Rotor assembling method, and control device for rotor assembly apparatus

A control device for a rotor assembly apparatus for assembling a rotor including a cylindrical rotor core and a permanent magnet that is held in a hole portion provided in the rotor core such that a longitudinal direction of the permanent magnet is parallel to an axis of the rotor core,

• the control device comprising:
• a first-movement control portion configured to move at least one of the permanent magnet and the rotor core so as to change a position of the permanent magnet relative to the rotor core, such that a longitudinal end portion of the permanent magnet is positioned to be opposed to an opening of the hole portion;
• a load-measurement control portion configured, after the at least one of the permanent magnet and the rotor core is moved by the first-movement control portion, to move one of the permanent magnet and the rotor core toward the other of the permanent magnet and the rotor core in an approaching direction that is parallel to the axis, and to measure a load applied to at least one of the permanent magnet and the rotor core, by a load sensor, when the longitudinal end portion of the permanent magnet is brought into contact with the rotor core;
• a second-movement control portion configured, after the load is measured by the load-measurement control portion, to move at least one of the permanent magnet and the rotor core so as to change the position of the permanent magnet relative to the rotor core, depending on data relating to the load measured by the load-measurement control portion, such that a positional deviation between the permanent magnet and the hole portion, which is as seen in a direction parallel to the axis, is reduced;
• and
• an insertion control portion configured, after the at least one of the permanent magnet and the rotor core is moved by the second-movement control portion, to insert the permanent magnet into the hole portion, by moving the one of the permanent magnet and the rotor core relative to the other of the permanent magnet and the rotor core in a direction same as the approaching direction.