CN117060656A

CN117060656A - High-power servo motor assembly line and assembly method

Info

Publication number: CN117060656A
Application number: CN202310872464.0A
Authority: CN
Inventors: 陈永飞; 杜姗; 阮小丁
Original assignee: Zhejiang Linix Motor Co Ltd
Current assignee: Zhejiang Linix Motor Co Ltd
Priority date: 2023-07-17
Filing date: 2023-07-17
Publication date: 2023-11-14

Abstract

The invention belongs to the technical field of motor production and processing, and particularly relates to a high-power servo motor assembly line and an assembly method, wherein the assembly line comprises a front end cover and stator assembly station, a rotor and electromagnetic brake and rear end cover assembly station, a rotor and stator assembly station, a plurality of external assembly stations and a blanking station, which are connected in series through a conveying roller, a circulating plate is arranged on the conveying roller, and a stator supporting seat and a rear end cover supporting seat are arranged on the circulating plate; and a stator assembly overturning station is connected in series before or after the rotor and electromagnetic brake and rear end cover assembling station. The invention has the advantages of simplifying assembly difficulty, ensuring assembly quality, and solving the problem of difficult assembly of the high-power servo motor in the prior art.

Description

High-power servo motor assembly line and assembly method

Technical Field

The invention belongs to the technical field of motor production and processing, and particularly relates to a high-power servo motor assembly line and an assembly method.

Background

The assembly of the motor involves the assembly of a plurality of components such as a front end cover, a housing, a stator, an electromagnetic brake, a rotor, etc., and requires a plurality of steps or procedures. Because of the light weight, the rotor and the stator of the low-power motor have smaller relative magnetism, and the low-power motor has more mature related equipment at present. However, for the high-power servo motor, because each component, especially the components such as a shell stator assembly, a rotor and the like, are heavy, and high-performance magnetic steel such as neodymium iron boron and the like is generally adopted, the suction force between the rotor and the stator is large, so that the assembly of the high-power servo motor is difficult, and a mature assembly line does not exist in the prior art.

Disclosure of Invention

The invention aims to provide a high-power servo motor assembly line and an assembly method capable of simplifying assembly difficulty and guaranteeing assembly quality, and solves the problem of difficult assembly of a high-power servo motor in the prior art.

In order to achieve the above purpose, the invention adopts the following technical scheme: the high-power servo motor assembly line comprises a front end cover and stator assembly station, a rotor and electromagnetic brake and rear end cover assembly station, a rotor and stator assembly station, a plurality of external assembly stations and a blanking station, wherein the stations are connected in series through a main conveying belt, a circulating plate is arranged on the main conveying belt, and a stator supporting seat and a rear end cover supporting seat are arranged on the circulating plate; a stator assembly overturning station is connected in series before or after the rotor and electromagnetic brake and rear end cover assembling station; the front end cover and stator assembly assembling station is used for grabbing a stator assembly and assembling the front end cover of the motor and the stator assembly; the rotor and electromagnetic brake and rear end cover assembly station comprises a rotor lifting tool, wherein the rotor is vertically lifted through the rotor lifting tool, so that the rotor is vertically arranged in an inner hole of the electromagnetic brake and rear end cover; the rotor and stator assembly assembling station is used for fixing the stator assembly, fixing the upper end and the lower end of the rotor and moving the upper end and the lower end into the stator assembly, so that the rotor and the stator assembly are prevented from being adsorbed; the plurality of external component assembly stations comprise an encoder, a rear cover cap, an aviation plug and an oil seal, wherein one external component or a plurality of external components are assembled; the stator assembly overturning station overturns the stator assembly through the overturning machine, so that the front end cover of the stator assembly faces downwards, and the rear end cover of the stator assembly faces upwards to-be-installed holes.

The stator assembly with heavy weight can be grabbed and transferred by arranging the front end cover and the stator assembly assembling station, and the stator assembly is not required to be carried by manpower; the rotor can be ensured to be in a vertical state after being grabbed by arranging the rotor, the electromagnetic brake and the rear end cover assembly station, so that the rotor can be conveniently arranged in the electromagnetic brake and the rear end cover. Through setting up rotor and stator module assembly station and fixing the rotor both ends to fix the stator module, when making the rotor pack into the stator module, can overcome the magnetic attraction of high performance magnet steel such as neodymium iron boron, thereby guarantee that rotor and stator can not take place to attract and collide, protection rotor and stator module. Through setting up stator module upset station, can be with the heavier casing stator module of weight upset after grabbing up, need not to overturn through the manpower, security and upset efficiency are higher.

Preferably, the front end cover and the stator assembly assembling station are connected with a front end cover conveying belt and a stator assembly conveying belt, a first support is arranged between the front end cover conveying belt and the stator assembly conveying belt, the first support is provided with a stator lifting appliance, the stator lifting appliance can lift up and down and slide between the front end cover conveying belt and the stator assembly conveying belt, and the lower end of the stator lifting appliance is connected with a stator grabbing mechanism.

Because the stator assembly is heavier, staff is difficult to carry and transfer the stator assembly, so the stator assembly is convenient to grasp and transfer by the cooperation of the stator lifting appliance and the stator grasping mechanism. The reason for transferring the stator assembly from the stator assembly transport belt to the main conveyor belt is as follows: 1. the stator assembly is required to be dried during processing and manufacturing, the circulation plate is usually made of plastic materials and cannot bear high temperature, and the stator assembly end seat on the stator assembly conveyor belt is made of aluminum alloy materials and resists high temperature. 2. During manufacturing of the stator assembly, oil stains and paint spraying exist, so that a stator assembly end seat on a stator assembly conveying belt is dirty, and the stator assembly is transferred to a circulating plate of a main conveying belt in order to ensure that a production line is clean.

Preferably, the stator grabbing mechanism comprises a top plate and a bottom plate which are vertically arranged at intervals relatively, a frustum is arranged between the top plate and the bottom plate, a plurality of wedge-shaped blocks which are annularly and uniformly arranged at intervals by taking the frustum as a center are arranged between the top plate and the bottom plate, inclined surfaces matched with the frustum are arranged on the inner sides of the wedge-shaped blocks, abutting blocks are connected to the outer sides of the frustum, and the hardness of the abutting blocks is smaller than that of the frustum; the top plate or the bottom plate is fixed with a limit column, the wedge block is provided with a limit hole extending along the radial direction of the frustum, and the limit column is matched with the limit hole to limit the radial displacement of the wedge block; the lower extreme of first lifter passes the roof and is fixed with the frustum, and the upper end of first lifter is connected with first lift actuating mechanism, thereby drives first lifter and goes up and down to make the frustum reciprocate under first lift actuating mechanism's effect, makes the wedge radially outwards remove and causes the outer fringe protrusion in the outer fringe and the stator module inner wall butt of roof of supporting the piece then.

Because the inner wall of the stator assembly is high-performance magnetic steel such as neodymium iron boron, the material is brittle, the high-performance magnetic steel such as neodymium iron boron can be protected by arranging a supporting block with smaller hardness on the stator grabbing mechanism, and the high-performance magnetic steel such as neodymium iron boron is prevented from being scratched or damaged due to overlarge transverse acting force when the stator grabbing mechanism grabs.

Preferably, the rotor and electromagnetic brake and rear end cover assembly station comprises a third bracket and a rotor lifting appliance capable of sliding horizontally and lifting up and down on the third bracket, a rear end cover supporting seat for positioning a rear end cover is arranged below the rotor lifting appliance, the rotor and electromagnetic brake and rear end cover assembly station is connected with a rotor conveying belt, and the rotor conveying belt conveys a rotor vertically arranged on the rotor supporting seat to a main conveying belt below the rotor lifting appliance; the rotor lifting device comprises a rotor lifting device, a rotor lifting device and a rotor lifting device, wherein a rotor grabbing mechanism is connected below the rotor lifting device, the rotor grabbing mechanism comprises a second lifting plate and a second lifting driving mechanism fixed on the second lifting plate, the output end of the rotor lifting device is connected with the second lifting plate, a second lifting rod of the second lifting driving mechanism downwards penetrates through the second lifting plate, an annular piece is sleeved and fixed on the outer side of the second lifting rod, a plurality of clamping jaws for clamping a rotor are hinged to the annular piece, and an elastic piece is arranged between each clamping jaw and the second lifting plate for connection; the second lifting driving mechanism can drive the second lifting rod to descend so that the elastic pieces stretch and open the respective clamping jaws, and can drive the second lifting rod to ascend so that the elastic pieces shrink and the clamping jaws are closed; the second lifting rod is provided with a positioning hole which is downwards opened and is used for sleeving the upper end of the rotor; and a rear end cover and an electromagnetic brake placing frame are arranged in front of the rotor and electromagnetic brake and rear end cover assembling station.

And the staff takes out the rear end cover on the placing frame and places the rear end cover on the rear end cover supporting seat, and then takes out the electromagnetic brake on the placing frame and assembles the electromagnetic brake with the rear end cover. The rotor lifting tool enables the rotor grabbing mechanism to move, the rotor on the rotor supporting seat is grabbed through the rotor grabbing mechanism, the upper end of the rotor enters the positioning hole of the second lifting rod during grabbing, the rotor is guaranteed to be in a vertical state all the time, after grabbing is completed, the rotor lifting tool moves to the position above the rear end cover provided with the electromagnetic brake, and the rotor is vertically placed in the rear end cover provided with the electromagnetic brake, so that the rotor is matched with a bearing in the rear end cover.

Preferably, the stator module overturning station comprises a second bracket and an overturning machine lifting appliance which is fixed on the second bracket and can be matched with the second bracket in an up-down sliding way, a first lifting plate is connected below the overturning machine lifting appliance, an overturning machine is fixed on the first lifting plate, the overturning machine is provided with a clamping mechanism, the clamping mechanism comprises two clamping parts which do relative motion in the horizontal direction and a horizontal driving mechanism which drives the two clamping parts to do relative motion, the two clamping parts are rotationally connected onto the first lifting plate, a rotating driving mechanism which is used for driving the clamping parts to rotate is arranged on the first lifting plate, racks which are horizontally arranged are respectively and fixedly connected onto each clamping part, and the racks of the two clamping parts are meshed through gears.

Because the front end cover of the stator assembly is assembled, the front end cover of the stator assembly is arranged at the upper end of the stator assembly, but the lower cover (the rear end cover) of the stator assembly is not assembled, the stator assembly needs to be overturned by a turnover machine so that the rear end cover of the stator assembly faces upwards to the mounting hole, and the front end cover of the stator assembly is arranged at the lower end of the stator assembly. Because the stator assembly of the high-power servo motor is heavier, the stator assembly can be overturned more safely and efficiently by arranging the overturning machine. And can make two clamping parts of upset machine synchronous motion through the cooperation of gear and rack, guarantee that stator module can not take place the skew when being held to in can be accurate get back to the stator supporting seat after the centre gripping upset.

Preferably, the rotor and stator assembly assembling station comprises a workbench, a third lifting driving mechanism and a fourth lifting driving mechanism, wherein the third lifting driving mechanism and the fourth lifting driving mechanism are fixed on the workbench, the main conveying belt is positioned above the workbench, the third lifting driving mechanism is positioned at one side of the main conveying belt, the fourth lifting driving mechanism is positioned below the main conveying belt, the third lifting driving mechanism drives a lifting block to realize up-and-down lifting, the lifting block is positioned above the main conveying belt, and the lifting block is provided with an upper positioning hole for being matched and positioned with the upper end of the rotor; the fourth lifting driving mechanism drives a guide column to lift, the guide column is provided with a lower positioning hole which is opened upwards, and the lower positioning hole is used for sleeving the lower end of the rotor; the stator support seat and the circulation plate are both provided with through holes which are coaxially arranged, the guide posts can upwards pass through the through holes and the central holes of the stator assembly to be above the upper end of the NdFeB magnetic steel in the stator assembly, and the through holes, the lower positioning holes and the upper positioning holes are coaxially arranged; the workbench is also provided with a clamping mechanism for clamping the stator assembly, and the clamping mechanism is positioned above the main conveying belt.

The upper end and the lower end of the rotor are fixedly positioned through the lower positioning hole of the guide post and the upper positioning hole of the lifting block, and then the lifting block and the guide post are simultaneously lowered into the stator assembly through the third lifting driving mechanism and the fourth lifting driving mechanism. The rotor is guaranteed not to move, the stator assembly is clamped by the clamping mechanism, and the stator assembly is guaranteed not to move, so that strong magnetic attraction force of the NdFeB magnetic steel can be overcome, and the rotor is smoothly arranged in the stator. Wherein the guide posts pass between the gaps of the conveyor rollers of the main conveyor belt and do not contact the main conveyor belt when moving upward.

Preferably, the third lifting driving mechanism is a screw rod sliding table, the screw rod sliding table is provided with a screw rod nut, the lifting block is fixed on the screw rod nut, the fourth lifting driving mechanism is a lifting driving cylinder, and the lifting driving cylinder is provided with a pressure relief valve.

The descending speed of the lifting block can be controlled by setting the third lifting driving mechanism as a screw rod sliding table; in the process that the rotor descends to the stator assembly, the third lifting driving mechanism always applies downward pressure to the fourth lifting driving mechanism, so that the upper end and the lower end of the rotor are compacted, the fourth lifting driving mechanism slowly descends through pressure release of the pressure release valve under the pressure of the third lifting driving mechanism, the stability of the rotor when entering the stator assembly is guaranteed, and adsorption between the rotor and neodymium iron boron magnetic steel of the stator assembly is avoided.

Preferably, the number of the plurality of external component assembling stations is four, and the plurality of external component assembling stations comprises an encoder assembling station, a rear cover assembling station, an aviation plug assembling station and an oil sealing station, wherein the encoder assembling station is provided with an encoder placing frame; the rear cover assembly station is used for mounting the rear cover and the joint on the rear end cover through screws; the aviation plug assembly station comprises a fourth bracket and a turnover machine which is arranged on the fourth bracket in an up-down sliding manner, wherein the turnover machine is used for overturning the stator assembly, and the aviation plug and the wire holder are arranged on a shell of the stator assembly through screws and are connected with the stator assembly; the oil seal station is provided with an oil seal device which comprises a fifth support and an oil seal press fixed on the fifth support, the lower end of the oil seal press is provided with an oil seal press head, and the oil seal press head is provided with a yielding hole matched with an output shaft of the servo motor.

The turnover machine of the aviation plug assembly station and the turnover machine of the stator assembly turnover station are the same type. The stator assembly is turned over through the turnover machine, so that a worker can conveniently install the aviation plug and the wire holder, the stator assembly is turned over again through the turnover machine after the installation, and the sealing element is pressed into the front end cover through the oil seal pressure head, so that the output shaft of the high-power servo motor is oil sealed.

Preferably, the blanking station is provided with a carrying assembly, the carrying assembly is located one side of the main conveying belt, the carrying assembly comprises a supporting frame, the supporting frame is rotationally connected to a rotating rod in vertical arrangement, the upper end of the supporting frame is hinged to a movable plate, the lower end of the movable plate is connected with a blanking driving mechanism and a swinging arm, the blanking driving mechanism is located between the swinging arm and the supporting frame, the blanking driving mechanism drives the movable plate to move so as to achieve rising and falling of the swinging arm, a clamping mechanism is connected to the swinging arm, the clamping mechanism comprises two clamping hands which are oppositely arranged, and the clamping hands are in mutual approaching or keeping away from each other through a horizontal cylinder, and protection pads used for being in contact with a shell of a servo motor are arranged on the inner sides of the two clamping hands.

Realize high-power servo motor's final unloading through handling subassembly to can protect high-power servo motor shell and increase frictional force through setting up the protection pad, prevent that the tong from pressing from both sides the clamping force too big, make high-power servo motor shell take place deformation.

An assembly method of a high-power servo motor assembly line comprises the following steps:

s1: front end housing and stator module assembly station: an operator or a manipulator moves the stator lifting appliance on the first bracket, so that the lower end of the stator lifting appliance is connected with the stator grabbing mechanism and can enter the stator assembly, the first lifting driving mechanism drives the frustum to ascend, the frustum extrudes the wedge-shaped block outwards, the support block moves outwards in the radial direction and supports against the inner wall of the stator assembly, the grabbing of the stator assembly is completed, and then the stator lifting appliance moves to transfer the stator assembly into the stator supporting seat; finally, an operator or a manipulator installs the front end cover on the stator assembly, so that the assembly of the front end cover and the stator assembly is completed;

S2: an operator or a manipulator takes out the rear end cover and the rear end cover on the electromagnetic brake rack and places the rear end cover on the rear end cover supporting seat, and then takes out the electromagnetic brake and assembles the electromagnetic brake with the rear end cover;

s3: stator assembly upset station: the turnover machine lifting tool descends on the second bracket so that the stator assembly is positioned between the two clamping parts, the horizontal driving mechanism drives the two clamping parts to clamp, after the clamping parts clamp the stator assembly, the turnover machine lifting tool ascends, the rotation driving mechanism drives the clamping parts to rotate 180 degrees, then the turnover machine lifting tool descends so that the stator assembly returns to the stator supporting seat, and then the clamping parts loosen the stator assembly to realize turnover of the stator assembly, so that a hole to be installed of a rear end cover of the stator assembly faces upwards;

s4: rotor and electromagnetic brake and rear end cap assembly station: the rotor conveyer belt conveys the rotor fixed on the rotor supporting seat to the main conveyer belt and below the rotor lifting appliance, the rotor lifting appliance moves and grips the rotor through the rotor gripping mechanism, the upper end of the rotor is positioned in the positioning hole of the lifting rod, after the rotor is gripped, the rotor lifting appliance moves to the position above the rear end cover supporting seat, the rotor lifting appliance descends and the rotor gripping mechanism loosens the rotor, so that the rotor enters the inner hole of the rear end cover provided with the electromagnetic brake;

S5: rotor and stator assembly station: the clamping mechanism clamps the stator assembly, the fourth lifting driving mechanism drives the guide column to pass through the through hole and the central hole of the stator assembly upwards to be above the upper end of the NdFeB magnetic steel in the stator assembly, then an operator or a manipulator holds up the rotor with the rear end cover and turns over the rotor, so that the lower end of the rotor enters the lower positioning hole of the guide column, the third lifting driving mechanism is started to drive the lifting block to descend, the upper end of the rotor enters the upper positioning hole of the lifting block, and the third lifting driving mechanism and the fourth lifting driving mechanism descend simultaneously, so that the rotor enters the stator assembly;

s6: a plurality of external component assembly stations: an operator or a manipulator takes out the encoder on the encoder rack and installs the encoder on the rear end cover through screws; an operator or a manipulator installs the rear cover and the joint on the rear end cover through screws, so that the rear cover covers the encoder; when the aviation plug is installed, an operator turns over the stator assembly by 90 degrees through the turnover machine, the aviation plug and the wire holder are installed on a shell of the stator assembly through screws, and the stator assembly is turned over again through the turnover machine, so that an output shaft of the high-power servo motor faces upwards; the oil seal press drives the oil seal pressure head to descend, and presses the sealing element in the front end cover to realize the output shaft oil seal of the high-power servo motor;

S7: and (3) blanking: an operator controls the blanking driving mechanism to drive the movable plate to move so as to enable the swing arm to ascend and descend, two clamping hands on the swing arm clamp the high-power servo motor, the supporting frame rotates on the rotating rod, the swing arm is enabled to move to the charging box, and the high-power servo motor is placed in the charging box;

the step S3 is located between the steps S2 and S4 or between the steps S4 and S5.

The invention has the following advantages: the assembly difficulty can be simplified, the assembly line and the assembly method of the high-power servo motor with the assembly quality can be ensured, and the problem of difficult assembly of the high-power servo motor in the prior art can be solved; the stator assembly with heavy weight can be grabbed through the stator grabbing mechanism; the stator assembly with heavy weight can be turned through the turning machine, so that the safety is high and the turning efficiency is high; the magnetic attraction between the rotor and the stator assembly can be overcome, and the installation between the rotor and the stator assembly can be safely and efficiently completed.

Drawings

FIG. 1 is a flow chart of the present invention.

Fig. 2 is a schematic structural view of the present invention.

Fig. 3 is a schematic structural view of a front end cover and stator assembly station and an electromagnetic brake and rear end cover assembly station of the present invention.

Fig. 4 is a schematic structural view of the stator grabbing mechanism of the present invention.

Fig. 5 is a cross-sectional view of the stator grasping mechanism of the invention when the stator assembly is brushed away.

Fig. 6 is a schematic structural view of an inventive stator assembly flipping station.

Fig. 7 is a schematic structural view of an inventive rotor and electromagnetic brake and rear end cap assembly station.

Fig. 8 is a cross-sectional view of the inventive rotor gripping mechanism after gripping the rotor.

Fig. 9 is a schematic diagram of the rotor and stator assembly station of the present invention.

Fig. 10 is a cross-sectional view of the rotor of the invention as it has not been installed in the lower pilot hole.

FIG. 11 is a schematic view of the structure of the inventive encoder, rear cover, aviation plug and oil seal station and blanking station.

Reference numerals: front end cover and stator assembly assembling station 1, front end cover conveyor belt 11, stator assembly conveyor belt 12, stator spreader 13, stator gripping mechanism 14, first lift drive 141, first lift rod 1411, fixed plate 1412, fixed rod 1413, top plate 1421, bottom plate 1422, wedge 143, frustum 144, abutment 145, electromagnetic brake and rear end cover assembling station 2, rear end cover and electromagnetic brake placement frame 21, stator assembly flipping station 3, clamping portion 31, flipping spreader 32, horizontal drive 33, rotation drive 34, first lift plate 35, connecting rod 36, rotor and electromagnetic brake and rear end cover assembling station 4, rotor conveyor belt 41, rotor spreader 42, rotor gripping mechanism 43, second lift drive 431, second lift plate 432, clamping jaw 433, elastic member 434, annular member 435, second lift rod 436, positioning hole 437 the work table 51, the third elevating driving mechanism 52, the elevating block 521, the upper positioning hole 522, the holding mechanism 53, the holding bar 531, the holding bar driving mechanism 532, the fourth elevating driving mechanism 54, the guide column 541, the lower positioning hole 542, the encoder assembling station and the rear cover assembling station 6, the rear cover 61, the encoder and rear cover placing frame 62, the aviation plug assembling station 7, the aviation plug 71, the rack 72, the gear 73, the oil seal station 8, the oil seal press 81, the oil seal press 82, the blanking station 9, the supporting frame 91, the blanking driving mechanism 92, the movable plate 93, the swing arm 94, the horizontal cylinder 95, the holding hand 96, the charging box 97, the rotary rod 98, the stator assembly 100, the neodymium iron boron magnetic steel 110, the front cover 101, the rear cover 200, the electromagnetic brake 201, the main conveyor 300, the circulation plate 400, the stator supporting seat 401, the through hole 4011, the rear cover supporting seat 402, the rotor 500, A rotor support 501.

Detailed Description

The invention is further described below with reference to the drawings and specific embodiments.

As shown in fig. 2, this embodiment discloses a high-power servo motor assembly line, including front end housing and stator module assembly station 1, electromagnetic brake and rear end cap assembly station 2, stator module upset station 3, rotor and electromagnetic brake and rear end cap assembly station 4, rotor and stator module assembly station 5, encoder assembly station and rear shroud assembly station 6, aviation plug assembly station 7, oil blanket station 8 and unloading station 9, above nine stations are established ties through main conveyer 300, are equipped with on the main conveyer 300 and circulate board 400, circulate and be equipped with stator supporting seat 401 and rear end cap supporting seat 402 on the board 400, circulate and be equipped with the coaxial through-hole that sets up between board 400 and the stator supporting seat 401 and circulate between board 400 and the rear end cap supporting seat 402. Each station is provided with a line stopper (not shown) for pushing the flow board 400 against or lifting the flow board 400, so that the flow board 400 stays in the station for assembly of each step.

As shown in fig. 3, fig. 4 and fig. 5, the front end cover and the stator assembly assembling station 1 are connected with a front end cover conveying belt 11 and a stator assembly conveying belt 12, a first bracket is arranged between the front end cover conveying belt 11 and the stator assembly conveying belt 12, the stator assembly conveying belt 12 passes through the right lower part of the first bracket, a stator lifting appliance 13 is arranged on the first bracket, the stator lifting appliance 13 can lift up and down and can slide between the front end cover conveying belt 11 and the stator assembly conveying belt 12, the lower end of the stator lifting appliance 13 is connected with a stator grabbing mechanism 14, the stator grabbing mechanism 14 comprises a top plate 1421 and a bottom plate 1422 which are vertically and oppositely arranged at intervals, a frustum 144 is arranged between the top plate 1421 and the bottom plate 1422, three wedge blocks 143 which are uniformly arranged at intervals with the frustum 144 as a center ring are arranged between the top plate 1421 and the bottom plate 1422, an inclined plane matched with the frustum 144 is arranged on the inner side of the wedge blocks 143, an abutting block 145 is connected to the outer side of the frustum 144, and the hardness of the abutting block 145 is smaller than that of the frustum 144; the top plate 1421 and the bottom plate 1422 are fixed with limit posts (not shown in the figure), the wedge block 143 is provided with limit holes (not shown in the figure) extending along the radial direction of the frustum 144, and the limit posts and the limit holes are matched to limit the radial displacement of the wedge block 143; the lower end of the first lifting rod 1411 passes through the top plate 1421 and is fixed with the frustum 144, the upper end of the first lifting rod 1411 is connected with a first lifting driving mechanism 141, the first lifting rod 1411 is driven to lift under the action of the first lifting driving mechanism 141 so as to enable the frustum 144 to move up and down, and then the wedge block 143 is enabled to move radially outwards so that the outer edges of the abutting block 145 protrude out of the outer edges of the top plate 1421 and the bottom plate 1422 and abut against the inner wall of the stator assembly 100. The first lifting driving mechanism 141 is fixed to a fixing plate 1412, and three fixing rods 1413 are provided between the fixing plate 1412 and a top plate 1421. A rear cover and an electromagnetic brake rack 21 are provided on the left side of the main conveyor 300. The stator sling 13 mainly comprises a lifting cylinder, and the front end cover conveying belt 11 and the stator assembly conveying belt 12 slide through the sliding rail in the horizontal direction arranged on the first bracket.

As shown in fig. 2, 6 and 11, the stator assembly overturning station 3 comprises a second bracket and an overturning machine lifting appliance 32 fixed on the second bracket and capable of being matched with the second bracket in an up-down sliding way, the overturning machine lifting appliance 32 is provided with a first lifting plate 35, the first lifting plate 35 is connected with an overturning machine, the overturning machine is provided with a clamping mechanism, the clamping mechanism comprises a horizontal sliding rail fixed on the first lifting plate 35 and two clamping parts 31 matched on the horizontal sliding rail in a sliding way, each clamping part 31 is fixed with a horizontal driving mechanism 33, the horizontal driving mechanism 33 is an air cylinder, the fixed end of each horizontal driving mechanism 33 is fixed with the corresponding clamping part 31, the output end of each horizontal driving mechanism 33 is fixed with the corresponding clamping part 31, and when the two horizontal driving mechanisms 33 are driven, the two clamping parts 33 can be pulled together to clamp or pushed away to realize the loosening of the stator assembly; the first lifting plate 35 is provided with a rotation driving mechanism 34 for driving the clamping parts 31 to rotate, one clamping part 31 is connected with the rotation driving mechanism 34, a connecting rod 36 is arranged between the two clamping parts 31, the connecting rod 36 is fixed with the left clamping part 31 and is in sliding fit with the right clamping part 31, and synchronous rotation of the left clamping part 31 and the right clamping part 31 is realized through the connecting rod 36; each clamping part 31 is fixedly connected with a horizontally arranged rack 72, and the racks of the two clamping parts are meshed through a gear 73. The turnover machine of the stator assembly turnover station 3 and the turnover machine of the aviation plug assembly station 7 belong to the same turnover machine.

As shown in fig. 2, 7 and 8, the rotor and electromagnetic brake and rear end cover assembly station 4 comprises a third bracket and a rotor lifting appliance 42 capable of sliding horizontally and lifting up and down on the third bracket, a rear end cover supporting seat 402 for positioning the rear end cover is arranged below the rotor lifting appliance 42, a rear end cover for completing the installation of the electromagnetic brake is arranged in the rear end cover supporting seat 402, a rotor conveyor belt 41 is connected with the rotor and electromagnetic brake and rear end cover assembly station 4, the rotor conveyor belt 41 passes through the lower part of the third bracket to be connected with a main conveyor belt, and the rotor conveyor belt 41 conveys a rotor 500 vertically arranged on the rotor supporting seat 501 to the main conveyor belt below the rotor lifting appliance 42; the lower part of the rotor lifting appliance 42 is connected with a rotor grabbing mechanism 43, the rotor grabbing mechanism 43 comprises a second lifting plate 432 and a second lifting driving mechanism 431 fixed on the second lifting plate 432, a second lifting rod 436 of the second lifting driving mechanism 431 passes through the second lifting plate 432 downwards, an annular part 435 is sleeved and fixed on the outer side of the second lifting rod 436, three annular clamping claws 433 which are evenly arranged at intervals and are used for clamping the rotor 500 are hinged on the annular part 435, and an elastic part 434 is arranged between each clamping claw 433 and the second lifting plate 432; the second lifting driving mechanism 431 can drive the second lifting rod 436 to descend so that the elastic members 434 stretch and open the respective clamping jaws 433, and the second lifting driving mechanism 431 can drive the second lifting rod 436 to ascend so that the elastic members 434 contract and the clamping jaws 433 close; the second lifting rod 436 is provided with a positioning hole 437 opened downwards, and the positioning hole 437 is used for sleeving the upper end of the rotor 500. The rotor lifting appliance 42 mainly comprises a lifting cylinder, and horizontally slides through a sliding rail in the horizontal direction arranged on the third bracket.

As shown in fig. 2, 9 and 10, the rotor and stator assembly assembling station 5 includes a workbench 51, a third lifting driving mechanism 52 and a fourth lifting driving mechanism 54 fixed on the workbench 51, the main conveyor belt 300 is located above the workbench 51, the third lifting driving mechanism 52 is located at the rear side of the main conveyor belt 300, the fourth lifting driving mechanism 54 is located below the main conveyor belt 300, the third lifting driving mechanism 52 drives a lifting block 521 to lift up and down, the lifting block 521 is provided with an upper positioning hole 522 for being matched with and positioned at the upper end of the overturned rotor 500, the fourth lifting driving mechanism 54 drives a guide column 541 to lift up and down, the guide column 541 is provided with a lower positioning hole 542 which is opened upwards, and the lower positioning hole 542 is used for sleeving the lower end of the overturned rotor 500; the stator support seat 401 and the circulation plate 400 are both provided with coaxially arranged through holes 4011, and the guide column 541 can upwards pass through the through holes 542 and the central hole of the stator assembly 100 to be above the upper end of the neodymium-iron-boron magnetic steel 110 in the stator assembly under the action of the fourth lifting driving mechanism 54, and the through holes 4011, the lower positioning holes 542 and the upper positioning holes 522 are coaxially arranged; the workbench 51 is further provided with a clamping mechanism 53 for clamping the stator assembly 100, the clamping mechanism 53 is located at the left side of the third lifting driving mechanism 52, the clamping mechanism 53 is provided with two clamping rods 531 which are oppositely arranged, and the two clamping rods 531 are driven by the clamping rod driving mechanism 532 to perform clamping or loosening movement. The third lifting driving mechanism 52 is a screw sliding table, the lifting block 521 is fixed on the screw nut, and the fourth lifting driving mechanism 54 is a lifting driving cylinder, and the lifting driving cylinder is provided with a pressure release valve (not shown in the figure).

As shown in fig. 11, the encoder and rear cover mounting station 6 is provided with an encoder and rear cover mounting frame 63 on one side of the main conveyor belt, an encoder and rear cover (not shown) are placed on the encoder and rear cover mounting frame 63, the encoder (not shown) and rear cover 61 are mounted on the housing of the stator assembly 100 by screws through the encoder and rear cover mounting station 6, the encoder is located inside the rear cover 61, and a joint (not shown) is mounted on the rear cover 61.

As shown in fig. 11 and 6, the inverter of the aviation plug assembly station 7 is the same as the inverter of the stator assembly inverter station 3 in fig. 7, and the aviation plug assembly station 7 is used for mounting an aviation plug 71 on the casing of the stator assembly 100 by screws.

As shown in fig. 11, the oil seal station 8 is provided with an oil seal device, and includes a fifth bracket and an oil seal press 81 fixed on the fifth bracket, wherein an oil seal press head 82 is provided at the lower end of the oil seal press 81, and the oil seal press head 82 is provided with a yielding hole (not shown in the figure) matched with the output shaft of the servo motor. The blanking station 9 is provided with a carrying assembly, the carrying assembly is located on one side of the main conveying belt 300, the carrying assembly comprises a supporting frame 91, the supporting frame 91 is rotatably connected to a rotating rod 98, a driving mechanism (not shown in the figure) for driving the supporting frame 91 to rotate is arranged in the rotating rod 98, a movable plate 93 is hinged to the upper end of the supporting frame 91, the lower end of the movable plate 93 is connected with a blanking driving mechanism 92 and a swinging arm 94, the blanking driving mechanism 92 is located between the swinging arm 94 and the supporting frame 91, the blanking driving mechanism 94 drives the movable plate 93 to rotate by a small margin with a hinging point as a circle center so as to achieve that the swinging arm 94 ascends and descends, a clamping mechanism is connected to the swinging arm 94, the clamping mechanism comprises two oppositely arranged clamping hands 96, the clamping hands 96 do mutual approaching or separating motions through a horizontal cylinder 95, and protection pads (not shown in the figure) for contacting with a servo motor shell are arranged on the inner sides of the two clamping hands 96. A charging box 97 for a high-power servo motor is provided on the right side of the supporting frame 91.

As shown in fig. 1 to 11, in an assembly method of a high-power servo motor assembly line, a main conveyor belt is provided with a line stopper at a position of each station, so that a circulation board can stay at the station.

The method comprises the following steps:

s1: front end housing and stator module assembly station: the operation personnel place the circulation board on the main conveyer belt to make the circulation board stop at this station through the assembly line stopper, the front end cover conveyer belt transports the front end cover to the main conveyer belt, the stator module conveyer belt transports the stator module to the main conveyer belt, through the removal and the decline of stator hoist, make stator snatch the mechanism and can get into in the stator module hole, afterwards first lift driving mechanism drive frustum rises and makes the radial outside removal of support piece support stator module's inner wall accomplish the snatch of stator module, afterwards move left through stator hoist, place the stator module in the stator supporting seat on the circulation board on the main conveyer belt, take out the front end cover from the front end cover conveyer belt through the operation personnel, install front end cover and O type sealing washer through the screw on the stator module, afterwards the operation personnel will be taken out the plate of original stator module below, and slotted hole assembly line stopper release the circulation board, make the circulation board can circulate from the main conveyer belt, in order to carry out next step process.

S2: and an operator takes out the rear end cover and the rear end cover on the electromagnetic brake placing frame and the electromagnetic brake and places the rear end cover and the electromagnetic brake on the rear end cover supporting seat, and assembles the rear end cover and the electromagnetic brake through screws, and after the assembly is finished, the main conveying belt conveys the stator assembly with the front end cover on the circulating plate and the rear end cover with the electromagnetic brake to the next working procedure.

S3: stator assembly upset station: the turnover machine lifting appliance enables the first lifting plate to descend, the turnover machine is located near the stator assembly, the stator assembly is located between the two clamping portions, the horizontal driving mechanism drives the two clamping portions to clamp, after the two clamping portions clamp the stator assembly, the first lifting plate ascends, the rotation driving mechanism drives the clamping portions to rotate 180 degrees, the stator assembly rotates 180 degrees, then the first lifting plate descends, the stator assembly returns to the stator supporting seat, then the horizontal driving mechanism pushes away the two clamping portions, and the clamping portions loosen the stator assembly to achieve turnover of the stator assembly. At this time, the front end cover of the stator assembly is positioned at the lower end of the stator assembly, and the rear end cover of the stator assembly is upwards in the to-be-mounted hole and is conveyed to the next working procedure.

S4: rotor and electromagnetic brake and rear end cap assembly station: the rotor conveyer belt is with the rotor of fixing on the rotor supporting seat on carrying the main conveyer belt and the below of rotor hoist, starts second lift actuating mechanism for the second lifter descends, and the annular piece is kept away from the second lifter plate of top gradually, and the elastic component is stretched gradually, and when the elastic component was stretched, every clamping jaw that is connected with the elastic component outwards opened. And then starting the rotor lifting tool to enable the rotor grabbing mechanism to descend, so that the locating holes of the second lifting rods below the second lifting plates are sleeved at the upper end of the rotor, the clamping jaws are all located around the lower end of the rotor in the radial direction, then the second lifting driving mechanism drives the second lifting rods to ascend, the annular piece is close to the second lifting plates above, the elastic piece is gradually contracted, each clamping jaw connected with the elastic piece folds inwards and clamps the lower end of the rotor, then the second lifting rods stop moving, clamping of the rotor is completed, then the rotor lifting tool enables the rotor grabbing mechanism to ascend, the rotor is enabled to ascend, and the rotor lifting tool moves towards the direction of the end cover supporting seat on the horizontal sliding rail, when the rotor moves to the position above the rear end cover, the rotor lifting tool enables the rotor grabbing mechanism to descend, the rotor enters the inner hole of the rear end cover, then the second lifting rods descend, the clamping jaws outwards expand and loosen the rotor, and the rotor and the assembly of the electromagnetic brake and the rear end cover is completed until the next procedure is completed.

S5: rotor and stator assembly station: the clamping mechanism controls the clamping rod to clamp the stator assembly on the stator support seat, the fourth lifting driving mechanism drives the guide post to upwards penetrate through the through hole and the central hole of the stator assembly to be higher than the upper end of neodymium-iron-boron magnetic steel in the stator assembly, then an operator holds up the rotor with the rear end cover and the electromagnetic brake and overturns the rotor, the lower end of the overturned rotor enters the lower positioning hole of the guide post, the third lifting driving mechanism is started to drive the lifting block to descend, the upper end of the overturned rotor enters the upper positioning hole of the lifting block, and the third lifting driving mechanism and the fourth lifting driving mechanism descend simultaneously, so that the rotor enters the stator assembly and is fixed to the rear end cover and the stator assembly through the screws, and accordingly the assembly of the rotor and the stator assembly is completed and conveyed to the next procedure.

S6: four external component assembly stations:

encoder assembly station: the operator takes out the encoder and the encoder on the rear cover rack and installs the encoder and the encoder on the rear cover rack on the rear end cover through screws;

rear cover assembly station: the operator takes out the encoder and the rear end cover on the rear cover rack, installs the rear cover and the joint on the rear end cover through screws, and the encoder is positioned in the rear cover;

Aviation plug assembly station: an operator controls the turnover machine according to the step S3, the operator turns over the stator assembly by 90 degrees through the turnover machine, and the aviation plug and the wire holder are arranged on a shell of the stator assembly through screws; then operating the turnover machine by an operator according to the step S3 again, so that the output shaft of the turned high-power servo motor faces upwards;

and (3) oil seal station: the operating personnel place the sealing member on the front end cover of stator module to the hole of sealing member passes high-power servo motor's output shaft, later drives the oil blanket pressure head through the oil blanket press and descends, presses the sealing member in the front end cover, in order to realize high-power servo motor's output shaft oil blanket.

S7: and (3) blanking: operating personnel controls unloading actuating mechanism drive fly leaf motion to realize that the swing arm rises and descends, two tong on the swing arm carry out the centre gripping to the high-power servo motor behind the oil blanket, and the support frame rotates on the bull stick, makes the swing arm be located the charging box top, and unloading actuating mechanism makes the fly leaf descend so that the swing arm descends afterwards, and the tong pine on the swing arm is with high-power servo motor simultaneously, and final high-power servo motor is steady to be placed in the charging box.

Claims

1. The utility model provides a high-power servo motor assembly line which characterized in that: the device comprises a front end cover and stator assembly assembling station, a rotor and electromagnetic brake and rear end cover assembling station, a rotor and stator assembly assembling station, a plurality of external assembly assembling stations and a blanking station, wherein the stations are connected in series through a main conveying belt, a circulating plate is arranged on the main conveying belt, and a stator supporting seat and a rear end cover supporting seat are arranged on the circulating plate; a stator assembly overturning station is connected in series before or after the rotor and electromagnetic brake and rear end cover assembling station; the front end cover and stator assembly assembling station is used for grabbing a stator assembly and assembling the front end cover of the motor and the stator assembly; the rotor and electromagnetic brake and rear end cover assembly station comprises a rotor lifting tool, wherein the rotor is vertically lifted through the rotor lifting tool, so that the rotor is vertically arranged in an inner hole of the electromagnetic brake and rear end cover; the rotor and stator assembly assembling station is used for fixing the stator assembly, fixing the upper end and the lower end of the rotor and moving the upper end and the lower end into the stator assembly, so that the rotor and the stator assembly are prevented from being adsorbed; the plurality of external component assembly stations comprise an encoder, a rear cover cap, an aviation plug and an oil seal, wherein one external component or a plurality of external components are assembled; the stator assembly overturning station overturns the stator assembly through the overturning machine, so that the front end cover of the stator assembly faces downwards, and the rear end cover of the stator assembly faces upwards to-be-installed holes.

2. The high power servo motor assembly line of claim 1, wherein: front end housing and stator module assembly station are connected with front end housing conveyer belt and stator module conveyer belt, be equipped with first support between front end housing conveyer belt and the stator module conveyer belt, first support is equipped with the stator hoist, the stator hoist can go up and down and can slide between front end housing conveyer belt and the stator module conveyer belt, the lower extreme of stator hoist is connected with stator grabbing mechanism.

3. The high power servo motor assembly line of claim 2, wherein: the stator grabbing mechanism comprises a top plate and a bottom plate which are vertically arranged at intervals relatively, a frustum is arranged between the top plate and the bottom plate, a plurality of wedge-shaped blocks which are annularly and uniformly arranged at intervals by taking the frustum as a center are arranged between the top plate and the bottom plate, inclined surfaces matched with the frustum are arranged on the inner sides of the wedge-shaped blocks, abutting blocks are connected to the outer sides of the frustum, and the hardness of the abutting blocks is smaller than that of the frustum; the top plate or the bottom plate is fixed with a limit column, the wedge block is provided with a limit hole extending along the radial direction of the frustum, and the limit column is matched with the limit hole to limit the radial displacement of the wedge block; the lower extreme of first lifter passes the roof and is fixed with the frustum, and the upper end of first lifter is connected with first lift actuating mechanism, thereby drives first lifter and goes up and down to make the frustum reciprocate under first lift actuating mechanism's effect, makes the wedge radially outwards remove and causes the outer fringe protrusion in the outer fringe and the stator module inner wall butt of roof of supporting the piece then.

4. A high power servo motor assembly line according to claim 1 or 2 or 3, wherein: the rotor and electromagnetic brake and rear end cover assembly station comprises a third bracket and a rotor lifting appliance capable of horizontally sliding and lifting up and down on the third bracket, a rear end cover supporting seat for positioning a rear end cover is arranged below the rotor lifting appliance, the rotor and electromagnetic brake and rear end cover assembly station is connected with a rotor conveying belt, and the rotor conveying belt conveys a rotor vertically placed on the rotor supporting seat to a main conveying belt below the rotor lifting appliance; the rotor lifting device comprises a rotor lifting device, a rotor lifting device and a rotor lifting device, wherein a rotor grabbing mechanism is connected below the rotor lifting device, the rotor grabbing mechanism comprises a second lifting plate and a second lifting driving mechanism fixed on the second lifting plate, the output end of the rotor lifting device is connected with the second lifting plate, a second lifting rod of the second lifting driving mechanism downwards penetrates through the second lifting plate, an annular piece is sleeved and fixed on the outer side of the second lifting rod, a plurality of clamping jaws for clamping a rotor are hinged to the annular piece, and an elastic piece is arranged between each clamping jaw and the second lifting plate for connection; the second lifting driving mechanism can drive the second lifting rod to descend so that the elastic pieces stretch and open the respective clamping jaws, and can drive the second lifting rod to ascend so that the elastic pieces shrink and the clamping jaws are closed; the second lifting rod is provided with a positioning hole which is downwards opened and is used for sleeving the upper end of the rotor; and a rear end cover and an electromagnetic brake placing frame are arranged in front of the rotor and electromagnetic brake and rear end cover assembling station.

5. A high power servo motor assembly line according to claim 1 or 2 or 3, wherein: the stator module overturning station comprises a second support and an overturning machine lifting appliance which is fixed on the second support and can be matched with the second support in an up-down sliding mode, a first lifting plate is connected below the overturning machine lifting appliance, an overturning machine is fixed on the first lifting plate, a clamping mechanism is arranged on the overturning machine, the clamping mechanism comprises two clamping parts which do relative motion in the horizontal direction and a horizontal driving mechanism which drives the two clamping parts to do relative motion, the two clamping parts are rotationally connected to the first lifting plate, a rotating driving mechanism which is used for driving the clamping parts to rotate is arranged on the first lifting plate, racks which are horizontally arranged are fixedly connected to each clamping part respectively, and the racks of the two clamping parts are meshed through gears.

6. A high power servo motor assembly line according to claim 1 or 2 or 3, wherein: the rotor and stator assembly assembling station comprises a workbench, a third lifting driving mechanism and a fourth lifting driving mechanism, wherein the third lifting driving mechanism and the fourth lifting driving mechanism are fixed on the workbench, the main conveying belt is positioned above the workbench, the third lifting driving mechanism is positioned at one side of the main conveying belt, the fourth lifting driving mechanism is positioned below the main conveying belt, the third lifting driving mechanism drives a lifting block to realize up-and-down lifting, the lifting block is positioned above the main conveying belt, and an upper positioning hole for being matched and positioned with the upper end of the rotor is formed in the lifting block; the fourth lifting driving mechanism drives a guide column to lift, the guide column is provided with a lower positioning hole which is opened upwards, and the lower positioning hole is used for sleeving the lower end of the rotor; the stator support seat and the circulation plate are both provided with through holes which are coaxially arranged, the guide posts can upwards pass through the through holes and the central holes of the stator assembly to be above the upper end of the NdFeB magnetic steel in the stator assembly, and the through holes, the lower positioning holes and the upper positioning holes are coaxially arranged; the workbench is also provided with a clamping mechanism for clamping the stator assembly, and the clamping mechanism is positioned above the main conveying belt.

7. The high power servo motor assembly line of claim 6, wherein: the third lifting driving mechanism is a screw rod sliding table, the screw rod sliding table is provided with a screw rod nut, the lifting block is fixed on the screw rod nut, the fourth lifting driving mechanism is a lifting driving cylinder, and the lifting driving cylinder is provided with a pressure relief valve.

8. A high power servo motor assembly line according to claim 1 or 2 or 3, wherein: the number of the plurality of external component assembling stations is four, the plurality of external component assembling stations comprise an encoder assembling station, a rear cover assembling station, an aviation plug assembling station and an oil sealing station, and the encoder assembling station is provided with an encoder placing frame; the rear cover assembly station is used for mounting the rear cover and the joint on the rear end cover through screws; the aviation plug assembly station comprises a fourth bracket and a turnover machine which is arranged on the fourth bracket in an up-down sliding manner, wherein the turnover machine is used for overturning the stator assembly, and the aviation plug and the wire holder are arranged on a shell of the stator assembly through screws and are connected with the stator assembly; the oil seal station is provided with an oil seal device which comprises a fifth support and an oil seal press fixed on the fifth support, the lower end of the oil seal press is provided with an oil seal press head, and the oil seal press head is provided with a yielding hole matched with an output shaft of the servo motor.

9. The high power servo motor assembly line of claim 8, wherein: the blanking station is equipped with handling subassembly, handling subassembly is located one side of main conveyer belt, handling subassembly includes the support frame, the support frame rotates to be connected on the bull stick of vertical setting, the support frame upper end articulates there is the fly leaf, the fly leaf lower extreme is connected with unloading actuating mechanism and swing arm, unloading actuating mechanism is located between swing arm and the support frame, unloading actuating mechanism drive fly leaf motion is ascending and decline in order to realize the swing arm, be connected with clamping mechanism on the swing arm, clamping mechanism includes the tong of two relative settings, the tong is through horizontal cylinder making the motion that is close to each other or keep away from, the inboard of two tongs all is equipped with the protection pad that is used for with servo motor shell contact.

10. An assembly method for the assembly line of a high power servo motor as claimed in any one of claims 1 to 9, characterized by comprising the steps of: s1: front end housing and stator module assembly station: an operator or a manipulator moves the stator lifting appliance on the first bracket, so that the lower end of the stator lifting appliance is connected with the stator grabbing mechanism and can enter the stator assembly, the first lifting driving mechanism drives the frustum to ascend, the frustum extrudes the wedge-shaped block outwards, the support block moves outwards in the radial direction and supports against the inner wall of the stator assembly, the grabbing of the stator assembly is completed, and then the stator lifting appliance moves to transfer the stator assembly into the stator supporting seat; finally, an operator or a manipulator installs the front end cover on the stator assembly, so that the assembly of the front end cover and the stator assembly is completed;

s4: rotor and electromagnetic brake and rear end cap assembly station: the rotor conveyer belt conveys the rotor fixed on the rotor supporting seat to the main conveyer belt and below the rotor lifting appliance, the rotor lifting appliance moves and grips the rotor through the rotor gripping mechanism, the upper end of the rotor is positioned in the positioning hole of the lifting rod, after the rotor is gripped, the rotor lifting appliance moves to the position above the rear end cover supporting seat, the rotor lifting appliance descends and the rotor gripping mechanism releases the rotor, so that the rotor enters an inner hole of the rear end cover provided with the electromagnetic brake, and the rotor is matched with a bearing in the rear end cover;