be absent when not required for operation. This definition of circuitry applies to all uses of the term in this disclosure (including any claims). As a further example, when used in this disclosure, the term circuitry also encompasses: an implementation solely of hardware circuitry or a processor (or multiple processors), a portion of hardware circuitry or a processor, and an implementation of its accompanying software and / or firmware. If applicable to the specific features of the claims, the term "circuit" also covers, for example, baseband integrated circuits or processor integrated circuits for mobile devices, or similar integrated circuits in servers, cellular network devices, or other computing or network devices.

[0133] The memory 12 can be implemented using any suitable data storage technology. The memory 12 may include a database for storing data. The memory 12 may be at least partially external to the device 10, but may be accessible to the device 10.

[0134] The operating system 13, instructions 14, and data 15 may be contained in a computer-readable medium or a non-transitory computer-readable medium. The term non-transitory, as used herein, is in contrast to the limitation of data storage persistence (e.g., RAM versus ROM) and is a limitation concerning the medium itself (i.e., tangible rather than signaling).

[0135] Device 10 may include one or more entities of any protocol layer. In some embodiments, one or more of these entities may be configured to perform method 400, method 500, or any one or more embodiments described with respect to these methods.

[0136] The device 10 may also include a communication interface 17, such as a wireless communication interface and / or a wired communication interface, which can provide communication capabilities for the device 10.

[0137] Communication interface 17 may include receiving circuitry, receivers, I / O interfaces, and other devices with network data receiving and transmitting functions. For example, the receiver may be configured to receive information according to at least one wired or wireless standard. Communication interface 17 may include a transmitter configured to transmit information according to at least one wired or wireless standard. Receivers may include more than one receiver. Transmitters may include more than one transmitter. Communication interface 17 may include a transceiver configured to receive and transmit information according to at least one wired or wireless standard. Transceivers may include more than one receiver.

[0138] Device 10 may include a user interface 16, which includes at least one of, for example, a keyboard, microphone, touchscreen, display, speaker, etc. User interface 16 can be used by a user to control device 10. User interface 16 may be external to device 10. For example, device 10 may be connected to another device, such as a computer, via a wireless or wired connection, and device 10 may be controlled by a user via the computer.

[0139] In some embodiments, at least some of the methods described herein can be performed by a device including means for performing various operations or steps in the described methods. Means for performing the method steps described herein may include software and / or hardware components of device 10. For example, at least one processor 11, memory 12, and computer program code may form means for performing the methods described herein and any embodiments thereof. The term “means” as used herein may be interpreted in the singular form, meaning a single element, or in the plural form, meaning a combination of single elements. Therefore, the term “means for performing A, B, C” should be interpreted to cover devices in which only one means performs A, B, C; or in which separate means perform A, B, C; or in which partially or entirely overlapping means perform A, B, C. Furthermore, the terms “means for performing A, means for performing B, means for performing C” should be interpreted to cover devices in which only one means performs A, B, C; or in which separate means perform A, B, C; or in which partially or entirely overlapping means perform A, B, C.

[0140] Figure 7 An example block diagram of an example device 700 according to an exemplary embodiment of the present disclosure is shown. The example device 700 may be, for example, at least a portion of the control device 120 described above.

[0141] like Figure 7As shown, the example device 700 may include: a device 710 for gripping a straightening tool, the straightening tool including at least one pin; a device 720 for moving the straightening tool to abut the at least one pin against the rotor end face; a device 730 for controlling the straightening tool to press down and drive a rotary table to rotate the outer stator around the axis of the rotor at a first speed, so as to insert the at least one pin into at least one pin hole of the rotor, thereby fixing the rotor in a preset position and keeping the rotor stationary when the outer stator rotates; and a device 740 for driving the rotary table to rotate the outer stator around the axis of the rotor at a second speed until the rotary table is at a preset target position, thereby completing the straightening of the motor rotor.

[0142] In some embodiments, the grasping and straightening tool may include: controlling a robotic arm to move to the position of the straightening tool; and controlling a dexterous hand connected to the robotic arm to grasp the straightening tool.

[0143] In some embodiments, the example device 700 may further include means for moving the robotic arm upwards until the at least one pin disengages from the at least one pin hole after the motor rotor has been turned upright.

[0144] In some embodiments, moving the robotic arm upward until the at least one pin disengages from the at least one pin hole may include: moving the robotic arm upward and calculating the change in force on the robotic arm; when the change in force is less than a preset disengagement threshold, determining that the at least one pin has disengaged from the at least one pin hole.

[0145] In some embodiments, the example device 700 may further include means for driving the rotary table to a predetermined reference position before gripping the centering tool.

[0146] In some implementations, the first rotational speed is faster than the second rotational speed.

[0147] In some additional embodiments, the straightening tool may include a positioning mark, and moving the straightening tool to abut the at least one pin against the rotor end face may include: moving the robotic arm to a predetermined position above the motor; correcting the pose of the straightening tool using a camera and the positioning mark; moving the robotic arm downward and calculating the change in force on the robotic arm; and determining that the at least one pin abuts against the rotor end face when the change in force is greater than a preset contact threshold.

[0148] Figure 8 An example block diagram of an example device 800 according to an exemplary embodiment of the present disclosure is shown. The example device 800 may be, for example, at least a portion of the control device 120 described above.

[0149] like Figure 8 As shown, the example device 800 may include: a device 810 for driving a robotic arm holding an alignment tool to move toward the device to be aligned; a device 820 for performing a force-based coarse positioning operation; and a device 830 for performing a vision-based fine positioning operation. The device 820 for performing the force-based coarse positioning operation may include: a device 822 for driving a rotary table to rotate at a first rotational speed; a device 824 for acquiring joint torque values ​​of the robotic arm at fixed intervals; a device 826 for calculating the force at the end of the robotic arm based on the joint torque values ​​and storing the force to form a force history data pool; and a device 828 for controlling the rotary table to stop rotating to complete the coarse positioning operation when the absolute value of the difference between the force at the end of the robotic arm calculated based on two adjacent acquired joint torque values ​​is greater than or equal to a predetermined threshold, or when the absolute value of the difference between the current force at the end of the robotic arm and the maximum force in the force history data pool is greater than or equal to the predetermined threshold.

[0150] In some embodiments, the example device 800 may further include: means for resetting the rotary table to the starting position and rotating it by a predetermined angle when the rotary table is rotating at a first speed, if the rotation of the rotary table reaches or exceeds a preset maximum search angle, and then re-driving the rotary table to rotate at the first speed and performing subsequent operations.

[0151] In some implementations, example device 800 may further include means for determining that the alignment control has failed when the number of retries exceeds 2.

[0152] In some implementations, the preset maximum search angle can be 150 degrees.

[0153] In some additional embodiments, an electronic device may include: means for driving a robotic arm holding an alignment tool to move toward a device to be aligned; means for performing a force-based coarse positioning operation; and means for performing a vision-based fine positioning operation. The means for performing the force-based coarse positioning operation may include: means for driving a rotary table to rotate at a first rotational speed; means for acquiring joint torque values ​​of the robotic arm at fixed intervals; means for calculating the force at the end of the robotic arm based on the joint torque values ​​and storing the force to form a force history data pool; and means for determining the force at the end of the robotic arm when the absolute value of the difference between the force at the end of the robotic arm calculated based on two adjacent acquired joint torque values ​​is greater than or equal to a predetermined threshold, or when the difference between the current force at the end of the robotic arm and the maximum force in the force history data pool is greater than or equal to a predetermined threshold. The device for controlling the rotary table to stop rotating when the absolute value is greater than or equal to the predetermined threshold, thereby completing the coarse positioning operation; the device for performing the vision-based fine positioning operation may include: a device for driving the rotary table to rotate at a second rotational speed; a device for acquiring image data including the base of the rotary table, the base of the rotary table being provided with positioning marks; a device for extracting the pixel coordinates of the four corner points of the positioning marks in the image data; a device for calculating the root mean square of the differences between the corresponding coordinate components of the extracted corner point coordinates and the reference corner point coordinates; a device for determining that the rotary table is in a target pose when the root mean square calculated based on a predetermined number of consecutive image data is less than a predetermined second threshold; and a device for controlling the rotary table to stop rotating, thereby completing the fine positioning operation.

[0154] In some additional embodiments, the above-described device may further include: means for acquiring image data before driving the rotary table to rotate at a first rotational speed or a second rotational speed; means for controlling the rotary table to rotate until the root mean square of the differences between the corresponding coordinate components of the pixel coordinates of the four corner points of the positioning mark extracted in the acquired image data and the reference corner point coordinates is not less than a predetermined third threshold if the root mean square of the differences between the corresponding coordinate components of the pixel coordinates of the four corner points of the positioning mark extracted in the acquired image data and the reference corner point coordinates is less than a predetermined third threshold; and means for continuing to perform subsequent operations.

[0155] In some additional embodiments, the above-described device may further include: a means for reporting an error and terminating the process when the rotary table rotates at a second rotational speed and the rotation of the rotary table reaches or exceeds a preset maximum rotation angle.

[0156] In some additional implementations, the preset maximum rotation angle can be 380 degrees.

[0157] It should be understood that the devices according to embodiments of this disclosure are not limited to the examples described above. The various devices in the illustrated example devices may be connected or coupled together in any suitable manner, and the arrows between the devices are only used to indicate the direction of data or signal flow of interest, but do not imply that the flow of data or signals between the devices can only follow the direction of the arrows.

[0158] Some exemplary embodiments also provide computer program code or instructions that, when executed by one or more processors, cause a device or apparatus to perform the methods described above. The computer program code for performing the methods of the example embodiments can be written in any known or future-developed programming language, such as Java, C++, C, and Assembler. The computer program code can be provided to one or more processors or controllers of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that, when executed by the processor or controller, it causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code can be executed entirely on the machine, partially on the machine as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote computer or server.

[0159] Some example embodiments also provide a computer program product or computer-readable medium in which computer program code or instructions are stored, which, when executed by a processor, cause the associated means to perform the methods, steps, or functions described above. A computer-readable medium can be any tangible medium that may contain or store a program for use by or in connection with an instruction execution system, means, or apparatus. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, means, or apparatuses, or any suitable combination thereof. More specific examples of machine-readable storage media will include electrical connections having one or more wires, portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable optical disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0160] Furthermore, although the operations are described in a specific order, this should not be construed as requiring such operations to be performed in the specific order or sequence shown, or requiring all of the operations shown to achieve the desired result. In some cases, multitasking and parallel processing can be advantageous. Similarly, although several specific implementation details are included in the foregoing discussion, these details should not be construed as limiting the scope of this disclosure, but rather as descriptions of features specific to particular embodiments. Certain features described in the context of a single embodiment may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0161] The basic principles of this disclosure have been described above in conjunction with embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0162] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0163] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0164] The above description has been given for illustrative and descriptive purposes and is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

[0165] Although the subject matter has been described in language specific to structural features and / or methodological actions, it should be understood that the subject matter defined in the appended claims is not limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed as examples of implementing the claims.

[0166] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0167] Those skilled in the art will understand that the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

[0168] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of the invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

Claims

1. A method for controlling the rotation of a motor rotor based on a rotary table, wherein the motor is fixed on the rotary table, the motor includes a rotor and an outer stator that surrounds the rotor, the outer stator rotating synchronously with the rotary table, the method comprising: The robotic arm is controlled to move to the position of the straightening tool, which includes at least one pin; The dexterous hand, connected to the robotic arm, is controlled to grasp the straightening tool; Move the centering tool to abut the at least one pin against the rotor end face; The centering tool is controlled to press down and drive the rotary table to rotate the outer stator around the axis of the rotor at a first speed, so as to insert at least one pin into at least one pin hole of the rotor, thereby fixing the rotor in a preset position and keeping the rotor stationary when the outer stator rotates. The rotating table is driven to rotate the outer stator around the axis of the rotor at a second speed until the rotating table is at a preset target position, thereby completing the rotation of the motor rotor. The straightening tool includes positioning marks, and moving the straightening tool to abut the at least one pin against the rotor end face includes: The robotic arm is moved to a predetermined position above the motor; the orientation of the centering tool is corrected using a camera and the positioning mark; the robotic arm is moved downward and the change in force on the robotic arm is calculated; when the change in force is greater than a preset contact threshold, it is determined that at least one pin abuts against the rotor end face. The first rotational speed is faster than the second rotational speed; Determining that the rotary table is in a preset target position includes: The camera continuously and in real time acquires color image data including the base of the rotating platform, which is equipped with positioning marks; The acquired color image is converted into a grayscale image. After image denoising and preprocessing, the pixel coordinates of the four corner points of the positioning mark in the grayscale image are extracted by a marker detector. Calculate the root mean square of the differences between the corresponding coordinate components of the extracted corner point coordinates and the reference corner point coordinates; When the root mean square calculated based on a predetermined number of consecutive image data is less than a predetermined threshold, the rotary table is determined to be at a preset target position.

2. The method of claim 1, further comprising: After the motor rotor is centered, the robotic arm is moved upward until the at least one pin is dislodged from the at least one pin hole.

3. The method as described in claim 2, wherein, Moving the robotic arm upward until the at least one pin disengages from the at least one pin hole includes: Move the robotic arm upwards and calculate the change in force on the robotic arm; When the change value is less than a preset disengagement threshold, it is determined that the at least one pin has disengaged from the at least one pin hole.

4. The method of claim 1, further comprising: Before gripping the centering tool, the rotary table is driven to rotate to a predetermined reference position.

5. An electronic device for controlling the rotation of a motor rotor, the motor being fixed on a rotating platform, the motor including a rotor and an outer stator surrounding the rotor, the outer stator rotating synchronously with the rotating platform, the electronic device comprising: At least one processor; as well as At least one memory storing instructions, which, when executed by the at least one processor, cause the electronic device to perform at least one operation, the operation including: The robotic arm is controlled to move to the position of the straightening tool, which includes at least one pin; The dexterous hand, connected to the robotic arm, is controlled to grasp the straightening tool; Move the centering tool to abut the at least one pin against the rotor end face; The centering tool is controlled to press down and drive the rotary table to rotate the outer stator around the axis of the rotor at a first speed, so as to insert at least one pin into at least one pin hole of the rotor, thereby fixing the rotor in a preset position and keeping the rotor stationary when the outer stator rotates. The rotating table is driven to rotate the outer stator around the axis of the rotor at a second speed until the rotating table is at a preset target position, thereby completing the rotation of the motor rotor. The straightening tool includes positioning marks, and moving the straightening tool to abut the at least one pin against the rotor end face includes: The robotic arm is moved to a predetermined position above the motor; the orientation of the centering tool is corrected using a camera and the positioning mark; the robotic arm is moved downward and the change in force on the robotic arm is calculated; when the change in force is greater than a preset contact threshold, it is determined that at least one pin abuts against the rotor end face. The first rotational speed is faster than the second rotational speed; Determining that the rotary table is in a preset target position includes: The camera continuously and in real time acquires color image data including the base of the rotating stage, which is equipped with positioning marks; The acquired color image is converted into a grayscale image. After image denoising and preprocessing, the pixel coordinates of the four corner points of the positioning mark in the grayscale image are extracted by a marker detector. Calculate the root mean square of the differences between the corresponding coordinate components of the extracted corner point coordinates and the reference corner point coordinates; When the root mean square calculated based on a predetermined number of consecutive image data is less than a predetermined threshold, the rotary table is determined to be at a preset target position.

6. The device of claim 5, wherein the operation further comprises: After the motor rotor is centered, the robotic arm is moved upward until the at least one pin is dislodged from the at least one pin hole.

7. The device as claimed in claim 6, wherein, Moving the robotic arm upward until the at least one pin disengages from the at least one pin hole includes: Move the robotic arm upwards and calculate the change in force on the robotic arm; When the change value is less than a preset disengagement threshold, it is determined that the at least one pin has disengaged from the at least one pin hole.

8. The device of claim 5, wherein the operation further comprises: Before gripping the centering tool, the rotary table is driven to rotate to a predetermined reference position.

9. An electronic device for controlling the rotation of a motor rotor, the motor being fixed on a rotating platform, the motor including a rotor and an outer stator that surrounds the rotor, the outer stator rotating synchronously with the rotating platform, the electronic device including one or more means for performing the method according to any one of claims 1 to 4.

10. A computer-readable medium comprising program instructions that, when executed, implement the method of any one of claims 1 to 4.

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